Feeding mechanism and feeding device

Abstract

The application provides a feeding mechanism and a feeding device. The feeding mechanism comprises a hopper, a lifting module and a straight vibration module arranged in sequence along a first direction. The lifting module comprises at least two lifting structures arranged between a bottom surface and a conveying channel along the first direction. The material can be transferred between the lifting structures step by step until reaching the conveying channel. The feeding device comprises the feeding mechanism and a reversing mechanism. The reversing mechanism comprises a rotating driving module, a variable diameter piece, a first clamping structure, a second clamping structure and a restoring piece. Under the restoring force of the restoring piece, the second clamping structure is in abutment with a first part, and the second clamping structure is in a loosening position away from the first clamping structure. After the first clamping structure rotates, the second clamping structure is opposite to or in abutment with a second part, and the second clamping structure is in a clamping position close to the first clamping structure. The application can accelerate the feeding rhythm and improve the production efficiency.

Description

Technical Field

[0001] This invention relates to the field of automated manufacturing equipment technology, specifically to a feeding mechanism and feeding device that can significantly accelerate the production cycle. Background Technology

[0002] An automatic feeding mechanism for cylindrical materials includes a hopper, a lifting module, and a vertical vibration module. The hopper, lifting module, and vertical vibration module are arranged sequentially along a first direction. The bottom surface of the hopper is sloped to ensure that the material moves towards the lifting module under its own weight. To ensure orderly and rhythmic material output and prevent excessive material from flooding into the linear channel and affecting feeding, the conveying channel of the vertical vibration module is typically positioned a certain distance higher than the bottom surface of the hopper. The material from the hopper is rhythmically lifted and transported by the lifting module to the conveying channel of the vertical vibration module. The lifting module has an inclined plate, which forms a receiving position with the bottom surface of the hopper to accommodate the material. The plate can move up and down, lifting the material in the receiving position. The material falls into the conveying channel of the vertical vibration module due to the inclined trend of the plate, and continues to be transported linearly by the vertical vibration module.

[0003] The problem with the existing feeding mechanism is that, as mentioned above, there is a large height difference between the bottom of the silo and the transport channel. In a given time cycle, the lifting plate completes only one material handling operation by moving the material from the bottom of the silo to the transport channel and back to the bottom of the silo. A lot of time is required to transport the material from the silo floor to the channel and back to the bottom of the silo, resulting in a slow feeding pace. Summary of the Invention

[0004] The primary objective of this invention is to provide a feeding mechanism that significantly accelerates the feeding cycle.

[0005] The second objective of this invention is to provide a feeding device that can significantly accelerate the feeding cycle.

[0006] The first objective of this invention is to provide a feeding mechanism comprising a hopper, a lifting module, and a vertical vibration module arranged sequentially along a first direction. The hopper includes a bottom surface inclined downwards along the first direction. The vertical vibration module includes a transport channel, which is positioned above the bottom surface and opens towards the lifting module. The lifting module includes at least two lifting structures arranged between the bottom surface and the transport channel along the first direction, each lifting structure including a lifting surface inclined downwards along the first direction. The feeding mechanism includes multiple docking structures arranged sequentially along the first direction. The bottom surface, the multiple lifting surfaces, and the transport channel are all docking structures. By controlling the lifting and lowering movements of the multiple lifting structures, the feeding mechanism can change from a first docking state to a second docking state. When the feeding mechanism is in the first docking state, any lifting surface docks only with the preceding docking structure or only with the following docking structure. When the feeding mechanism changes from the first docking state to the second docking state, the lifting and lowering directions of any two adjacent lifting structures are opposite. The lifting surface that was originally docked with the preceding docking structure changes to dock with the following docking structure, and the lifting surface that was originally docked with the following docking structure changes to dock with the preceding docking structure.

[0007] As can be seen from the above scheme, under this setting, the material delivered from the bottom of the silo will be transferred step by step between multiple lifting structures. When N lifting structures are set, the actual rising or falling distance of each lifting structure is about 1 / N of the distance from the bottom of the silo to the transport channel, and the lifting cycle is also about 1 / N of the lifting cycle of the prior art. Furthermore, it ensures that material is delivered to the transport channel in each lifting cycle. It is evident that the present invention can accelerate the feeding cycle at a lower cost and improve production efficiency.

[0008] A further proposed solution is to have two lifting structures, namely a first lifting structure and a second lifting structure. When the feeding mechanism is in the first docking state, the lifting surface of the first docking structure is in contact with the bottom surface, and the lifting surface of the second lifting structure is in contact with the transport channel. When the feeding mechanism is in the second docking state, the first lifting structure and the second lifting structure are in contact.

[0009] As can be seen from the above, considering the transmission speed of the direct vibration module, the space occupied, and the design difficulty of the linkage structure and drive unit, setting the number of lifting structures to two can not only increase the feeding speed by a factor of two, but also occupy less space. More importantly, it can also reduce the design difficulty of the linkage structure and drive unit.

[0010] A further proposed solution is that the feeding mechanism includes a flexible transmission assembly, which includes a flexible component, and the flexible component includes a first side and a second side with opposite transmission directions; in two adjacent lifting structures, one lifting structure is driven to rise and fall by the first side, and the other lifting structure is driven to rise and fall by the second side.

[0011] As can be seen from the above, since any adjacent lifting structures need to move in opposite directions, it is possible to equip each lifting structure with an independent drive unit and control it independently, but this would increase equipment costs. Furthermore, the control program would be difficult to design and suffer from poor synchronization. Therefore, this invention employs a flexible transmission component, such as a belt drive component. Because the transmission directions on both sides of the belt are opposite and synchronized, the two sides of the belt are very suitable for driving two adjacent lifting structures with opposite lifting directions and requiring synchronized operation.

[0012] A further solution is that when the feeding mechanism changes from the first docking state to the second docking state, the lifting displacement of any two adjacent lifting structures is equal.

[0013] As can be seen from the above, this setup ensures that each lifting structure can smoothly connect with the corresponding lifting structure before and after its lifting motion, thus ensuring the smooth transfer of materials step by step.

[0014] A further proposed solution is that when two adjacent docking structures are docked, the lowest point of the first docking structure is higher than the highest point of the second docking structure.

[0015] As can be seen from the above, this design ensures that materials can fall smoothly from one docking structure to the next without hindrance under their own weight.

[0016] A further solution is that the vertical vibration module includes a height-limiting baffle, which is installed on the transport channel; the height-limiting baffle is provided with a guide slope, which is inclinedly installed between the transport channel and the hopper.

[0017] As can be seen from the above, under this configuration, the feeding mechanism can screen and recycle materials in different postures. For example, if the material to be transported is a cylindrical material, when the material is lying down, its height is low and it can pass through the transport channel below the height limit baffle; however, when the material is upright, its height exceeds the height limit baffle, and the material is transported forward by the vertical vibration module to the height limit baffle, where it will be blocked by the height limit baffle and fall into the hopper under the guidance of the guide ramp, thus completing the material recycling.

[0018] The second objective of this invention is to provide a feeding device comprising a feeding mechanism and a reversing mechanism. The feeding mechanism adopts the aforementioned feeding mechanism. The reversing mechanism includes a rotation drive module, a diameter-changing component, a first clamping structure, a second clamping structure, and a reset component. The rotation drive module is used to drive the first clamping structure to rotate around an axis. The second clamping structure is movably connected to the first clamping structure, and a clamping position is formed between the first clamping structure and the second clamping structure, which is connected to a transport channel. The diameter-changing component includes a diameter-changing portion disposed on the outer periphery of the axis, comprising a first part and a second part. Along the circumferential direction of the axis, the radius between the diameter-changing portion and the axis decreases from the first part to the second part. Under the restoring force of the reset component, the second clamping structure abuts against the first part, and the second clamping structure is in a released position away from the first clamping structure. After the first clamping structure rotates, the second clamping structure is opposite to or abuts against the second part, and the second clamping structure is in a clamping position close to the first clamping structure.

[0019] As can be seen from the above solution, firstly, this invention accelerates the feeding cycle and improves production efficiency by setting up multiple lifting structures. Secondly, under the premise of [further details needed], in some cases, it is necessary to reverse the direction of the lying material to install it in an upright position. Existing feeding devices require multi-axis robots for grasping and reversing, which is not only costly but also difficult to design and slow. In contrast, the reversing mechanism of this invention starts in a released state. As the material is fed out of the transport channel, it simultaneously enters the clamping position. During the reversing process, the clamping structure gradually clamps the material. Therefore, the reversing mechanism of this invention can seamlessly connect with the material fed by the feeding mechanism, and the reversing and clamping of the material are completed simultaneously, effectively shortening the time required for material reversing and significantly improving production efficiency.

[0020] A further option is that the feeding device includes a mounting frame, and the main body of the rotation drive module is fixedly connected to the mounting frame; the mounting frame is a variable diameter component.

[0021] As can be seen from the above, this setup not only reduces the number of parts and simplifies the structure, but also allows the rotation drive module to be mounted on the mounting bracket. The mounting bracket, as a variable diameter component, can ensure the positional accuracy between the rotating shaft and the variable diameter part, thereby ensuring that the clamping structure can accurately and effectively switch between the loose and clamped states.

[0022] A further option is that the second clamping structure includes a pulley, which abuts against the variable diameter section.

[0023] Another further option is to extend the variable diameter section along the arc from the first part to the second part.

[0024] As can be seen from the above, the arc extension from the first part to the second part and the pulley in the second clamping structure can make the swinging process of the second clamping structure smoother and can avoid the instantaneous change of the second clamping structure, which would generate a large force and damage the material. Attached Figure Description

[0025] Figure 1 This is a structural diagram from a first perspective of the first embodiment of the feeding device of the present invention.

[0026] Figure 2 This is a structural diagram from a second perspective of the first embodiment of the feeding device of the present invention.

[0027] Figure 3 This is a structural diagram of the lifting module and the vertical vibration module from a first-view perspective in the first embodiment of the feeding mechanism of the present invention.

[0028] Figure 4 This is a structural diagram of the lifting module and the vertical vibration module from a second perspective in the first embodiment of the feeding mechanism of the present invention.

[0029] Figure 5 This is a schematic diagram of the first embodiment of the feeding mechanism of the present invention in the first docking state.

[0030] Figure 6 This is a schematic diagram of the first embodiment of the feeding mechanism of the present invention in the second docking state.

[0031] Figure 7 This is a structural diagram of the reversing mechanism from a first perspective in the first embodiment of the feeding device of the present invention.

[0032] Figure 8 This is a structural diagram of the reversing mechanism from a second perspective in the first embodiment of the feeding device of the present invention.

[0033] Figure 9 This is a structural diagram of the reversing mechanism of the first embodiment of the feeding device of the present invention, excluding the first clamping structure and the second clamping structure.

[0034] Figure 10 This is a schematic diagram of the second clamping structure in the released position in the first embodiment of the feeding device of the present invention.

[0035] Figure 11 This is a schematic diagram of the second clamping structure in the clamping position in the first embodiment of the feeding device of the present invention.

[0036] Figure 12 This is a schematic diagram of the second embodiment of the feeding mechanism of the present invention in the first docking state.

[0037] Figure 13 This is a schematic diagram of the second embodiment of the feeding mechanism of the present invention in the second docking state. Detailed Implementation

[0038] First embodiment of the feeding device

[0039] See Figure 1 and Figure 2The feeding device in this embodiment is used to feed the winding shaft 9 of the printing consumable ribbon. The winding shaft 9 is a cylindrical material, and its axial height is greater than its diameter. The feeding device includes the feeding mechanism 1 and the reversing mechanism 2 of this invention. The feeding mechanism 1 mainly includes a hopper 3, a lifting module 4, and a vertical vibration module 5. In the coordinate system of the figure, the x-axis direction is the linear transport direction of the vertical vibration module 5, the positive y-axis is the first direction of this invention, and the z-axis direction is vertical. The hopper 3, the lifting module 4, and the vertical vibration module 5 are arranged sequentially along the y-axis direction, and the vertical vibration module 5 and the reversing mechanism 2 are arranged sequentially along the x-axis direction. After the material falls out of the hopper 3, it is transported by the lifting module 4 to the vertical vibration module 5, and then sent out by the vertical vibration module 5 to the reversing mechanism 2. Finally, the originally horizontal winding shaft 9 is reversed by the reversing mechanism 2 and becomes an upright posture, waiting to be taken out and assembled.

[0040] See Figure 1 The top of the hopper 3 is open to allow a large number of winding shafts 9 to be poured in at the same time; the hopper 3 has a bottom surface 31 that slopes downward along the positive y-axis, and the hopper 3 is open on the side facing the lifting module 4 in the y-axis direction, so that the winding shafts 9 in the hopper 3 can fall towards the lifting module 4 under their own gravity under the guidance of the slope of the bottom surface 31.

[0041] See Figure 3 and Figure 4 The lifting module 4 includes a mounting base 40, a first lifting structure 41, a second lifting structure 42, a belt drive assembly 48, and a first motor 49. Both the first lifting structure 41 and the second lifting structure 42 are lifting structures of the present invention, and both are plates. The first lifting structure 41 and the second lifting structure 42 are slidably and vertically mounted on the mounting base 40 along the z-axis direction via sliding rods 401 on both sides, and are arranged sequentially along the positive y-axis. The belt drive assembly 48 is a flexible transmission assembly of the present invention, and the transmission belt 480 of the belt drive assembly 48 is a flexible element of the present invention.

[0042] Both the first lifting structure 41 and the second lifting structure 42 are driven to rise and fall by the belt drive assembly 48. The first motor 49 drives the belt drive assembly 48 to operate. The belt drive assembly 48 includes a drive belt 480, which is arranged along the z-axis, thus causing the drive belt 480 to move along the z-axis. The drive belt 480 includes a first side 481 and a second side 482 respectively disposed on opposite sides of the pulley. According to common knowledge in the art, the first side 481 and the second side 482 have opposite transmission directions. That is, when the first side 481 moves along the positive z-axis, the second side 482 moves along the negative z-axis, and vice versa.

[0043] The lifting module 4 includes a first connecting component 483 and a second connecting component 484. The first connecting component 483 is clamped on the first side 481 and fixedly connected to the first lifting structure 41, while the second connecting component 484 is clamped on the second side 482 and fixedly connected to the second lifting structure 42. In this configuration, when the first motor 49 starts and drives the belt drive assembly 48, the first lifting structure 41 rises while the second lifting structure 42 descends by the same amount of displacement.

[0044] Combined Figure 5 and Figure 6 The top surfaces of the first lifting structure 41 and the second lifting structure 42 are respectively the first lifting surface 411 and the second lifting surface 421. Along the positive y-axis, both the first lifting surface 411 and the second lifting surface 421 extend downward at an angle. Then, a transport channel 50 is provided on the vertical vibration module 5 along the x-axis direction. The top of the transport channel 50 is open, and the transport channel 50 is open towards the lifting module 4 on the negative y-axis side.

[0045] The bottom surface 31, the first lifting surface 411, the second lifting surface 421, and the transport channel 50 of the hopper 3 are all used as docking structures of the present invention. The bottom surface 31, the first lifting surface 411, the second lifting surface 421, and the transport channel 50 are arranged sequentially along the positive y-axis. The docking structure before the first lifting surface 411 is the bottom surface 31, the docking structure after the first lifting surface 411 is the second lifting surface 421, and so on.

[0046] See Figure 5 The first docking state is shown. In this state, the first lifting surface 411, at its lower limit position, docks with the bottom surface 31 of the preceding docking structure, and the second lifting surface 421, at its upper limit position, docks with the transport channel 50 of the following docking structure. At this time, material on the bottom surface 31 can fall onto the first lifting surface 411, and material on the second lifting surface 421 can fall into the transport channel 50. It should be noted that in the case of two adjacent docking structures, the lowest point of the preceding docking structure is higher than the highest point of the following docking structure, such as... Figure 5 As shown, the lowest point of the bottom surface 31 is higher than the highest point of the first lifting surface 411, and the lowest point of the second lifting surface 421 is higher than the highest point of the bottom surface of the transport channel 50. This arrangement is intended to reduce obstruction and ensure that the material can fall smoothly into the next docking structure under its own gravity.

[0047] See Figure 6 The second docking state is shown in which the first lifting surface 411, which is at the upper limit position, docks with the second lifting surface 421, which is at the lower limit position, and the material on the first lifting surface 411 can fall smoothly onto the second lifting surface 421.

[0048] Combination Figure 5 and Figure 6As can be seen, the feeding mechanism only needs to change from the first docking state to the second docking state and then back to the first docking state to feed the vertical vibration module 5 once. Since the first lifting structure 41 and the second lifting structure 42 have opposite lifting directions and equal lifting displacements, let L0 be the vertical distance from the lower limit position docked with the bottom surface 31 to the upper limit position docked with the transport channel 50. Then, the vertical distances of both the rise and fall of the first lifting structure 41 or the second lifting structure 42 are L1, which is only about half the distance L0. When using the lifting module in the prior art for material handling, the vertical distance of both the rise and fall of the lifting module is the full vertical distance L1. Therefore, compared with the prior art, the lifting displacement of the lifting module of this invention is halved, thus significantly shortening the feeding cycle, effectively accelerating the production cycle, and improving production efficiency.

[0049] Additionally, the vertical vibration module 5 includes a height-limiting baffle 51, which is installed on the transport channel 50. The height-limiting baffle 51 has a guide ramp 511, which is inclined between the transport channel 50 and the hopper 3. When the winding shaft 9 is horizontal, its height is low enough to pass under the height-limiting baffle 51 through the transport channel 50. When the winding shaft 9 is vertical, its height exceeds the height-limiting baffle 51. The winding shaft 9 is transported forward by the vertical vibration module 5 and reaches the height-limiting baffle 51, where it is blocked by the baffle 51 and falls into the hopper 3 under the guidance of the guide ramp 511, thus completing the recycling process.

[0050] See Figures 7 to 9 The reversing mechanism 2 includes a first clamping structure 21, a second clamping structure 22, a connecting column 23, a pressure spring 24, a transition member 25, a support wheel 26, a mounting frame 28, and a second motor 29. The mounting frame 28 serves as the variable diameter component of this invention, the second motor 29 is the rotation drive unit of this invention, and the pressure spring 24 is the reset component of this invention. The mounting frame 28 mainly includes a vertical plate. The main body of the second motor 29 is fixedly mounted on this plate by multiple bolts, and the output shaft 291 of the second motor 29 passes through this plate and is located at the axis 200. This plate has an edge 280 surrounding the outer periphery of the axis 200. The edge 280 is the variable diameter portion of this invention, extending along an arc. The edge 280 includes a first portion 2801 and a second portion 2802. Combined with... Figure 10 Along the circumference of the axis 200, the radius between the variable diameter part and the axis 200 decreases from the first part 2801 to the second part 2802, and the second radius R2 of the second part 2802 is smaller than the first radius R1 of the first part 2801.

[0051] Both the first clamping structure 21 and the second clamping structure 22 are configured as swing arms. One side of the first clamping structure 21 is connected to the output shaft 291, allowing the second motor 29 to drive the first clamping structure 21 to rotate around the axis 200. The second clamping structure 22 is parallel to the first clamping structure 21 and is translatably connected to the first clamping structure 21 via two connecting posts 23 in a radial direction along the axis 200 and perpendicular to the first clamping structure 21, forming a clamping position 20 between the first clamping structure 21 and the second clamping structure 22. Since the pressure spring 24 is fitted onto the connecting posts 23 and its two ends abut against the ends of the connecting posts 23 and the first clamping structure 21 respectively, the restoring force of the pressure spring 24 allows the second clamping structure 22 to move closer to the first clamping structure 21. The second clamping structure 22 includes a pulley 221 mounted on its arm, which abuts against the edge 280 under the restoring force of the pressure spring 24.

[0052] The transition piece 25 is mounted on the aforementioned plate of the mounting frame 28 in a floating manner. The support wheel 26 is rotatably connected to the middle part of the transition piece 25 in the negative x-axis direction. A gap plate 251 is provided at the end of the transition piece 25 in the negative x-axis direction. The gap plate 251 protrudes upward from the location of the support wheel 26. The upper end of the gap plate 251 is provided with a recess 250 that extends through the x-axis direction.

[0053] See Figures 8 to 10 At this time, the first clamping structure 21 and the second clamping structure 22 are in a horizontal state. Under the restoring force of the pressure spring 24, the pulley 221 of the second clamping structure 22 abuts against the larger radius first part 2801, forcing the second clamping structure 22 to be in a released position away from the first clamping structure 21. Furthermore, the first clamping structure 21 is supported on the support wheel 26. Along the x-axis, the gap plate 251 is adjacent to the first clamping structure 21, and the recess 250 is connected to the clamping position 20. Combined with... Figure 2 The winding shaft 9 delivered from the transport channel 50 is then placed into the loosened clamping position 20 between the first clamping structure 21 and the second clamping structure 22, and the recess 250 plays a good transition role in order to ensure smooth docking.

[0054] Comparison Figure 10 and Figure 11When the winding shaft 9 is fully inserted into the clamping position 20, the second motor 29 starts and drives the first clamping structure 21 to rotate 90 degrees, thus completing the reversal of the winding shaft 9 from a horizontal to an vertical state. During this process, the pulley 221 remains in contact with the variable diameter section 280 and eventually faces or abuts against the second part 2802. Since the position of the second clamping structure 22 is limited by the second part 2802 and the radius of the second part 2802 is small, the second clamping structure 22 moves to a clamping position closer to the first clamping structure 21. At this time, the first clamping structure 21 and the second clamping structure 22 effectively clamp the winding shaft 9. It can be seen that the reversing mechanism 2 of the present invention can seamlessly connect with the material fed by the feeding mechanism 1, and the reversal and clamping of the material are completed simultaneously, effectively shortening the time spent on material reversal and effectively improving production efficiency.

[0055] Second embodiment of the feeding device

[0056] See Figure 12 and Figure 13 In this embodiment, the feeding mechanism includes three lifting structures arranged sequentially along the first direction, and the lifting surfaces of the three lifting structures are the first lifting surface 62, the second lifting surface 63, and the third lifting surface 64, respectively.

[0057] See Figure 12 The first docking state is shown. In this state, the first lifting surface 62, which is at the lower limit position, docks with the bottom surface 61 of the hopper, and the second lifting surface 63, which is at the upper limit position, docks with the third lifting surface 64, which is at the lower limit position of the next docking structure. At this time, the material on the bottom surface 31 can fall into the first lifting surface 62, and the material on the second lifting surface 63 can fall into the third lifting surface 64.

[0058] See Figure 13 The second docking state is shown, in which the first lifting surface 62 at its upper limit position docks with the second lifting surface 63 at its lower limit position, and the third lifting surface 64 at its upper limit position docks with the transport channel 65. At this time, the material on the first lifting surface 62 can fall onto the second lifting surface 63, and the material on the third lifting surface 64 can fall onto the transport channel 65.

[0059] As can be seen, in this embodiment, the feeding mechanism only needs to change from the first docking state to the second docking state and then from the second docking state back to the first docking state to feed the vertical vibration module once. Furthermore, in this embodiment, the vertical distance of each lifting structure's rise and fall is L2, which is only about one-third of the distance L0 recorded in the first embodiment. Therefore, compared with the first embodiment, the lifting displacement of the lifting module in this embodiment is further reduced, further accelerating the production cycle.

[0060] However, the first embodiment remains the preferred embodiment of the present invention. Considering the transmission speed of the direct vibration module, the space occupied, and the design difficulty of the linkage structure and drive unit, setting the number of lifting structures to two can not only multiply the feeding speed, but also occupy less space. More importantly, it can also reduce the design difficulty of the linkage structure and drive unit.

[0061] In other embodiments, the number of lifting structures is four or more.

[0062] In other embodiments, each lifting structure is driven by its own independent drive unit, such as a linear motor or a linear cylinder. Furthermore, in this configuration, the lifting displacement of any two adjacent lifting structures may not be equal.

[0063] In other embodiments, if the two docking structures, i.e., the two surfaces, are precisely docked, or if the inclination of the two surfaces is large enough to ensure that the material can fall from one surface to the other, this setting does not require the lowest point of the previous docking structure to be higher than the highest point of the next docking structure.

[0064] In other embodiments, the reducing component is a separate part other than the mounting bracket.

[0065] In other embodiments, the variable diameter portion extends along multiple bends.

[0066] In other embodiments, a smooth surface portion is provided on the second clamping structure to continuously abut against the variable diameter portion, thus eliminating the need for a pulley.

[0067] Finally, it should be emphasized that the above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. For those skilled in the art, the present invention can have various changes and modifications. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the protection scope of the present invention.

Claims

1. A feeding device, comprising a feeding mechanism and a reversing mechanism; The feeding mechanism comprises a hopper, a lifting module and a straight vibration module arranged in sequence along a first direction; The hopper comprises an inclined downward bottom surface along the first direction; The straight vibration module comprises a conveying channel, the conveying channel is located higher than the bottom surface, and the conveying channel is open towards the lifting module; Characterized in that: The lifting module comprises at least two lifting structures arranged between the bottom surface and the conveying channel along the first direction, and the lifting structure comprises an inclined lifting surface along the first direction; The feeding mechanism comprises a plurality of docking structures arranged in sequence along the first direction, and the bottom surface, a plurality of lifting surfaces and the conveying channel are all docking structures; By controlling the lifting movement of a plurality of lifting structures, the feeding mechanism can change from a first docking state to a second docking state; When the feeding mechanism is in the first docking state, any lifting surface is only docked with the previous docking structure or only docked with the next docking structure; When the feeding mechanism changes from the first docking state to the second docking state, the lifting directions of any two adjacent lifting structures are opposite, the lifting surface originally docked with the previous docking structure changes to be docked with the next docking structure, and the lifting surface originally docked with the next docking structure changes to be docked with the previous docking structure; The reversing mechanism comprises a rotating drive module, a variable diameter part, a first clamping structure, a second clamping structure and a reset part; The rotating drive module is used to drive the first clamping structure to rotate around an axis; The second clamping structure is movably connected to the first clamping structure, and a clamping position is formed between the first clamping structure and the second clamping structure, and the clamping position is docked with the conveying channel; The variable diameter part comprises a variable diameter portion, the variable diameter portion is arranged on the outer periphery of the axis, the variable diameter portion comprises a first portion and a second portion, and along the circumferential direction of the axis, the radius between the variable diameter portion and the axis decreases from the first portion to the second portion; Under the restoring force of the reset part, the second clamping structure abuts against the first portion, and the second clamping structure is in a release position away from the first clamping structure; After the first clamping structure rotates, the second clamping structure is opposite to or abuts against the second portion, and the second clamping structure is in a clamping position close to the first clamping structure.

2. The feeding device according to claim 1, characterized in that: The number of lifting structures is two, and the two lifting structures are respectively a first lifting structure and a second lifting structure; When the feeding mechanism is in the first docking state, the lifting surface of the first lifting structure is docked with the bottom surface, and the lifting surface of the second lifting structure is docked with the conveying channel; When the feeding mechanism is in the second docking state, the first lifting structure is docked with the second lifting structure.

3. The feeding device according to claim 2, characterized in that: The feeding mechanism comprises a flexible transmission assembly, the flexible transmission assembly comprises a flexible member, the flexible member comprises a first side and a second side in opposite transmission directions; Among two adjacent lifting structures, one lifting structure is driven to lift by the first side, and the other lifting structure is driven to lift by the second side.

4. The feeding device according to any one of claims 1 to 3, characterized in that: When the feeding mechanism changes from the first docking state to the second docking state, the lifting displacement of any two adjacent lifting structures is equal.

5. The feeding device according to any one of claims 1 to 3, characterized in that: When two adjacent docking structures are docked, the lowest point of the first docking structure is higher than the highest point of the second docking structure.

6. The feeding device according to any one of claims 1 to 3, characterized in that: The straight vibration module comprises a height limiting baffle, and the height limiting baffle is arranged on the conveying channel; The height limiting baffle is provided with a guide inclined surface, and the guide inclined surface is arranged obliquely between the conveying channel and the hopper.

7. The feeding device according to claim 1, characterized in that: The feeding device comprises a mounting frame, and a main body of the rotary driving module is fixedly connected to the mounting frame; The mounting frame is the variable diameter part.

8. The feeding device according to claim 1, 2, 3 or 7, characterized in that: The second clamping structure comprises a pulley, and the pulley abuts against the variable diameter part.

9. The feeding device according to claim 1, 2, 3 or 7, characterized in that: The variable diameter part extends along an arc from the first position to the second position.

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