A self-propelled feeding machine with autonomous material suction

Abstract

This invention discloses a self-propelled feeding machine with autonomous material suction, relating to the field of new energy material preparation. It includes a self-propelled chassis, a robotic arm, a control cabinet, a material suction and feeding device, and a weighing device. The self-propelled chassis includes casters, a battery unit, etc.; the robotic arm includes a base, a rotating seat, and a first arm section, etc.; the material suction and feeding device includes a suction nozzle, a suction hose, a fan, etc.; the weighing device includes a weighing bin, valves, and a weighing sensor, etc. This invention integrates material suction and feeding, improving feeding efficiency; it combines the extension and retraction of the robotic arm with swing rotation, allowing the suction nozzle to uniformly suction material from all directions of the bag; it achieves automatic positioning, clamping the bag during suction to prevent slippage, and supporting the bag as the suction nozzle extends and retracts downwards, preventing the bag from clogging the suction port; it completes the self-propelled chassis's self-propelled movement and automatic material suction, weighing, and feeding, achieving precise metering and feeding.

Description

Technical Field

[0001] This invention relates to the field of new energy material preparation, and more specifically, to a self-propelled feeding machine with autonomous material suction. Background Technology

[0002] Currently, the preparation process of positive and negative electrode materials for lithium batteries requires modification and coating of powder materials, which necessitates mixing. Furthermore, the production and preparation process of positive and negative electrode materials for lithium batteries involves a massive amount of powder material transportation, thus placing high demands on powder transportation.

[0003] In the process of mixing lithium battery powder materials, the materials are placed in cloth bags and stacked in the warehouse. In the past, these materials were often transported manually using tools, which was time-consuming and labor-intensive. Currently available conveying equipment has a low degree of automation, and the suction and feeding processes require separate equipment, resulting in low efficiency.

[0004] Furthermore, precise material proportioning is required during the production process, necessitating accurate material feeding. Moreover, when filling the cloth bags, the material properties of the bags cause them to easily slip, and existing suction equipment can easily suck the bags into the suction nozzle, causing blockages.

[0005] Therefore, it is essential to provide a self-propelled feeder with autonomous material feeding that can solve the above-mentioned technical problems. Summary of the Invention

[0006] In view of this, the present invention proposes a self-propelled feeding machine with autonomous material suction, the specific technical solution of which is as follows:

[0007] A self-propelled feeding machine with autonomous material suction includes a self-propelled chassis, a robotic arm, a control cabinet, a material suction and feeding device, and a weighing device;

[0008] The self-propelled chassis includes casters, a battery, drive wheels, a walking motor, a chassis, and a support plate. The support plate, the battery, and the walking motor are all fixedly mounted on the upper surface of the chassis, with the battery and the walking motor located between the lower surface of the support plate and the upper surface of the chassis. The battery powers the entire device, and the walking motor is controlled by the control cabinet and connected to the drive wheel, which is mounted in the middle of the bottom of the chassis, via a transmission belt. One caster is mounted on each side of the bottom of the chassis. The upper part of the support plate contains the robotic arm, the control cabinet, the material feeding device, and the weighing device.

[0009] The robotic arm includes a base, a rotating seat, a first arm section, a second arm section, a third arm section, a telescopic arm, joints, a clamping mechanism, and a support mechanism. The base is mounted on the upper surface of the support plate, and the rotating seat, which has its own rotary motor, is mounted on the upper part of the base. The first end of the first arm section is connected to the rotating seat via a joint, and the rotating seat can drive the first arm section to rotate horizontally. The end of the first arm section is connected to the first end of the second arm section via a joint, and the end of the second arm section is connected to the first end of the third arm section via a joint. The clamping mechanism for gripping the four edges of the storage bag is fixed on the arm body near its end of the third arm section, and the support mechanism for supporting the four sides of the inner side of the storage bag is fixed on the arm body of the telescopic arm. The end of the third arm section is connected to the first end of the telescopic arm via a cylinder, and each joint is driven by a corresponding joint motor. The first arm section and the second arm section are both hollow structures.

[0010] The material feeding device includes a suction nozzle, a suction hose, a fan, a feed inlet, a suction pipe, a bag filter, a transfer hopper, an airlock, and a feeding pipe. The suction nozzle is connected to the end of the telescopic arm via a joint four. The suction nozzle is connected to one end of the suction hose, and the suction nozzle is either suspended or inserted for suction. The feed inlet is located on the upper side wall of the transfer hopper and is connected to the other end of the suction hose away from the suction nozzle. The bag filter is located in the upper part of the inner cavity of the transfer hopper and is positioned higher than the feed inlet. The top of the transfer hopper is connected to the suction pipe, and the outlet of the suction pipe is connected to the fan. The airlock is installed at the bottom outlet of the transfer hopper. The outlet of the fan is connected to the feeding pipe.

[0011] The weighing device includes a weighing bin, a valve, a weighing sensor, and a support. The weighing bin is located below the airlock and is connected to the airlock's outlet. The weighing sensor is installed at the bottom of the weighing bin and supported by the support mounted on the support plate. The valve is installed at the bottom outlet of the weighing bin. The lower part of the valve is connected to the opposite and interconnected feeding pipes via a connecting pipe, and the material is fed through the feeding pipes by blowing.

[0012] The drive of each component of the entire equipment, the switching of the airlock and the valve, and the weighing sensor are all electrically connected to the control cabinet and controlled by the control cabinet.

[0013] By adopting the above technical solution, this invention integrates the suction and feeding of lithium battery powder materials, improving feeding efficiency; it combines the extension and swing rotation of the robotic arm, enabling the suction nozzle to uniformly suck up materials from all directions of the entire bag; it achieves automatic positioning, clamping the bag during suction to prevent it from slipping, and supporting the bag as the suction nozzle extends and retracts downward, preventing the bag from clogging the suction port; it completes the self-propelled chassis's self-propelled walking and automatic suction, weighing, and feeding, achieving precise metering and feeding.

[0014] Preferably, the suction nozzle and the suction hose have diameters ranging from 20 mm to 150 mm; the feeding pipe has diameters ranging from 30 mm to 100 mm; and the suction and feeding device can handle particles ranging from 2 micrometers to 30 mm in size.

[0015] Preferably, the bottom of the chassis is also equipped with a tracking obstacle avoidance device to assist the self-propelled chassis in selecting an obstacle avoidance path.

[0016] Preferably, the joint is driven by two joint motors, namely a nozzle rotation motor that drives the nozzle to rotate horizontally and a nozzle swing motor that drives the nozzle to rotate vertically.

[0017] Preferably, the motor shaft of the nozzle rotary motor is directly connected to the nozzle, and the motor shaft of the nozzle oscillation motor is connected to the motor body of the nozzle rotary motor.

[0018] Preferably, the first end of the clamping mechanism is in the shape of a ring and is correspondingly sleeved and fixed on the arm body near its end of the third arm. The middle part of the clamping mechanism consists of four rods arranged around the perimeter. The upper end of the rods is connected to the first end of the clamping mechanism, and the lower end is connected to the claw-shaped clamping mechanism.

[0019] Preferably, the first end of the support mechanism is in the shape of a ring and is correspondingly fitted and fixed on the arm body of the telescopic arm. The middle part of the support mechanism consists of four rods arranged around the perimeter. The upper end of the rods is connected to the first end of the support mechanism, and the lower end is connected to the support disc. The distance between two opposing support discs is equal to the diameter of the storage bag.

[0020] Preferably, the suction nozzle, the suction hose, the feed inlet, the feeding pipe, the transfer hopper, the airlock, the clamping mechanism, the support mechanism, the weighing hopper, and the valve are all made of non-metallic materials or have a metal outer layer and a non-metallic inner lining.

[0021] Preferably, the non-metallic materials include: polytetrafluoroethylene, polycarbonate, polyamide, polyacetal, polypropylene, polyphenylene sulfide, polyaryl ester, unsaturated polyester, phenolic plastics, epoxy plastics, ultra-high molecular weight polyethylene, modified polyphenylene ether, and ceramics.

[0022] Preferably, the non-metallic lining material in the metal outer layer includes: polytetrafluoroethylene, polycarbonate, polyamide, polyacetal, modified polyphenylene ether, polyester, phenolic plastic, epoxy plastic, and ultra-high molecular weight polyethylene, and the lining thickness is 5mm to 15mm.

[0023] Compared with the prior art, the present invention has the following beneficial effects:

[0024] 1. A single blower is used for negative pressure suction and pneumatic blowing. During suction, the material is drawn into the transfer hopper, and during loading, the material is discharged from the transfer hopper, realizing integrated suction and loading, which is efficient and convenient.

[0025] 2. The robotic arm is structurally optimized, with a clamping and support mechanism at the end to clamp and support the cloth bag, preventing the bag from clogging the suction nozzle; at the same time, a telescopic arm is added, and two joint motors are used to realize the rotation and swing of the suction nozzle, so as to achieve uniform suction of materials from all directions.

[0026] 3. The addition of a weighing device enables precise metering and feeding, ensuring the production of processing processes such as mixing processes that have strict requirements for the proportion of ingredients.

[0027] 4. The robotic arm, control cabinet, material feeding device, and weighing device are all integrated on the self-propelled chassis and powered by a battery. No external power supply or wiring is required, enabling the feeder to automatically position itself and operate flexibly on its own.

[0028] 5. Add a control system to the entire equipment to achieve automatic control.

[0029] 6. All components of the feeding machine that come into contact with the material are made of non-metallic materials or have a metal lining with a non-metallic material, which can effectively prevent metal contact from contaminating the material. Attached Figure Description

[0030] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on the provided drawings without creative effort.

[0031] Figure 1 This is a schematic diagram of the overall structure of a self-propelled feeding machine with autonomous material suction according to the present invention.

[0032] Figure 2 This is a partial view of a self-propelled feeding machine with autonomous material suction according to the present invention.

[0033] Figure 3 This is a schematic diagram of the working environment of a self-propelled feeding machine with autonomous material suction according to the present invention.

[0034] Legend: 1. Self-propelled chassis; 2. Robotic arm; 3. Control cabinet; 4. Material feeding device; 5. Weighing device; 6. Storage bag; 101. Casters; 102. Tracking and obstacle avoidance device; 103. Battery unit; 104. Drive wheels; 105. Walking motor; 106. Chassis; 107. Support plate; 201. Base; 202. Rotating seat; 203. First arm section; 204. Second arm section; 205. Third arm; 206, clamping mechanism; 207, support mechanism; 208, telescopic arm; 209, joint four; 401, suction nozzle; 402, suction hose; 403, fan; 404, feed inlet; 405, suction pipe; 406, bag filter; 407, transfer hopper; 408, airlock; 409, feeding pipe; 501, weighing bin; 502, valve; 503, weighing sensor; 504, bracket. Detailed Implementation

[0035] Embodiments of the present invention are described in detail below, examples of which are illustrated in the accompanying drawings, wherein the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary and intended to explain the present invention, and should not be construed as limiting the present invention.

[0036] In the description of this invention, it should be understood that the terms "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this invention.

[0037] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of this invention, "a plurality of" means two or more, unless otherwise explicitly specified.

[0038] Example:

[0039] like Figure 1 , Figure 2 As shown in the figure, an embodiment of the present invention discloses a self-propelled feeding machine with autonomous material suction, including a self-propelled chassis 1, a robotic arm 2, a control cabinet 3, a material suction and feeding device 4, and a weighing device 5.

[0040] in,

[0041] The self-propelled chassis 1 includes casters 101, a battery device 103, drive wheels 104, a drive motor 105, a chassis 106, and a support plate 107. The support plate 107 is mounted on the chassis 106 and is fixedly connected by bolts. The battery device 103 and the drive motor 105 are also fixedly mounted on the upper surface of the chassis 106, and the battery device 103 and the drive motor 105 are located between the lower surface of the support plate 107 and the upper surface of the chassis 106.

[0042] The battery device 103 powers the entire device. The walking motor 105 is controlled by the control cabinet 3 and is connected to the drive wheel 104, which is installed in the middle of the bottom of the chassis 106, via a transmission belt. A universal wheel 101 is installed on each side of the bottom of the chassis 106. By installing the universal wheels 101 at the front and rear, the turning radius can be reduced, making the vehicle more flexible.

[0043] The upper part of the support plate 107 consists of a robotic arm 2, a control cabinet 3, a material feeding device 4, and a weighing device 5.

[0044] The bottom of the chassis 106 is also equipped with a tracking obstacle avoidance device 102 that assists the self-propelled chassis 1 in selecting obstacle avoidance paths. This tracking obstacle avoidance device 102 is a prior art structure and can be obtained directly by purchase.

[0045] The robotic arm 2 includes a base 201, a rotating seat 202, a first arm section 203, a second arm section 204, a third arm section 205, a clamping mechanism 206, a support mechanism 207, a telescopic arm 208, and joints.

[0046] The base 201 is bolted to the upper surface of the support plate 107. The rotating seat 202 with its own rotating motor is installed on the upper part of the base 201. The first end of the first arm 203 is connected to the rotating seat 202 through joint one. The rotating seat 202 can drive the first arm 203 to rotate horizontally. The end of the first arm 203 is connected to the first end of the second arm 204 through joint two. The end of the second arm 204 is connected to the first end of the third arm 205 through joint three.

[0047] The third arm 205 has a clamping mechanism 206 fixed on its arm body near its end, which clamps the four edges of the storage bag 6.

[0048] Specifically, the first end of the clamping mechanism 206 is in the shape of a ring and is correspondingly sleeved and fixed on the arm body of the third arm 205 near its end. The middle part of the clamping mechanism 206 consists of four rods arranged around the perimeter. The upper end of the rods is connected to the first end of the clamping mechanism 206, and the lower end is connected to the claw-shaped clamping mechanism 206. The claw-shaped clamping mechanism 206 achieves clamping through a corresponding cylinder provided thereon. For details, please refer to the following published patents and related similar structures: CN102371588A, CN107553513A, CN111546369A.

[0049] The telescopic arm 208 has a support mechanism 207 fixed on its arm body to support the inner side of the storage bag 6 from all four sides; the end of the third arm 205 is connected to the head of the telescopic arm 208 through a cylinder, thus enabling the telescopic arm 208 to extend and retract.

[0050] Specifically, the first end of the support mechanism 207 is in the shape of a ring and is correspondingly fitted and fixed on the arm of the telescopic arm 208. The middle part of the support mechanism 207 consists of four rods arranged around the perimeter. The upper end of the rods is connected to the first end of the support mechanism 207, and the lower end is connected to the support disc. The distance between two opposing support discs is equal to the diameter of the storage bag 6, i.e., 1.5m.

[0051] Each joint in this invention is driven by a corresponding joint motor.

[0052] The material suction and feeding device 4 includes a suction nozzle 401, a suction hose 402, a fan 403, a feed inlet 404, a suction pipe 405, a bag filter 406, a transfer hopper 407, an airlock 408, and a feeding pipe 409. The suction nozzle 401 is connected to the end of the telescopic arm 208 via a joint 209. The suction nozzle 401 is connected to one end of the suction hose 402, and the suction nozzle 401 can perform suspended suction or insertion suction. The material is fed into the transfer silo 407 via a suction inlet 404 located on the upper side wall of the silo 407, connected to the other end of the suction hose 402 away from the nozzle 401. A baghouse dust collector 406 is located in the upper part of the inner cavity of the transfer silo 407, positioned higher than the inlet 404 to prevent material from being sucked into the fan 403. A suction pipe 405 is connected to the top of the transfer silo 407, and its outlet is connected to the fan 403. The fan 403 uses negative pressure suction via the suction pipe 405 at the top of the transfer silo 407, drawing material through the suction hose 402 connected to the transfer silo 407 and the nozzle 401 on the robotic arm 2.

[0053] Furthermore, joint 4 209 is driven by two joint motors. The two joint motors are a suction nozzle 401 rotary motor that drives the suction nozzle 401 to achieve horizontal rotation, and a suction nozzle 401 swing motor that drives the suction nozzle 401 to achieve vertical rotation.

[0054] The motor shaft of the rotary motor of the suction nozzle 401 is directly connected to the suction nozzle 401, and the motor shaft of the oscillating motor of the suction nozzle 401 is connected to the motor body of the rotary motor of the suction nozzle 401.

[0055] The suction nozzle 401 can rotate horizontally with the suction nozzle 401 rotation motor, and swing vertically with the suction nozzle 401 swing motor. It can also move up and down with the telescopic arm 208, thus enabling omnidirectional material suction throughout the entire storage bag 6. While the suction nozzle 401 moves up and down with the telescopic arm 208, the support mechanism 207 also moves up and down accordingly to prevent the bag from being sucked into the suction nozzle 401 and causing blockage.

[0056] The suction nozzle 401 and suction hose 402 are available in various sizes from 20 mm to 150 mm in diameter; the feeding pipe 409 is available in various sizes from 30 mm to 100 mm in diameter; the suction and feeding device 4 can complete the suction and feeding of particles with a size from 2 microns to 30 mm.

[0057] Both the first arm 203 and the second arm 204 are hollow structures.

[0058] A shut-off fan 408 is installed at the bottom outlet of the transfer silo 407; the outlet of the blower 403 is connected to the feeding pipe 409. During material suction, the material is temporarily stored in the transfer silo 407. During material feeding, the suctioned material falls from the transfer silo 407 through the shut-off fan 408 into the weighing device 5.

[0059] The weighing device 5 includes a weighing bin 501, a valve 502, a weighing sensor 503, and a bracket 504. The weighing bin 501 is located below the airlock 408 and is connected to the outlet of the airlock 408. The weighing sensor 503 is installed at the bottom of the weighing bin 501 and is supported by the bracket 504 installed on the support plate 107. The valve 502 is installed at the bottom outlet of the weighing bin 501. The lower part of the valve 502 is connected to the opposite and interconnected feeding pipes 409 through a connecting pipe. The material falls directly into the weighing bin 501. The weighing sensor 503 is below the weighing bin 501 and measures and weighs the material. After the rated weight is reached, the valve 502 opens, and the material falls further into the feeding pipe 409 for blowing and feeding.

[0060] In this invention, the drive of each component of the equipment, the switching of the airlock 408 and the valve 502, and the weighing sensor 503 are all electrically connected to the control cabinet 3 and controlled by the control cabinet 3.

[0061] In this embodiment, as Figure 3 As shown, the storage bags 6 filled with materials are stacked in the warehouse. The self-propelled feeder of the present invention moves to the front of the stack to suck up the materials. After sucking up the materials, it moves to the designated position to feed the materials.

[0062] Specifically, in this embodiment, such as Figure 1 and Figure 2 As shown, the self-propelled chassis 1 moves to the front of the storage bag 6. Then, the robotic arm 2 moves, and the rotating seat 202 adjusts the entire position to the front of the storage bag 6. Subsequently, the first arm 203, the second arm 204, and the third arm 205 move in sequence to align the clamping mechanism 206 with the edge of the storage bag 6, clamping the bag around its perimeter to prevent it from slipping. Then, the telescopic arm 208 moves, raising the suction nozzle 401 to an appropriate height to begin suction. During the suction process, as the material level decreases, the suction nozzle 401 also moves accordingly to perform all-round and uniform suction. The support mechanism 207 on the telescopic arm 208 supports the storage bag 6 to prevent the bag from being sucked into the suction nozzle 401 and causing blockage.

[0063] The material enters the transfer hopper 407 through the suction hose 402 in the suction and feeding device 4, completing the suction process. Throughout the suction process, the material is drawn in by negative pressure created by the fan 403 in front of the control cabinet 3.

[0064] During feeding, the self-propelled chassis 1 moves to the designated position, and the material falls from the transfer hopper 407 into the weighing hopper 501 of the weighing device 5 through the airlock 408. After reaching the rated weight, the airlock 408 stops feeding, the valve 502 opens, and the material falls into the feeding pipe 409. The airflow blown by the blower 403 blows the material to the feeding pipe 409 at the bottom of the material, realizing the blowing feeding.

[0065] In this invention, the suction nozzle 401, suction hose 402, feed inlet 404, feeding pipe 409, transfer hopper 407, airlock 408, clamping mechanism 206, support mechanism 207, weighing hopper 501, and valve 502 are all made of non-metallic materials or have a metal outer layer and a non-metallic inner lining.

[0066] Specifically, non-metallic materials include, but are not limited to: polytetrafluoroethylene (PTFE), polycarbonate (PC), polyamide (nylon), polyacetal (POM), polypropylene (PP), polyphenylene sulfide (PPS), polyaryl ester, unsaturated polyester, phenolic plastics, epoxy plastics, ultra-high molecular weight polyethylene (UPE), modified polyphenylene ether (modified PPE), ceramics, etc., among which: polytetrafluoroethylene (PTFE), modified polyphenylene ether (modified PPE), epoxy plastics, ultra-high molecular weight polyethylene (UPE), and ceramics are preferred.

[0067] The metal outer layer of the non-metallic lining material is generally covered with carbon steel or stainless steel. The non-metallic lining material includes, but is not limited to: polytetrafluoroethylene (PTFE), polycarbonate (PC), polyamide (nylon), polyacetal (POM), modified polyphenylene ether (modified PPE), polyester (PETP, PBTP), phenolic plastics, epoxy plastics, ultra-high molecular weight polyethylene (UPE), etc., with polytetrafluoroethylene (PTFE) being preferred. The lining thickness is 5mm to 15mm.

[0068] This invention focuses on solving the problem of automatic material feeding and addressing minor issues arising during the process, such as omnidirectional material feeding by the robotic arm, bag clogging of the suction nozzle, material weighing and proportioning for feeding, automatic positioning and self-propelled carriage, etc., greatly improving work efficiency. The entire device is powered by a battery, making it energy-saving, environmentally friendly, highly efficient and flexible.

[0069] The various embodiments in this specification are described in a progressive manner, with each embodiment focusing on its differences from other embodiments. Similar or identical parts between embodiments can be referred to interchangeably. For the apparatus disclosed in the embodiments, since they correspond to the methods disclosed in the embodiments, the description is relatively simple; relevant parts can be referred to the method section.

[0070] The above description of the disclosed embodiments enables those skilled in the art to make or use the invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of the invention. Therefore, the invention is not to be limited to the embodiments shown herein, but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. A self-propelled feeding machine with autonomous material suction, characterized in that, Includes self-propelled chassis, robotic arm, control cabinet, material feeding device, and weighing device; The self-propelled chassis includes casters, a battery, drive wheels, a walking motor, a chassis, and a support plate. The support plate, the battery, and the walking motor are all fixedly mounted on the upper surface of the chassis, with the battery and the walking motor located between the lower surface of the support plate and the upper surface of the chassis. The battery powers the entire device, and the walking motor is controlled by the control cabinet and connected to the drive wheel, which is mounted in the middle of the bottom of the chassis, via a transmission belt. One caster is mounted on each side of the bottom of the chassis. The upper part of the support plate contains the robotic arm, the control cabinet, the material feeding device, and the weighing device. The robotic arm includes a base, a rotating seat, a first arm section, a second arm section, a third arm section, a telescopic arm, joints, a clamping mechanism, and a support mechanism. The base is mounted on the upper surface of the support plate, and the rotating seat, which has its own rotary motor, is mounted on the upper part of the base. The first end of the first arm section is connected to the rotating seat via a joint, and the rotating seat can drive the first arm section to rotate horizontally. The end of the first arm section is connected to the first end of the second arm section via a joint, and the end of the second arm section is connected to the first end of the third arm section via a joint. The clamping mechanism for gripping the four edges of the storage bag is fixed on the arm body near its end of the third arm section, and the support mechanism for supporting the four sides of the inner side of the storage bag is fixed on the arm body of the telescopic arm. The end of the third arm section is connected to the first end of the telescopic arm via a cylinder, and each joint is driven by a corresponding joint motor. The first arm section and the second arm section are both hollow structures. The material feeding device includes a suction nozzle, a suction hose, a fan, a feed inlet, a suction pipe, a bag filter, a transfer hopper, an airlock, and a feeding pipe. The suction nozzle is connected to the end of the telescopic arm via a joint four. The suction nozzle is connected to one end of the suction hose, and the suction nozzle is either suspended or inserted for suction. The feed inlet is located on the upper side wall of the transfer hopper and is connected to the other end of the suction hose away from the suction nozzle. The bag filter is located in the upper part of the inner cavity of the transfer hopper and is positioned higher than the feed inlet. The top of the transfer hopper is connected to the suction pipe, and the outlet of the suction pipe is connected to the fan. The airlock is installed at the bottom outlet of the transfer hopper. The outlet of the fan is connected to the feeding pipe. The weighing device includes a weighing bin, a valve, a weighing sensor, and a support. The weighing bin is located below the airlock and is connected to the airlock's outlet. The weighing sensor is installed at the bottom of the weighing bin and supported by the support mounted on the support plate. The valve is installed at the bottom outlet of the weighing bin. The lower part of the valve is connected to the opposite and interconnected feeding pipes via a connecting pipe, and the material is fed through the feeding pipes by blowing. The drive of each component of the entire equipment, the opening and closing of the airlock and the valve, and the weighing sensor are all electrically connected to the control cabinet and controlled by the control cabinet. The four joints are driven by two joint motors, namely a nozzle rotation motor that drives the nozzle to rotate horizontally and a nozzle swing motor that drives the nozzle to rotate vertically. The first end of the clamping mechanism is in the shape of a ring and is correspondingly sleeved and fixed on the arm body near its end of the third arm. The middle part of the clamping mechanism consists of four rods arranged around the perimeter. The upper end of the rods is connected to the first end of the clamping mechanism, and the lower end is connected to the claw-shaped clamping mechanism. The first end of the support mechanism is circular and is fitted and fixed on the telescopic arm. The middle part of the support mechanism consists of four rods arranged around the perimeter. The upper end of the rods is connected to the first end of the support mechanism, and the lower end is connected to the support disc. The distance between two opposing support discs is equal to the diameter of the storage bag.

2. The self-propelled feeding machine with autonomous material suction as described in claim 1, characterized in that, The suction nozzle and the suction hose are available in various diameters from 20 mm to 150 mm; the feeding tube is available in various diameters from 30 mm to 100 mm; the suction and feeding device can handle particles ranging from 2 micrometers to 30 mm in size.

3. A self-propelled feeding machine with autonomous material suction as described in claim 1, characterized in that, The bottom of the chassis is also equipped with a tracking obstacle avoidance device to assist the self-propelled chassis in selecting an obstacle avoidance path.

4. A self-propelled feeding machine with autonomous material suction as described in claim 1, characterized in that, The motor shaft of the suction nozzle rotary motor is directly connected to the suction nozzle, and the motor shaft of the suction nozzle oscillating motor is connected to the motor body of the suction nozzle rotary motor.

5. A self-propelled feeding machine with autonomous material suction as described in any one of claims 1-4, characterized in that, The suction nozzle, the suction hose, the feed inlet, the feeding pipe, the transfer hopper, the airlock, the clamping mechanism, the support mechanism, the weighing hopper, and the valve are all made of non-metallic materials or have a metal outer layer and a non-metallic inner lining.

6. A self-propelled feeding machine with autonomous material suction as described in claim 5, characterized in that, The non-metallic material is selected from polytetrafluoroethylene, polycarbonate, polyamide, polyacetal, polypropylene, polyphenylene sulfide, polyaryl ester, unsaturated polyester, phenolic plastics, epoxy plastics, ultra-high molecular weight polyethylene, modified polyphenylene ether, or ceramics.

7. A self-propelled feeding machine with autonomous material suction as described in claim 5, characterized in that, The non-metallic lining material in the metal outer layer is selected from polytetrafluoroethylene, polycarbonate, polyamide, polyacetal, modified polyphenylene ether, polyester, phenolic plastic, epoxy plastic or ultra-high molecular weight polyethylene, and the lining thickness is 5mm to 15mm.

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