Automatic feeding transmission device and control method

Abstract

The present invention provides an automatic feeding and transmission device and a control method, which are applied to a working platform, wherein a feeding port is provided on the working platform, the automatic feeding and transmission device comprises an AGV vehicle, a positioning guide groove, and a charging bucket. The AGV vehicle is provided with a sensor and a lifting device. The positioning guide groove is provided on the working platform and close to the feeding port. The charging bucket is provided on the lifting device. The bottom discharge port of the charging bucket is provided with a clamping and separating mechanism connected to the feeding port, which comprises a material pipe, a pressing block, and a clamping member. One end of the material pipe is connected to the discharge port of the charging bucket through an opening and closing mechanism. The material pipe feeding port is positioned and movably connected. The pressing block is slidably sleeved on the material pipe. Clamping members are provided at intervals on the periphery of the material pipe. A clamping portion is provided on the clamping member. The clamping member is rotatably arranged on the material pipe. A force-relief structure is provided between the clamping member and the material pipe. One end of the clamping member can be pressed against the pressing block. The present invention can solve the problem of low soft magnetic powder feeding efficiency in the prior art.

Description

Technical Field

[0001] The present invention relates to the technical field of soft magnetic powder preparation, and in particular to an automatic feeding and conveying device and a control method. Background Art

[0002] Soft magnetic powder pressing is the process of pressing the soft magnetic powder that has been treated with insulation coating into a certain proportion and shape through pressure. However, before this, the soft magnetic powder that has been treated with insulation coating needs to be transported to the feeding port of the feeding mechanism.

[0003] In the prior art, in order to compact magnetic powder cores in batches, it is often necessary to manually transfer a loading barrel containing a large amount of soft magnetic powder to a feed port of a feeding mechanism at a certain height. Afterwards, in order for the powder to enter the feeding mechanism safely and stably, it is necessary to connect the discharge port of the loading barrel with the feed port of the feeding mechanism through a cumbersome assembly method. After the powder in the loading barrel is used up, it is necessary to separate the discharge port of the loading barrel from the feed port of the feeding mechanism through a cumbersome disassembly method, and push the barrel to the loading area. In this process, because the transportation and unloading of the loading barrel require manual intervention, the operation efficiency is low. Summary of the Invention

[0004] Based on this, the purpose of the present invention is to provide an automatic feeding and conveying device and a control method, aiming to solve the problem of low efficiency of soft magnetic powder feeding in the prior art.

[0005] On the one hand, the present invention provides an automatic loading and conveying device, which is applied to a working platform. The working platform is provided with a feeding port. The automatic loading and conveying device includes: an AGV car, a positioning guide groove, and a charging bucket. The AGV car can travel according to a preset path on the working platform. The AGV car is provided with a sensor and a lifting device. The positioning guide groove is provided on the working platform and close to the feeding port. The AGV car is controlled to stop at a predetermined position through the cooperation of the sensor and the positioning guide groove. The charging bucket is fixed on the lifting device, and the lifting device is used to enable the charging bucket to move vertically up and down. The bottom discharge port of the charging bucket A clamping and separating mechanism connected to the feed port is provided, and the clamping and separating mechanism includes a material pipe, a pressing block, and a clamping piece. One end of the material pipe is connected to the discharge port of the charging barrel through an opening and closing mechanism, and the other end of the material pipe is movably connected to the feed port. The pressing block is slidably sleeved on the material pipe, and clamping pieces are arranged at intervals along the circumference of the other end of the material pipe. The clamping piece is provided with a clamping portion, and the clamping piece is rotatably arranged on the material pipe. A buffer structure is provided between the clamping piece and the material pipe, and one end of the clamping piece can be pressed against the pressing block. The buffer structure is used to generate rebound resistance to the clamping piece that rotates due to the extrusion of the pressing block;

[0006] When the pressing block moves to a predetermined position along the material pipe toward the feed port, the engaging portion separates from the feed port; when the pressing block moves to a predetermined position along the material pipe toward the loading barrel, the engaging portion is engaged with the feed port.

[0007] In addition, the automatic feeding and conveying device according to the present invention may also have the following additional technical features:

[0008] Furthermore, a first limiting portion is provided on the opening and closing mechanism, and a second limiting portion is provided on the end of the material tube away from the opening and closing mechanism. The pressing block includes a main body and a first flange. The main body is slidably sleeved on the material tube and is located between the first limiting portion and the second limiting portion. A first flange is extended radially outward at one end of the main body close to the engaging member, and a side surface of the first flange close to the engaging member abuts against the engaging member.

[0009] Furthermore, the feed port is provided with a third limiting portion matching the second limiting portion, and the engaging part includes a rod body, a first angle hook, and a second angle hook. The rod body is rotatably arranged on the second limiting portion, and the first angle hook and the second angle hook are respectively arranged at both ends of the rod body. The angle between the first angle hook and the rod body is a right angle, and the angle between the second angle hook and the rod body is an obtuse angle; wherein, when the first flange presses the second angle hook toward the feed port side to a predetermined position, the rod body is driven to rotate to separate the first angle hook from the third limiting portion; when the first flange moves toward the side of the loading barrel, the rod body is driven to rotate in the opposite direction through the buffer structure to engage and connect the first angle hook with the third limiting portion.

[0010] Furthermore, a second flange is extended radially outward from one end of the material pipe away from the opening and closing mechanism, and a third flange is extended radially outward from the material feed port, and the second flange and the third flange have the same size.

[0011] Furthermore, the engaging and separating mechanism also includes a driving member, a first arm plate is provided on the charging barrel, a second arm plate is provided on the pressing block, and both ends of the driving member are rotatably provided on the first arm plate and the second arm plate respectively.

[0012] Furthermore, one end of the material tube facing the feed port is tapered and can extend into the feed port, a first semicircular clamping ring is fixed to the inner wall of the feed port, a second semicircular clamping ring is provided on the opposite surface of the first semicircular clamping ring, and the end portion of the material tube close to the feed port extends between the first semicircular clamping ring and the second semicircular clamping ring, the first semicircular clamping ring and the second semicircular clamping ring are slidably sleeved between the ports and are provided with a pull-back mechanism, the second semicircular clamping ring is provided with a resisting portion that passes through the side wall of the feed port, the first angle hook can be pressed against the resisting portion so that the first semicircular clamping ring and the second semicircular clamping ring slide close to each other, and the pull-back mechanism is used to generate rebound resistance to the second semicircular clamping ring that slides due to the squeezing of the first angle hook.

[0013] Furthermore, the pullback mechanism includes a first rod, a second rod, and an elastic member. A sliding groove is provided in the first rod, the second rod is limited in the sliding groove, and the two ends of the elastic member are respectively connected to the bottom of the sliding groove and the end of the second rod.

[0014] Furthermore, the opening and closing mechanism includes a flange body, a motor, and a rotary cover. The flange body is provided with a flow groove connecting the material pipe and the bottom discharge port of the loading barrel. The rotary cover is provided on the rotating shaft of the motor to open and close the flow groove. The flange body is provided with multiple protrusions, and the loading barrel is provided with a vibration motor.

[0015] Furthermore, the force-reducing structure includes a mounting seat, a rotating shaft, and a torsion spring. The mounting seat is arranged on the second limiting portion, the mounting seat is pivotally connected to the rod body through the rotating shaft, and the torsion spring is arranged between the mounting seat and the rod body.

[0016] On the other hand, based on the same inventive concept, the present invention also provides a control method for an automatic loading and conveying device, which is applied to the aforementioned automatic loading and conveying device. The control method includes the following steps:

[0017] Control the AGV vehicle to travel along a first preset path on the work platform, and obtain the collision distance between the AGV vehicle and the positioning guide groove collected by the sensor in real time;

[0018] Determine whether the collision distance reaches the threshold;

[0019] If yes, the AGV is controlled to stop and the lifting device is controlled to move downward to a preset distance;

[0020] Control the pressure block to move upwards by a preset distance;

[0021] Control the opening and closing mechanism to open;

[0022] When the powder in the loading barrel is unloaded, the opening and closing mechanism is controlled to close;

[0023] Control the pressure block to move downward by a preset distance;

[0024] The AGV is controlled to travel along a second preset path on the working platform so as to return to the loading location.

[0025] The beneficial effects of the present invention include at least: the AGV can travel along a predetermined path and can automatically and accurately stop at a predetermined position, and then the powder in the loading bucket can be automatically unloaded into the feeding port by sequentially controlling the lifting device, the engaging and separating mechanism, and the opening and closing mechanism to perform corresponding actions. Similarly, after all the powder in the loading bucket has been unloaded, the opening and closing mechanism, the engaging and separating mechanism, and the lifting device are sequentially controlled to perform corresponding actions, and finally the AGV is controlled to move and travel along the preset path to the loading device. During this cycle of powder transmission, no human participation is required, which greatly improves the working efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] Figure 1 This is a schematic structural diagram of an automatic feeding and conveying device conveying powder on a working platform according to an embodiment of the present invention;

[0027] Figure 2 This is a schematic structural diagram of an automatic feeding and conveying device according to an embodiment of the present invention;

[0028] Figure 3 Based Figure 2 A partial enlarged view of Example A;

[0029] Figure 4 This is a schematic structural diagram of the engaging and disengaging mechanism in the automatic feeding and conveying device according to an embodiment of the present invention when it is closed;

[0030] Figure 5 for Figure 4 A three-dimensional cutaway diagram of an embodiment;

[0031] Figure 6 This is a structural diagram of the engagement and separation mechanism in the automatic feeding and conveying device according to an embodiment of the present invention when it is opened and closed;

[0032] Figure 7 Schematic diagram of the assembly of the first semicircular snap ring and the second semicircular snap ring in the automatic feeding and conveying device according to an embodiment of the present invention;

[0033] Figure 8 A cross-sectional view of the assembled first and second semicircular snap rings in the automatic feeding and conveying device according to an embodiment of the present invention;

[0034] Description of main component symbols:

[0035] Working platform 100, feeding port 110, third flange 111, first semicircular snap ring 112, second semicircular snap ring 113, resisting portion 1131, pulling back mechanism 114, first rod 1141, second rod 1142, elastic member 1143, slide 1144, AGV vehicle 200, sensor 210, lifting device 220, positioning guide groove 300, charging bucket 400, first arm plate 410, vibration motor 4 30. Engaging and separating mechanism 500, material tube 510, second flange 512, pressing block 520, main body 521, first flange 522, second arm plate 523, engaging member 530, rod body 531, first angle hook 532, second angle hook 533, driving member 540, opening and closing mechanism 600, flange body 610, flow groove 611, protrusion 612, motor 620, rotating cover 630, mounting seat 710, rotating shaft 720.

[0036] The following specific embodiments will further illustrate the present invention in conjunction with the above-mentioned drawings. DETAILED DESCRIPTION

[0037] To facilitate understanding of the present invention, the present invention will be described more fully below with reference to the accompanying drawings. The drawings illustrate several embodiments of the present invention. However, the present invention may be implemented in many different forms and is not limited to the embodiments described herein. Rather, these embodiments are provided to provide a more thorough and comprehensive understanding of the present invention.

[0038] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one skilled in the art to which this invention pertains. The terms used in this specification of the present invention are for the purpose of describing specific embodiments only and are not intended to limit the present invention. The term "and / or" as used herein includes any and all combinations of one or more of the associated listed items.

[0039] Reference Figure 1-8, an automatic loading and conveying device provided by the present invention is applied to the working platform 100, and the working platform 100 is provided with a feeding port 110. The automatic loading and conveying device includes: an AGV vehicle 200, a positioning guide groove 300, and a loading bucket 400. The AGV vehicle 200 can travel along a preset path on the working platform 100. The AGV vehicle 200 is provided with a sensor 210 and a lifting device 220. The positioning guide groove 300 is provided on the working platform 100 and is close to the feeding port 110. The sensor 210 is used to measure the collision distance between the AGV vehicle 200 and the positioning guide groove 300. When the collision distance reaches a threshold, it indicates that the AGV vehicle 200 has reached the predetermined position. At this time, the AGV vehicle 200 can be controlled to stop moving. The charging barrel 400 is mounted and fixed on the lifting device 220. When the discharge port at the bottom of the charging barrel 400 needs to be docked with the feed port 110, the charging barrel 400 is first moved vertically up and down by the lifting device 220. In order to achieve automatic docking and separation, a snap-fit ​​and separation mechanism 500 connected to the feed port 110 is provided at the discharge port at the bottom of the charging barrel 400. Specifically, the snap-fit ​​and separation mechanism 500 includes a material pipe 510, a pressing block 520, and a snap-fit ​​member 530. The upper end of the material pipe 510 is connected to the discharge port of the charging barrel 400 through the opening and closing mechanism 600, and the lower end of the material pipe 510 is movably connected to the feed port 110 in a positional manner, so that the feed port 110 plays a radial limiting role on the lower end of the material pipe 510. The pressing block 520 is slidably sleeved on the material tube 510, and a clamping member 530 is arranged at intervals along the circumference of the lower end of the material tube 510. The clamping member 530 is provided with a clamping portion. The clamping member 530 is rotatably arranged on the material tube 110, and a buffer structure is provided between the clamping member 530 and the material tube 510. When the pressing block 520 moves downward along the axial direction of the material tube 510 for a certain distance, the upper end of the clamping member 530 is pressed against the pressing block 520. When the pressing block 520 continues to move downward, the clamping member 530 is relatively close to the material tube 110. 0 rotates in a certain direction, causing the engaging portion to gradually move away from the feed port 110 and eventually separate from the feed port 110. The rotational buffer structure is used to generate rebound resistance to the engaging member 530 that is rotated due to the compression of the pressing block 520. In this way, when the pressing block 520 moves upward along the axial direction of the material tube 510 until it is no longer in contact with the pressing block 520, the rebound resistance can drive the engaging member 530 to rotate in the opposite direction, causing the engaging portion on the engaging member 530 to gradually approach the feed port 110 and eventually be engaged with the feed port 110. When the engaging portion on the engaging member 530 is stably engaged with the feed port 110, the opening and closing mechanism 600 is opened, causing the powder in the charging barrel 400 to fall into the feed port 110. When all the powder in the loading barrel 400 is unloaded, the opening and closing mechanism 600 is closed, and then the locking part on the locking part 530 is separated from the feed port 110, and then the lifting device 220 is controlled to lift the loading barrel 400, and finally the AGV vehicle 200 is controlled to move and drive along the preset path to the work site where the loading device is located.

[0040] In this embodiment, the AGV can travel along a predetermined path and can automatically and accurately dock at a predetermined position. Thereafter, by sequentially controlling the lifting device 220, the engaging and separating mechanism 500, and the opening and closing mechanism 600 to perform corresponding actions, the powder in the loading barrel 400 can be automatically unloaded into the feed port 110. Similarly, after all the powder in the loading barrel 400 has been unloaded, the opening and closing mechanism 600, the engaging and separating mechanism 500, and the lifting device 220 are sequentially controlled to perform corresponding actions. Finally, the AGV vehicle 200 is controlled to move and travel along the preset path to the loading device. During this cycle of powder transmission, no human participation is required, which greatly improves the operating efficiency.

[0041] In some optional embodiments, such as Figure 3-6 As shown, a first limiting portion is provided on the opening and closing mechanism 600, and a second limiting portion is provided on the end of the material tube 510 away from the opening and closing mechanism 600. The pressing block 520 includes a main body 521 and a first flange 522. The main body 521 is slidably sleeved on the outer wall of the material tube 510, and the main body 521 is limited between them by the first limiting portion and the second limiting portion. The end of the main body 521 close to the engaging member 530 has a first flange 522 extending radially outward. When the pressing block 520 moves downward a certain distance along the axial direction of the material tube 510, the side surface of the first flange 522 close to the engaging member 530 begins to abut against the engaging member 530. When the pressing block 520 continues to move downward, the engaging member 530 rotates in a certain direction relative to the material tube 110, so that the engaging portion gradually moves away from the feed port 110 and is finally separated from the feed port 110. Similarly, when the pressing block 520 moves upward a certain distance along the axial direction of the material tube 510, the side surface of the first flange 522 close to the locking part 530 does not abut against the locking part 530. At this time, the rebound resistance generated by the buffer structure drives the locking part 530 to rotate in the opposite direction, so that the locking part on the locking part 530 gradually approaches the feed port 110 and is finally embedded in the feed port 110.

[0042] In this embodiment, by providing the first flange 522, not only can a support point be provided to push the pressing block 520 to move up and down along the axial direction of the material tube 510, but also the multiple engaging parts 530 can be evenly stressed, so that the engaging parts 530 can be synchronously engaged with the feed port 110.

[0043] In some optional embodiments, such as Figure 2 、 3As shown, the feed port 110 is provided with a third limiting portion that matches the second limiting portion. That is, when the bottom of the feed tube 110 is inserted into the feed port 110 to a certain position, the third limiting portion has a limiting effect on the third limiting portion, and the bottom of the feed tube 110 cannot continue to extend into the feed port 110, thereby playing a role in preliminary positioning. The engaging member 530 includes a rod 531, a first angle hook 532, and a second angle hook 533. The rod 531 is rotatably mounted on the second limiting portion. The first angle hook 532 and the second angle hook 533 are respectively disposed at the upper and lower ends of the rod 531. The angle between the first angle hook 532 and the lower end of the rod 531 is a right angle, and the angle between the second angle hook 533 and the upper end of the rod 531 is an obtuse angle. Because the angle between the first hook 532 and the lower end of the rod 531 is a right angle, the contact area between the first hook 532 and the third stopper on the feed inlet 110 is increased. Furthermore, because the angle between the second hook 533 and the upper end of the rod 531 is an obtuse angle, when the pressing block 520 presses downwardly against the second hook 533, the second hook 533 rotates toward the feed pipe 510. This obtuse angle prevents the second hook 533 from being blocked by the second stopper during rotation, thereby increasing the rotation angle of the second hook 533 in that direction. Furthermore, setting the angle between the second hook 533 and the upper end of the rod 531 at an obtuse angle reduces the radial dimension of the first flange 522, thereby reducing the space occupied by the pressing block 520.

[0044] In this embodiment, when the first flange 522 presses the second angle hook 533 toward the feed port 110 to a predetermined position, the rod body 531 rotates to separate the first angle hook 532 from the third limiting portion; when the first flange 522 moves toward the loading barrel 400, the force-reducing structure drives the rod body 531 to rotate in the opposite direction to engage and connect the first angle hook 532 with the third limiting portion.

[0045] In some optional embodiments, such as Figure 4 、 5 As shown, one end of the material tube 510 away from the opening and closing mechanism 600 has a second flange 512 extending radially outward to form a second limiting portion, and the feed port 110 has a third flange 111 extending radially outward to form a third limiting portion. Furthermore, the second flange 512 is consistent in size with the third flange 111, so that when the first angle hook 532 is engaged with the third flange 111, the rod body 531 can be set to a long strip shape, and the middle part of the long strip rod body 531 can abut against the edges of the second flange 512 and the third flange 111, so that the rod body 531 plays a radial limiting role on the second flange 512 and the third flange 111.

[0046] In addition, it is understandable that the rod body 531 can be tilted and rotated to be set on the second flange 512, and it is only necessary to modify the size and local shape of the first angle hook 532 and the second angle hook 533 accordingly.

[0047] In some optional embodiments, such as Figure 3 、 4 As shown, the engaging and disengaging mechanism 500 further includes a driving member 540. A first arm plate 410 is provided on the loading barrel 400, and a second arm plate 523 is provided on the pressing block 520. The two ends of the driving member 540 are rotatably mounted on the first arm plate 410 and the second arm plate 523, respectively. Optionally, the driving member 540 can be a linear motor or a pneumatic cylinder. Preferably, the driving member 540 is a linear motor, and the telescopic shaft at the front end of the linear motor is fixed to the second arm plate 523. When the telescopic shaft of the linear motor is extended or retracted, it can drive the pressing block 520 to move up and down along the axial direction of the material tube 510. Moreover, due to the high stroke control progress of the linear motor, high-precision telescopic movement can be achieved, thereby improving the engagement position accuracy of the first angle hook 532 and the third flange 111.

[0048] In some optional embodiments, such as Figure 5-8 As shown, the end of the material tube 510 facing the feed port 110 is tapered and can extend into the feed port 110. A first semicircular snap ring 112 is fixed to the inner wall of the feed port 110, and a second semicircular snap ring 113 is provided on the opposite surface of the first semicircular snap ring 112. When the second flange 512 and the third flange 111 are placed side by side and pressed against each other, the tapered portion of the end of the material tube 510 near the feed port 110 extends between the first semicircular snap ring 112 and the second semicircular snap ring 113. The first semicircular snap ring 112 and the second semicircular snap ring 113 are slidably sleeved between their ends and are provided with a pull-back mechanism 114. The second semicircular snap ring 113 is provided with a stopper 1131 that passes through the side wall of the feed port 110. The first angle hook 532 can press against the stopper 1131 so that The first semicircular snap ring 112 and the second semicircular snap ring 113 slide close to each other, and the pull-back mechanism 114 is used to generate rebound resistance to the second semicircular snap ring 113 that slides due to the squeezing of the first angle hook 532. When the first angle hook 532 does not press the resisting portion 1131, the pull-back mechanism 114 makes the first semicircular snap ring 112 and the second semicircular snap ring 113 move away from each other. At this time, the first semicircular snap ring 112 and the second semicircular snap ring 113 are not in contact with the tapered part of the material tube 510.

[0049] In this embodiment, when the first angle hook 532 is engaged and connected with the third flange 111, the first angle hook 532 is pressed against the resisting portion 1131. At this time, the first semicircular clamping ring 112 and the second semicircular clamping ring 113 are close to each other and reduced in size. At this time, the first semicircular clamping ring 112 and the second semicircular clamping ring 113 are stuck in the conical part of the material tube 510. In this way, when the remaining pressing effect of the first angle hook 532 fails, the material tube 510 can still be connected to the feed port 110 in a limited manner without detaching from the feed port 110, thereby greatly improving the connection stability between the two. When the first angle hook 532 is separated from the third flange 111, the first angle hook 532 moves away from the blocking portion 1131. At this time, under the action of the pulling back mechanism 114, the first semicircular snap ring 112 and the second semicircular snap ring 113 move away from each other and increase in size. At this time, the first semicircular snap ring 112 and the second semicircular snap ring 113 do not contact the tapered part of the material tube 510, so that the material tube 510 can be smoothly pulled out from the feed port 110.

[0050] In some optional embodiments, such as Figure 7 、 8 As shown, the retraction mechanism 114 includes a first rod 1141, a second rod 1142, and an elastic member 1143. A sliding groove 1144 is defined within the first rod 1141, and the second rod 1142 is constrained to move within the sliding groove 1144. The two ends of the elastic member 1143 are respectively connected to the bottom of the sliding groove 1144 and the end of the second rod 1142. When the first angle hook 532 is separated from the third flange 111, the elastic member 1143 can be in a natural state or a partially compressed state. When the first angle hook 532 is engaged with the third flange 111, the first angle hook 532 presses against the stopper 1131, compressing the elastic member 1143 and causing the second rod 1142 to move rightward within the sliding groove 1144, thereby reducing the distance between the first rod 1141 and the second rod 1142 and bringing the first semicircular snap ring 112 and the second semicircular snap ring 113 closer to each other.

[0051] In some optional embodiments, such as Figure 3-5As shown, the opening and closing mechanism 600 includes a flange body 610, a motor 620, and a rotary cover 630. A flow channel 611 is provided within the flange body 610, connecting the material pipe 510 with the bottom discharge port of the charging barrel 400. The rotary cover 630 is disposed on the rotating shaft of the motor 620, and the rotating shaft of the motor 620 is located at the central axis of the flow channel 611. The central axis of the rotary cover 630 is fixedly mounted on the rotating shaft of the motor 620. By rotating the rotating shaft of the motor 620 in two opposite directions, the rotary cover 630 can be opened and closed. In addition, the flange body 610 is also provided with a plurality of protrusions 612. When the pressure block 520 moves upward along the axial direction of the material pipe 510, it is limited by the protrusions 612 and cannot continue to move upward. The loading barrel 400 is provided with a vibration motor 430, which can be started while unloading to shake off the powder adhering to the inner wall of the loading barrel 400, thereby avoiding waste caused by residual powder on the inner wall of the loading barrel 400.

[0052] In some optional embodiments, such as Figure 3 As shown, the force-relief structure includes a mounting seat 710, a rotating shaft 720, and a torsion spring (not shown in the accompanying drawings). The mounting seat 710 is arranged on the second flange 512, and the mounting seat 710 is pivotally connected to the rod body 531 through the rotating shaft 720, so that the rod body 531 can rotate relative to the mounting seat 710. The torsion spring is arranged between the mounting seat 710 and the rod body 531. In this way, when the pressure block 520 does not press against the second angle hook 533, the torsion spring can provide a certain driving force to make the rod body 531 rotate in the opposite direction, thereby making the first angle hook 532 engage and connect with the third flange 111 on the feed port 110.

[0053] On the other hand, based on the same inventive concept, the present invention also provides a control method for an automatic loading and conveying device, which is applied to the aforementioned automatic loading and conveying device. The control method includes the following steps:

[0054] Step S100: Control the AGV 200 to travel along a first preset path on the work platform 100, and obtain in real time the collision distance between the AGV 200 and the positioning guide groove 300 collected by the sensor 210;

[0055] Step S200: determining whether the collision distance reaches a threshold;

[0056] Step S300: If yes, control the AGV 200 to stop and control the lifting device 220 to move downward to a preset distance;

[0057] Step S400: Control the pressing block 520 to move upward by a preset distance;

[0058] Step S500, controlling the opening and closing mechanism 600 to open;

[0059] Step S600: After the powder in the loading barrel 400 is unloaded, the opening and closing mechanism 600 is controlled to close;

[0060] Step S700: Control the pressing block 520 to move downward by a preset distance;

[0061] Step S800: Control the AGV vehicle 200 to travel along the second preset path on the working platform 100 so as to return to the loading location.

[0062] The working principle of the present invention is described in detail below with reference to the preferred embodiment of the present invention:

[0063] Initial state: the opening and closing mechanism 600 is closed, and the first flange 522 presses downward against the second angle hook 533;

[0064] Start working: the AGV 200 carrying the charging bucket 400 filled with powder travels along the first preset path on the working platform 100, and obtains the collision distance between the AGV 200 and the positioning guide groove 300 collected by the sensor 210 in real time; when it is judged that the collision distance reaches the threshold, the AGV 200 arrives at the feed port 110, the AGV 200 stops moving, and the lifting device 220 pushes the charging bucket 400 downward to the preset distance, so that the discharge port at the bottom of the charging bucket 400 extends into the feed port 110 until the second flange 512 and the third flange 111 are side by side and abut against each other; the pressing block 520 moves upward by a preset distance until the first flange 522 no longer presses downward on the second angle hook 533, and under the action of the buffer structure, the rod body 531 is driven to rotate, so that the first angle hook 532 is engaged and connected with the third flange 111; the opening and closing mechanism 600 is opened; when the powder in the loading barrel 400 is unloaded, the opening and closing mechanism 600 is closed; the pressing block 520 moves downward by a preset distance until the first flange 522 presses downward on the second angle hook 533, so that the first angle hook 532 is separated from the third flange 111; the AGV vehicle 200 travels on the work platform 100 according to the second preset path to return to the loading location.

[0065] Throughout this specification, reference to terms such as "one embodiment," "some embodiments," "examples," "specific examples," or "some examples" means that a specific feature, structure, material, or characteristic described in conjunction with that embodiment or example is included in at least one embodiment or example of the present invention. In this specification, schematic representations of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.

[0066] The above-described embodiments merely illustrate several implementations of the present invention. While the descriptions are relatively specific and detailed, they should not be construed as limiting the scope of the present invention. It should be noted that a person skilled in the art would be able to make numerous modifications and improvements without departing from the spirit of the present invention, all of which fall within the scope of protection of the present invention. Therefore, the scope of protection of the present invention shall be determined by the appended claims.

Claims

1. An automatic feeding and conveying device, applied to a working platform, wherein the working platform is provided with a feeding port, characterized in that: The automatic feeding and conveying device comprises: An AGV vehicle, which can travel along a preset path on the work platform, is provided with a sensor and a lifting device; A positioning guide groove is provided on the working platform and close to the feed port, and the AGV is controlled to stop at a predetermined position through the cooperation between the sensor and the positioning guide groove; The charging barrel is fixed on the lifting device, and the charging barrel can be moved vertically up and down by the lifting device, and the bottom discharge port of the charging barrel is provided with a clamping and separating mechanism connected with the feeding port, and the clamping and separating mechanism includes a material pipe, a pressing block, and a clamping piece, one end of the material pipe is connected with the discharge port of the charging barrel through an opening and closing mechanism, and the other end of the material pipe is positioned and movably connected to the feeding port, the pressing block is slidably sleeved on the material pipe, and the clamping pieces are arranged at intervals along the circumference of the other end of the material pipe, and a clamping portion is provided on the clamping piece, and the clamping piece is rotatably arranged on the material pipe, and a buffer structure is provided between the clamping piece and the material pipe, and one end of the clamping piece can be pressed against the pressing block, and the buffer structure is used to generate rebound resistance to the clamping piece rotating due to the extrusion of the pressing block; When the pressing block moves along the material pipe toward the material feed port to a predetermined position, the engaging portion separates from the material feed port; when the pressing block moves along the material pipe toward the material loading barrel to a predetermined position, the engaging portion is engaged with the material feed port; The opening and closing mechanism is provided with a first limiting portion, and the end of the material pipe away from the opening and closing mechanism is provided with a second limiting portion. The pressing block includes a main body and a first flange. The main body is slidably sleeved on the material pipe and is located between the first limiting portion and the second limiting portion. The first flange is radially extended outward from one end of the main body close to the engaging member. A side surface of the first flange close to the engaging member abuts against the engaging member. The feed port is provided with a third limiting portion matching the second limiting portion, and the engaging member includes a rod body, a first angle hook, and a second angle hook, the rod body being rotatably arranged on the second limiting portion, the first angle hook and the second angle hook being respectively arranged at two ends of the rod body, the angle between the first angle hook and the rod body being a right angle, and the angle between the second angle hook and the rod body being an obtuse angle; wherein, when the first flange presses the second angle hook toward the feed port side to a predetermined position, the rod body is driven to rotate so that the first angle hook is separated from the third limiting portion; when the first flange moves toward the charging barrel side, the rod body is driven to rotate in the opposite direction by the buffer structure so that the first angle hook is engaged with the third limiting portion; One end of the material tube facing the feed port is tapered and can extend into the feed port, a first semicircular clamping ring is fixed to the inner wall of the feed port, a second semicircular clamping ring is provided on the opposite surface of the first semicircular clamping ring, an end portion of the material tube close to the feed port extends between the first semicircular clamping ring and the second semicircular clamping ring, the first semicircular clamping ring and the second semicircular clamping ring are slidably sleeved between the ports and a pull-back mechanism is provided, the second semicircular clamping ring is provided with a resisting portion that passes through the side wall of the feed port, the first angle hook can be pressed against the resisting portion so that the first semicircular clamping ring and the second semicircular clamping ring slide close to each other, and the pull-back mechanism is used to generate rebound resistance to the second semicircular clamping ring that slides due to the squeezing of the first angle hook; The pullback mechanism includes a first rod, a second rod, and an elastic member. A sliding groove is provided in the first rod, and the second rod is limited in the sliding groove. The two ends of the elastic member are respectively connected to the bottom of the sliding groove and the end of the second rod.

2. The automatic feeding and conveying device according to claim 1, characterized in that: A second flange is extended radially outward at one end of the material pipe away from the opening and closing mechanism, and a third flange is extended radially outward at the feed port. The second flange has the same size as the third flange.

3. The automatic feeding and conveying device according to claim 1 or 2, characterized in that: The engaging and separating mechanism further includes a driving member. The charging barrel is provided with a first arm plate, the pressing block is provided with a second arm plate, and both ends of the driving member are rotatably provided on the first arm plate and the second arm plate respectively.

4. The automatic feeding and conveying device according to claim 1, characterized in that: The opening and closing mechanism includes a flange body, a motor, and a rotary cover. The flange body is provided with a flow groove connecting the material pipe and the bottom discharge port of the charging barrel. The rotary cover is arranged on the rotating shaft of the motor to open and close the flow groove. The flange body is provided with multiple protrusions, and the charging barrel is provided with a vibration motor.

5. The automatic feeding and conveying device according to claim 1, characterized in that: The deceleration structure includes a mounting seat, a rotating shaft, and a torsion spring. The mounting seat is arranged on the second limiting portion. The mounting seat is pivotally connected to the rod body through the rotating shaft. The torsion spring is arranged between the mounting seat and the rod body.

6. A control method for an automatic loading and conveying device, applied to the automatic loading and conveying device according to any one of claims 1 to 5, characterized in that: The control method includes: Controlling the AGV to travel on the work platform according to a first preset path, and obtaining in real time a collision distance between the AGV and the positioning guide groove collected by the sensor; Determining whether the collision distance reaches a threshold; If so, the AGV is controlled to stop moving and the lifting device is controlled to move downward to a preset distance; Controlling the pressing block to move upwards by a preset distance; Control the opening and closing mechanism to open; When the powder in the loading barrel is unloaded, the opening and closing mechanism is controlled to close; Controlling the pressing block to move downward by a preset distance; The AGV is controlled to travel along a second preset path on the working platform so as to return to the loading location.

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