Feeding system and feeding method

Abstract

The invention relates to the technical field of material feeding, and provides a feeding system and a feeding method.The feeding system comprises a feeding device and a first transfer device. The feeding device comprises a supporting frame and a hopper, and the hopper is connected to the supporting frame. The hopper is provided with a feeding channel which is provided with an inlet and an outlet. The first transfer device is movably arranged relative to the feeding device, and the first transfer device is used for loading materials and feeding the materials into the feeding channel through the inlet; and the materials are moved to an external storage device through the outlet. Through the structural arrangement, flexible scheduling of the feeding system is achieved, the working flexibility and stability of the feeding system are improved, and therefore the working efficiency of the feeding system is improved.

Description

Technical Field

[0001] The present application relates to the technical field of material feeding, and in particular to a feeding system and a feeding method. Background Art

[0002] With the continuous development of intelligence, intelligent equipment is used in various fields to reduce labor intensity and improve productivity, especially in the material loading process in some processing industries.

[0003] In the related art, the feeding system uses a robotic arm to grab the material, and transfers the material to the feeding mechanism through the relative movement between the joints of the robotic arm. Among them, one robotic arm can correspond to multiple feeding mechanisms, or the robotic arm and the feeding mechanism are set one by one, and the robotic arm works continuously to complete the material feeding operation.

[0004] However, the scheduling of the robotic arm is prone to failure, making it difficult to improve the feeding efficiency of the feeding system. Summary of the invention

[0005] The present application provides a feeding system and a feeding method, which can improve the feeding efficiency.

[0006] In order to achieve the above objectives, this application adopts the following technical solutions:

[0007] In a first aspect, the present application provides a feeding system, comprising:

[0008] A feeding device, the feeding device comprises a support frame and a hopper, the hopper is connected to the support frame, and the support frame drives the hopper to rotate; the hopper has a feeding channel, and the feeding channel has an inlet and an outlet;

[0009] A first transfer device, the first transfer device is movably arranged relative to the feeding device, the first transfer device is used to load materials and feed the materials into the feeding channel through the inlet;

[0010] The material moves to an external storage device through the outlet.

[0011] As a possible implementation manner, the hopper is movably arranged along a first direction relative to the support frame;

[0012] And / or, the hopper is movably arranged relative to the support frame along the second direction and / or the third direction, so that the outlet of the feeding channel and the inlet of the external storage device are opposite to and connected to each other;

[0013] The third direction, the second direction and the first direction are perpendicular to each other, and the first direction is along an extension direction of the support frame.

[0014] As a possible implementation manner, the feeding device further includes a connecting piece, and the connecting piece is arranged on the hopper;

[0015] The connecting piece has a connecting cavity, one end of which is connected to the feeding channel through the outlet of the feeding channel, and the other end of which faces the external storage device;

[0016] The connecting piece is rotatably arranged relative to the hopper around the axis of the communicating cavity.

[0017] As a possible implementation, the support frame has a rotation axis, and the support frame drives the hopper to rotate around the rotation axis to adjust the inclination angle of the feeding device relative to the ground;

[0018] The extending direction of the rotation axis is parallel to the second direction.

[0019] As a possible implementation manner, the feeding system further includes a material box, and the material box is used to hold the material;

[0020] The first transfer device comprises a gantry, a storage piece, a lifting mechanism and a robot base, wherein the gantry is arranged on the robot base, and the storage piece and the lifting mechanism are respectively arranged on opposite sides of the gantry;

[0021] When the first transfer device and the feeding device cooperate to feed materials, the lifting mechanism is located on the side of the door frame facing the feeding device;

[0022] The storage part is used for placing the material box, and the lifting mechanism can move toward the storage part and the hopper respectively relative to the door frame to telescopically transfer the material box between the storage part and the hopper.

[0023] As a possible implementation manner, there are a plurality of the object placement pieces, and the plurality of the object placement pieces are arranged at intervals along the height direction of the door frame; and the lifting mechanism is movably arranged relative to the door frame along the height direction of the door frame.

[0024] As a possible implementation, the material box has a box cover and a box body, and the box cover is arranged on the top of the box body;

[0025] The first transfer device also includes a cover removing mechanism, which is arranged on the gantry and can be moved along the height direction of the gantry, and the cover removing mechanism and the lifting mechanism are relatively arranged along the height direction of the gantry; the cover removing mechanism is used to remove the box cover of the material box located on the lifting mechanism from the box body, and / or, to place the box cover on the box body.

[0026] As a possible implementation manner, the feeding device includes a first fixing component, and the first fixing component is located in the feeding channel and close to the entrance of the feeding channel;

[0027] The first fixing assembly is used to cooperate with the material box to feed the material in the material box into the feeding channel.

[0028] As a possible implementation manner, the first fixing component is rotatably arranged relative to the hopper, so that the material can be poured into the feeding channel through the cooperation between the first fixing component and the material box.

[0029] As a possible implementation, the feeding system further includes a second transfer device, and along the first direction, the hopper and the second transfer device are respectively located at two ends of the support frame;

[0030] The external material storage device is detachably connected to the support frame through the second transfer device.

[0031] As a possible embodiment, the feeding device also includes a second fixing component, which is movably arranged on the support frame along the first direction, and the second fixing component and the second transfer device are detachably connected to fix the second transfer device to the support frame when the second transfer device and the second fixing component are matched.

[0032] As a possible implementation manner, the feeding device further includes an image detector and a controller, the image detector is connected to the hopper, and a detection end of the image detector faces the outlet of the feeding channel;

[0033] The image detector is used to detect the relative position of the external material storage device and the outlet of the feeding channel; the controller is electrically connected to the image detector and the second fixed component respectively, and the controller responds to the detection signal of the image detector to make the external material storage device and the outlet of the feeding channel relative and connected.

[0034] As a possible implementation manner, the feeding device further includes a weight detector, which is disposed on the support frame and is configured to detect the weight of the external storage device;

[0035] The weight detector is electrically connected to the controller; when the weight value obtained by the weight detector is equal to a preset value, the controller sends a loading completion signal.

[0036] As a possible implementation manner, the hopper has a baffle, and the baffle is rotatably disposed at the inlet of the feeding channel so that the inlet can be opened or closed.

[0037] In a second aspect, the present application provides a feeding method, which is applied to the feeding system described in the first aspect; the feeding system has a storage area and a feeding area, and the feeding device of the feeding system is located in the feeding area; the method comprises:

[0038] In response to a material feeding instruction, control the first transfer device to move to the material storage area to load materials, and obtain loading information of the materials;

[0039] According to the loading information of the material and the feeding instruction, control the first transfer device to move to the feeding area and obtain the feeding instruction;

[0040] According to the feeding instruction, the first transfer device and the feeding device are controlled to cooperate to feed the material to an external storage device.

[0041] As a possible implementation mode, controlling the first transfer device to cooperate with the feeding device to feed the material to an external storage device specifically includes:

[0042] Controlling the lifting mechanism of the first transfer device to move, and transferring the material box from the storage part of the first transfer device to the cover removal mechanism of the first transfer device;

[0043] Controlling the cover-removing mechanism to remove the box cover of the material box;

[0044] Controlling the baffle of the hopper in the feeding device to rotate so that the entrance of the feeding channel of the hopper is opened;

[0045] Controlling the lifting mechanism to move relative to the hopper so as to place the box body of the material box on the first fixing component of the feeding device, and controlling the first fixing component to cooperate with the box body;

[0046] Controlling the lifting mechanism to disengage from the entrance of the feeding channel, and controlling the baffle to rotate so that the entrance of the feeding channel is closed;

[0047] Controlling the first fixing assembly to rotate so as to dump the material in the box into the feeding channel;

[0048] Controlling the hopper to move relative to the support frame of the feeding device, and controlling the second fixing assembly of the feeding device to move relative to the support frame, so that the external storage device is connected to the outlet of the feeding channel;

[0049] The support frame is controlled to rotate, and the hopper and the external material storage device rotate along with the support frame, so that the feeding device is tilted relative to the first transfer device.

[0050] The present application provides a feeding system and a feeding method, wherein the feeding system includes a feeding device and a first transfer device, the feeding device includes a support and a hopper, the hopper is arranged on a support frame, the hopper has a feeding channel, and the feeding channel has an inlet and an outlet that are interconnected, so that the material can flow along the feeding channel to an external storage device. The first transfer device carries the material to move relative to the feeding device, and delivers the material to the feeding channel through the inlet. In this way, through the movable setting of the first transfer device, the flexible scheduling design of the feeding system is realized, the flexibility, stability and reliability of the feeding system are improved, and thus the operating efficiency of the feeding system is improved. BRIEF DESCRIPTION OF THE DRAWINGS

[0051] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0052] Figure 1 A schematic diagram of a feeding system provided in an embodiment of the present application;

[0053] Figure 2 A schematic diagram of a hopper in a feeding system provided in an embodiment of the present application;

[0054] Figure 3 A schematic diagram of a second fixing component in a feeding system provided in an embodiment of the present application;

[0055] Figure 4 A schematic diagram of a support frame in a feeding system provided in an embodiment of the present application;

[0056] Figure 5 A schematic diagram of a first transfer device in a feeding system provided in an embodiment of the present application;

[0057] Figure 6 for Figure 5 A partial enlarged view of the dotted box portion in FIG.

[0058] Figure 7 A control schematic diagram of a feeding system provided in an embodiment of the present application;

[0059] Figure 8 Schematic diagram of the layout of the feeding system provided in the embodiment of the present application Figure 1 ;

[0060] Fig. 9 Schematic diagram of the layout of the feeding system provided in the embodiment of the present application Figure 2 ;

[0061] Fig.10 A flow chart of a feeding method provided in an embodiment of the present application.

[0062] Description of reference numerals:

[0063] 100-Feeding system;

[0064] 110-feeding device;

[0065] 111-support frame; 1111-base; 1112-body; 1113-first sliding part; 1114-second sliding part; 1115-rotation axis;

[0066] 112-hopper; 1121-feeding channel; 1122-entrance; 1123-baffle; 1124-telescopic member;

[0067] 113-connecting piece;

[0068] 114-first fixing assembly; 1141-fixing member;

[0069] 115-second fixing assembly; 1151-connecting plate; 1152-limiting member; 1153-first limiting portion; 1154-second limiting portion; 1155-third limiting portion; 1156-elastic baffle;

[0070] 116a-first drive assembly; 116b-second drive assembly; 116c-third drive assembly; 116d-fourth drive assembly; 116e-fifth drive assembly;

[0071] 117- Image detector;

[0072] 118-controller;

[0073] 119-weight detector;

[0074] 120-first transfer device; 121-gantry; 122-object storage; 123-lifting mechanism; 124-robot base; 125-capping mechanism; 126-suction cup;

[0075] 130-material box; 131-box cover; 132-box body;

[0076] 140- second transfer device;

[0077] 150-vibration feed inlet;

[0078] 160-dust removal connection port;

[0079] 200-External storage device. DETAILED DESCRIPTION

[0080] In order to make the purpose, technical scheme and advantages of the embodiments of the present application clearer, the technical scheme in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are part of the embodiments of the present application, rather than all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of this application. In the absence of conflict, the following embodiments and features in the embodiments can be combined with each other.

[0081] With the continuous development of intelligence, intelligent equipment is used in various fields to reduce labor intensity and improve productivity, especially in the material loading process in some processing industries.

[0082] In the related art, the feeding system includes a conveyor line and a robotic arm. The robotic arm is located in the feeding area, the conveyor line transports the material to the feeding area, the robotic arm grabs the material from the conveyor line, and then transfers the material to the feeding mechanism through the relative movement between the joints of the robotic arm. Among them, one robotic arm can correspond to multiple feeding mechanisms, or the robotic arm and the feeding mechanism are set one by one, and the robotic arm works continuously to complete the material feeding operation.

[0083] However, the scheduling of the robotic arm is prone to failure, making it difficult to improve the feeding efficiency of the feeding system.

[0084] In order to overcome the defects in the prior art, the present application provides a feeding system and a feeding method, wherein the feeding system includes a feeding device and a first transfer device. The feeding device includes a support frame and a hopper, and the hopper is connected to the support frame. The hopper has a feeding channel, and the feeding channel has an inlet and an outlet. The first transfer device is loaded with materials and is movable relative to the feeding device, so that the materials are fed into the feeding channel through the inlet of the feeding channel, the materials move along the feeding channel, and move from the outlet to an external storage device. In this way, through the movable setting of the first transfer device, the flexible scheduling of the feeding system is realized, the working flexibility and stability of the feeding system are improved, and thus the working efficiency of the feeding system is improved.

[0085] The contents of the present application will be described in detail below in conjunction with the accompanying drawings so that those skilled in the art can understand the contents of the present application more clearly and in detail.

[0086] Figure 1 A schematic diagram of a feeding system provided in an embodiment of the present application. Figure 2 A schematic diagram of a hopper in a feeding system provided in an embodiment of the present application. Figure 3 A schematic diagram of a second fixing component in a feeding system provided in an embodiment of the present application. Figure 4 A schematic diagram of a support frame in a feeding system provided in an embodiment of the present application. Figure 5 A schematic diagram of the first transfer device in the feeding system provided in an embodiment of the present application.

[0087] Figure 6 for Figure 5 A partial enlarged view of the dotted box part. Figure 7 A control schematic diagram of the feeding system provided in an embodiment of the present application.

[0088] like Figure 1-Figure 7 As shown, an embodiment of the present application provides a feeding system 100 , including: a feeding device 110 and a first transfer device 120 .

[0089] The feeding device 110 includes a support frame 111 and a hopper 112 . The hopper 112 is connected to the support frame 111 . The hopper 112 has a feeding channel 1121 . The feeding channel 1121 has an inlet 1122 and an outlet.

[0090] The first transfer device 120 is movably arranged relative to the feeding device 110 . The first transfer device 120 is used to load materials and feed the materials into the feeding channel 1121 through the inlet 1122 ; the materials move to the external storage device 200 through the outlet.

[0091] According to the feeding system 100 provided in the present application, the hopper 112 is arranged on the support frame 111, and the hopper 112 has a feeding channel 1121, and the feeding channel 1121 has an inlet 1122 and an outlet that are interconnected, so that the material can flow along the feeding channel 1121 to the external storage device 200. The first transfer device 120 carries the material and moves relative to the feeding device 110, and delivers the material to the feeding channel 1121 through the inlet 1122. In this way, through the movable setting of the first transfer device 120, the flexible scheduling design of the feeding system 100 is realized, and the flexibility, stability and reliability of the feeding system 100 are improved, thereby improving the operating efficiency of the feeding system 100.

[0092] The specific structure of the feeding system 100 and various possible implementations are described in detail below.

[0093] For example, see Figure 1 , Figure 3 and Figure 4 The support frame 111 in the embodiment of the present application includes a base 1111 and a main body 1112 that are interconnected. The base 1111 can be relatively fixedly connected to the external platform, so that the main body 1112 is set on the base 1111, and the support frame 111 remains stable as a whole, reducing shaking during operation, and further improving the overall stability of the feeding system 100.

[0094] The hopper 112 is connected to the support frame 111. It can be understood that the hopper 112 is connected to the body 1112. The hopper 112 can be arranged on one side close to the top of the body 1112 along the Z direction, or arranged in the middle of the body 1112, and no specific requirements are made for this.

[0095] In some embodiments, the support frame 111 has a rotation axis 1115 , and the support frame 111 drives the hopper 112 to rotate around the rotation axis 1115 to adjust the inclination angle of the feeding device 110 relative to the ground.

[0096] It can be understood that the body 1112 is arranged to rotate relative to the base 1111 around the rotation axis 1115. The body 1112 rotates relative to the base 1111 around the rotation axis 1115, and the extension direction of the rotation axis 1115 is along the X direction. In this way, during the rotation of the body 1112 around the rotation axis 1115, the hopper 112 can be driven to rotate around the rotation axis 1115, so as to adjust the inclination angle of the hopper 112 relative to the ground. In this way, the body 1112 drives the hopper 112 to rotate, and the hopper 112 is relatively inclined, and the flow state of the material in the feeding channel 1121 changes, which can accelerate the flow of the material in the feeding channel 1121 and improve the feeding efficiency. At the same time, the hopper 112 is inclined relative to the ground, forming a collision buffer between the material and the external storage device 200, preventing the external storage device 200 from being damaged due to excessive material flow rate, and ensuring the safety and stability of the external storage device 200, so as to ensure the stable operation of the feeding system 100, reduce the feeding stop, and improve the feeding operation efficiency.

[0097] Illustratively, the main body 1112 can drive the hopper 112 to rotate and form an inclined angle with the ground, and the inclined angle can be 60° to 90°, for example: 60°, 65°, 70°, 75°, 80°, 85°, 90°, etc. The embodiment of the present application does not make specific requirements for this, and any angle value that meets the above numerical range is acceptable.

[0098] The hopper 112 has a feeding channel 1121, and the feeding channel 1121 has an inlet 1122 and an outlet. It can be understood that the inlet 1122 and the outlet are connected to each other, and the inlet 1122 and the outlet can be located on different walls of the hopper 112, for example, on adjacent walls of the hopper 112 or on opposite walls, and the present application does not make specific requirements for this. After the material enters the feeding channel 1121 from the inlet 1122, it flows along the feeding channel 1121 to the outlet, and is discharged from the outlet to the external storage device 200.

[0099] It should be noted that the material in the embodiment of the present application can be solid or liquid. When the material is solid, the material can be granular, powdered or blocky, and the present application does not make specific requirements for this. In a specific application, the feeding system 100 provided in the present application can be used in the production and manufacturing field of photovoltaic materials, such as photovoltaic panels, polysilicon, monocrystalline silicon, etc. Adjacent, the materials in these production fields can be silicon powder.

[0100] In addition, the external material storage device 200 mentioned in the embodiment of the present application may be a material conveying device on a product production line, or a movable material storage tank or barrel, etc., and the present application does not make specific requirements for this.

[0101] In some embodiments, the feeding device 110 and the first transfer device 120 of the feeding system 100 can be arranged in a one-to-one correspondence. The first transfer device 120 carries the material and moves relative to the feeding device 110. The first transfer device 120 moves to a position corresponding to the hopper 112 and delivers the material into the feeding channel 1121 of the hopper 112.

[0102] It should be noted that the first transfer device 120 can load all the required materials at one time, and complete the material loading through one relative movement; or the first transfer device 120 carries multiple sub-packaged materials, and completes the material loading through one relative movement and multiple feeding. In this way, the material loading efficiency is improved through the loading system 100.

[0103] Of course, there can be multiple first transfer devices 120 and one feeding device 110. In this way, through the reasonable scheduling of multiple first transfer devices 120, the flexibility of the feeding system 100 can be improved, thereby ensuring the working stability and working efficiency of the feeding system 100.

[0104] Figure 8 Schematic diagram of the layout of the feeding system provided in the embodiment of the present application Figure 1 . Fig. 9 Schematic diagram of the layout of the feeding system provided in the embodiment of the present application Figure 2 .

[0105] See also Figure 8 and Fig. 9 The feeding device 110 and the first transfer device 120 in the feeding system 100 can be arranged in the above two different layouts. The first transfer device 120 can be arranged along Figure 8 and Fig. 9 Of course, the layout of the feeding device 110 and the first transfer device 120 is not limited to the two shown in the figure, and the movement line of the first transfer device 120 is not limited to the above movement line layout.

[0106] Possibly, the hopper 112 is movably arranged relative to the support frame 111 along the first direction; and / or, the hopper 112 is movably arranged relative to the support frame 111 along the second direction and / or the third direction; the third direction, the second direction and the first direction are perpendicular to each other, and the first direction is along the extension direction of the support frame 111. In this way, through the relative movement between the hopper 112 and the support frame 111, the relative position between the outlet of the hopper 112 and the inlet of the external storage device 200 is adjusted, so that the feeding channel 1121 and the external storage device 200 are connected, the accuracy of feeding is improved, the feeding operation efficiency of the feeding system 100 is improved, and material leakage can be reduced.

[0107] It should be noted that the first direction in the embodiment of the present application is the length direction of the support frame 111, the second direction intersects with the length direction of the support frame 111, the second direction is along the X direction, and the third direction is along the Y direction.

[0108] It is easy to understand that the first sliding part 1113 extending in the first direction is provided on the body 1112 of the support frame 111, and the hopper 112 is connected to the first sliding part 1113 and moves in the first direction relative to the first sliding part 1113, so as to achieve height adjustment of the hopper 112 on the support frame 111. In this way, the outlet of the hopper 112 and the external storage device 200 can be made to face each other by simply adjusting the relative position of the hopper 112 relative to the support frame 111 in the first direction, thereby reducing leakage of materials during the loading process and improving the loading efficiency of materials.

[0109] Alternatively, a second sliding portion 1114 extending in the second direction is provided on the body 1112 of the support frame 111, and the hopper 112 is connected to the second sliding portion 1114 and moves in the second direction relative to the second sliding portion 1114, thereby realizing the adjustment of the position of the hopper 112 in the X direction on the support frame 111. In this way, the outlet of the hopper 112 and the external storage device 200 can be made to face each other only by adjusting the relative position of the hopper 112 relative to the support frame 111 in the second direction, thereby reducing the leakage of materials during the loading process and improving the loading efficiency of materials.

[0110] Of course, the first sliding part 1113 and the second sliding part 1114 can be provided on the main body 1112 of the support frame 111 at the same time, so that the hopper 112 can move in both the first direction and the second direction relative to the support frame 111. In this way, by adjusting the relative position of the hopper 112 on the support frame 111, the relative position between the hopper 112 and the external storage device 200 is adjusted, and the leakage of materials during the feeding process is reduced, thereby improving the feeding efficiency of the feeding system 100.

[0111] In some embodiments, at least one of the first sliding part 1113 and the second sliding part 1114 is a slide rail. Of course, the first sliding part 1113 and the second sliding part 1114 can also be a telescopic structure. The embodiment of the present application does not require the specific structure of the first sliding part 1113 and the second sliding part 1114. Any structure that can adjust the relative position of the hopper 112 relative to the support frame 111 along the first direction and the second direction is acceptable.

[0112] In some embodiments, the feeding device 110 further includes a connector 113, which is disposed at the outlet of the hopper 112; the connector 113 has a connecting cavity, one end of which is connected to the feeding channel 1121 through the outlet of the feeding channel 1121, and the other end of the connecting cavity faces the external storage device 200; the connector 113 is rotatable relative to the hopper 112 around the axis of the connecting cavity. The embodiment of the present application adjusts the relative position relationship between the connector 113 and the external storage device 200 through the rotating connection between the connector 113 and the hopper 112, so that the feeding system 100 can adapt to different external storage devices 200.

[0113] Combination Figure 1 and Figure 2 , the connecting piece 113 is connected to the hopper 112 and is located at the outlet of the feeding channel 1121. The connecting cavity of the connecting piece 113 is connected to the feeding channel 1121 through the outlet of the feeding channel 1121. The side of the connecting piece 113 away from the outlet of the hopper 112 faces the external storage device 200. In the embodiment of the present application, the connecting piece 113 can be a metal tube, a plastic tube or a flexible tube. The connecting piece 113 forms an extension structure of the feeding channel 1121 on the hopper 112, so that the material flows to the external storage device 200 through the connecting piece 113.

[0114] The structure of the external storage device 200 is diverse, and the inlet 1122 of the external storage device 200 may be an irregular structure. Accordingly, the connecting member 113 may be a flexible member or a structure that matches the structure at the inlet 1122 of the external storage device 200, so that the material can flow into the external storage device 200 quickly and accurately.

[0115] In combination with the above-mentioned embodiment, the connecting member 113 rotates relative to the hopper 112 around the axis of the connecting cavity so that the end of the connecting member 113 away from the outlet side of the hopper 112 is aligned with the inlet 1122 of the external storage device 200, thereby improving the loading efficiency.

[0116] Possibly, the feeding system 100 further includes a material box 130, the material box 130 is used to hold materials, and the material box 130 is delivered to the feeding channel 1121 through the first transfer device 120. In the embodiment of the present application, through the provision of the material box 130, the feeding system 100 can transport materials in different states through the cooperation of the material box 130 and the first transfer device 120, which can reduce the flow loss of the materials in the process of moving with the first transfer device 120, and improve the feeding operation efficiency.

[0117] Optionally, the first transfer device 120 includes a gantry 121, a storage piece 122, a lifting mechanism 123 and a robot base 124. The gantry 121 extends along the Z direction and is connected to the robot base 124. The lifting mechanism 123 and the storage piece 122 are connected to opposite sides of the gantry 121 along the Y direction. When the first transfer device 120 and the feeding device 110 cooperate to feed, the lifting mechanism 123 is located on the side of the gantry 121 facing the feeding device 110; the lifting mechanism 123 can be telescopically moved toward the side of the storage piece 122 relative to the gantry 121, and telescopically moved toward the side of the hopper 112 of the feeding device 110.

[0118] Materials are placed on the storage part 122, and the materials on the storage part 122 are transported to the hopper 112 by the movement of the lifting mechanism 123 on the door frame 121. In this way, the movement of the first transfer device 120 is designed to reasonably control and arrange the movement of the first transfer device 120, thereby reducing the movement time of the first transfer device 120, and then improving the feeding operation efficiency of the feeding system 100.

[0119] It is not difficult to understand that the number of the material boxes 130 in the embodiment of the present application can correspond to the number of the object placement pieces 122 on the first transfer device 120. In some embodiments, there are multiple object placement pieces 122, and the multiple object placement pieces 122 are arranged at intervals along the height direction of the door frame 121; the lifting mechanism 123 is movably arranged relative to the door frame 121 along the height direction of the door frame 121.

[0120] Combination Figure 1 and Figure 5 The first transfer device 120 is provided with five storage elements 122, and correspondingly, the number of the material boxes 130 may also be five. Of course, the number of the material boxes 130 may also be less than five, and the embodiment of the present application does not have any requirement for this.

[0121] The lifting mechanism 123 moves along the Z direction on the gantry 121, and telescopically moves to a certain storage piece 122 therein to move the material box 130 loaded on the storage piece 122 to the position of the entrance 1122 of the feeding channel 1121, and telescopically moves again to deliver the material box 130 into the feeding channel 1121 to complete the delivery of the material.

[0122] In some possible implementations, the number of material boxes 130 is related to the volume of the material boxes 130. It is understandable that the feeding system 100 can obtain the mass or volume of the corresponding material according to the feeding information, and the number of material boxes 130 can be determined by calculation or weighing. When the number of the storage pieces 122 shown in the figure is less than the number of the material boxes 130 actually determined, a first transfer device 120 with more storage pieces 122 can be selected, or multiple first transfer devices 120 can be used to load these material boxes 130, or the feeding can be completed by moving a first transfer device 120 relative to the feeding device 110 multiple times. In this way, the flexibility of the feeding system 100 can be improved, so that the feeding system 100 can improve the feeding operation efficiency as much as possible in a working environment with limited conditions.

[0123] Optionally, the material box 130 has a box cover 131 and a box body 132, and the box cover 131 is placed on the top of the box body 132; the first transfer device 120 is provided with a cover removal mechanism 125 corresponding to the lifting mechanism 123, and the cover removal mechanism 125 and the lifting mechanism 123 are located on the same side of the door frame 121, and are arranged opposite to each other and spaced in the Z direction. When the lifting mechanism 123 lifts the material box 130, the box cover 131 of the material box 130 can be removed by the cover removal mechanism 125, or the box cover 131 can be covered on the box body 132.

[0124] Exemplarily, the cover removal mechanism 125 includes at least one of a suction cup 126 and a clamping claw, and the suction cup 126 abuts against the box cover 131, and the box cover 131 is sucked up by suction to remove the box cover 131 from the box body 132. Alternatively, the clamping claw clamps the edge of the box cover 131 to remove the box cover 131 from the box body 132 by mechanical force, and when the material delivery in the box body 132 is completed, the clamping claw releases the box cover 131, and the box cover 131 is covered on the box body 132 again.

[0125] Possibly, the feeding device 110 includes a first fixing component 114 , which is located in the feeding channel 1121 and close to the entrance 1122 of the feeding channel 1121 ; the first fixing component 114 is used to cooperate with the material box 130 to feed the material in the material box 130 into the feeding channel 1121 .

[0126] In some embodiments, the first fixing assembly 114 is rotatably disposed relative to the material box 112 , so that the material can be poured into the feeding channel 1121 through the cooperation between the first fixing assembly 114 and the material box 130 .

[0127] like Figure 2As shown, the first fixing assembly 114 includes two fixing members 1141, the two fixing members 1141 are located in the feeding channel 1121, and the two fixing members 1141 are relatively arranged on the inner wall of the feeding channel 1121 along the X direction, and a fixed space is formed between the two fixing members 1141, and the fixed space is used to accommodate the material box 130. When the material box 130 is located in the fixed space, the two fixing members 1141 can clamp the material box 130 and drive the material box 130 to rotate, so that the opening of the material box 130 is tilted, and the material is poured from the material box 130 into the feeding channel 1121.

[0128] In some embodiments, the spacing between the two fixing members 1141 along the X direction and / or along the Z direction can be adjusted, and correspondingly, the size of the fixed space can be adjusted. The first fixing component 114 can be connected with material boxes 130 of different specifications and sizes, thereby improving the adaptability of the feeding system 100, thereby saving the time spent on connecting the first fixing component 114 and the material box 130, improving the operating efficiency of the feeding system 100, and at the same time, the flexibility of the feeding system 100 is also improved.

[0129] It should be noted that the fixing member 1141 in the embodiment of the present application can rotate 180° relative to the hopper 112 so that the material can be completely poured out from the opening of the material box 130. Of course, the fixing member 1141 can reciprocate relative to the hopper 112 to vibrate the material box 130 so that the material can flow from the material box 130 to the feeding channel 1121 as much as possible.

[0130] As a possible implementation, refer to Figure 1 and Figure 3 The feeding system 100 further includes a second transfer device 140. Along the first direction, the hopper 112 and the second transfer device 140 are respectively located at two ends of the support frame 111; the external storage device 200 is detachably connected through the second transfer device 140. In this way, the feeding system 100 can feed some movable external storage devices 200 and replace the full external storage devices 200 in time.

[0131] For example, the embodiment of the present application is described with the external material storage device 200 as a barrel. The barrel is detachably arranged on the second transfer device 140, and the second transfer device 140 is moved relative to the support frame 111 by manual handling or automatic control to transport the external material storage device 200 to the support frame 111, and the outlet of the feeding channel 1121 faces the external material storage device 200. The material flows along the feeding channel 1121 and enters the external material storage device 200.

[0132] In order to prevent the external storage device 200 from moving during the loading process, resulting in leakage and loss of materials during loading, the external storage device 200 can be connected to the support frame 111 through the second transfer device 140 to keep the external storage device 200 and the support frame 111 relatively stable during the loading process.

[0133] It can be understood that the support frame 111 rotates around the rotation axis 1115, driving the hopper 112 and the external storage device 200 to rotate together. At this time, the external storage device 200 is tilted relative to the ground, which can reduce the impact of the material on the external storage device 200, so that the external storage device 200 remains stable. At the same time, the support frame 111 reciprocates at a certain angle around the rotation axis 1115, driving the external storage device 200 and the hopper 112 to shake, and the material can flow into the external storage device 200 as much as possible, and can also make the material in the external storage device 200 evenly distributed and more compact, so as to accommodate more materials and improve the feeding efficiency.

[0134] It should be noted that the second transfer device 140 in the embodiment of the present application can be a mobile cart or a mobile robot, etc., and the present application does not make specific requirements for this.

[0135] Possibly, the feeding device 110 further includes a second fixing component 115, which is movably disposed on the support frame 111 along the first direction, and the second fixing component 115 and the second transfer device 140 are detachably connected to each other so that when the second transfer device 140 and the second fixing component 115 are matched, the second transfer device 140 is fixed to the support frame 111.

[0136] In this way, the second transfer device 140 is fixed by the second fixing assembly 115, and during the loading process, the external storage device 200 is stably connected to the support frame 111 through the second transfer device 140. In addition, the second fixing assembly 115 is movable relative to the support frame 111 along the first direction, and can quickly drive the position adjustment of the external storage device 200 on the support frame 111, and combined with the position adjustment of the hopper 112 relative to the support frame 111, the external storage device 200 and the outlet on the hopper 112 are quickly docked, thereby improving the loading efficiency.

[0137] like Figure 1 and Figure 3As shown, the second fixing assembly 115 in the embodiment of the present application includes a connecting plate 1151, a stopper 1152 and an elastic baffle 1156. The connecting plate 1151 is connected to the support frame 111, and the connecting plate 1151 is movable relative to the support frame 111 along a first direction. The stopper 1152 and the elastic baffle 1156 are both connected to the connecting plate 1151, and the stopper 1152 and the elastic baffle 1156 together form a fixed space for fixing the second transfer device 140.

[0138] The limiting member 1152 can be inserted into the gap between the second transfer device 140 and the external storage device 200, so as to limit the relative displacement of the second transfer device 140 and the external storage device 200, so that the feeding system 100 and the external storage device 200 remain stable during feeding.

[0139] Specifically, the limiting member 1152 includes a first limiting portion 1153, a second limiting portion 1154 and a third limiting portion 1155. The first limiting portion 1153 limits the second transfer device 140 and the external storage device 200 along the Z direction to prevent the two from being relatively displaced along the Z direction. The second limiting portion 1154 abuts against the external storage device 200 along the X direction to prevent the two from being relatively displaced along the X direction. The third limiting portion 1155 abuts against the external storage device 200 along the Y direction to prevent the two from being relatively displaced in the Y direction.

[0140] Furthermore, the elastic baffle 1156 abuts against the side of the second transfer device 140 , and the second transfer device 140 is fixed in the fixed space formed by the second fixing component 115 through the elastic force of the elastic baffle 1156 .

[0141] Combination Figure 1-Figure 4 , the first driving assembly 116a is connected to the second fixed assembly 115, and the first driving assembly 116a drives the second fixed assembly 115 to move relative to the support frame 111 along the first direction. The second driving assembly 116b is arranged on the support frame 111, and the output end of the second driving assembly 116b is connected to the hopper 112 to drive the hopper 112 to move along the first direction. The third driving assembly 116c is arranged on the base 1111 of the support frame 111, and the output end of the third driving assembly 116c faces the body 1112 of the support frame 111 to drive the body 1112 to rotate relative to the base 1111 around the rotation axis 1115. The fourth driving assembly 116d is arranged on the hopper 112, and the output end of the fourth driving assembly 116d drives the hopper 112 to move along the second direction. The fifth driving assembly 116e is arranged on the hopper 112, and the output end of the fifth driving assembly 116e is connected to the first fixed assembly 114 to drive the first fixed assembly 114 to rotate. The relative movement of the components of the feeding system 100 is driven by the driving components, which saves the time spent on the movement of the components of the feeding system 100 and improves the feeding efficiency of the feeding system 100.

[0142] It should be noted that the first drive assembly 116a, the second drive assembly 116b, the third drive assembly 116c, the fourth drive assembly 116d, and the fifth drive assembly 116e in the embodiment of the present application all include motors to drive the various components of the feeding system 100 to move through the motors.

[0143] Possibly, the feeding device 110 also includes an image detector 117 and a controller 118, the image detector 117 is connected to the hopper 112, and the detection end of the image detector 117 is facing the outlet; the image detector 117 is used to detect the relative position of the outlet of the external storage device 200 and the feeding channel 1121; the controller 118 is electrically connected to the image detector 117 and the second fixed component 115, respectively, and the controller 118 responds to the detection signal of the image detector 117 to make the outlet of the external storage device 200 and the feeding channel 1121 relative and connected.

[0144] In some embodiments, the first drive component 116a, the second drive component 116b, the third drive component 116c, the fourth drive component 116d, and the fifth drive component 116e can all be electrically connected to the controller 118. In this way, the relative position between the hopper 112 and the external storage device 200 is detected by the image detector 117, and the controller 118 controls the first drive component 116a, the second drive component 116b, the third drive component 116c, and the fourth drive component 116d based on the detection signal obtained by the image detector 117, thereby adjusting the relative position between the hopper 112 and the external storage device 200, so that the external storage device 200 and the outlet of the feeding channel 1121 on the hopper 112 can be quickly connected, thereby improving the feeding efficiency of the feeding system 100.

[0145] It should be noted that the image detector 117 in the embodiment of the present application can be a camera, an image sensor, etc., and no specific requirements are made for this.

[0146] Possibly, the feeding device 110 further includes a weight detector 119, which is disposed on the support frame 111 and is used to detect the weight of the external storage device 200; the weight detector 119 is electrically connected to the controller 118. When the weight value obtained by the weight detector 119 is equal to a preset value, the controller 118 sends a feeding completion signal.

[0147] It should be noted that the loading completion signal can be indicated by different colors of the indicator light. In addition, the weight detector 119 in the embodiment of the present application can be a weight sensor, etc. Among them, the preset value in the embodiment of the present application is the loading weight of the required material.

[0148] In some embodiments, an openable and closable baffle 1123 is provided at the inlet 1122 of the hopper 112, the baffle 1123 and the inlet 1122 of the hopper 112 match each other, and the opening and closing of the baffle 1123 can be controlled by a telescopic member 1124. Specifically, the fixed end of the telescopic member 1124 is connected to the side wall of the hopper 112, and the telescopic end of the telescopic member 1124 is connected to the baffle 1123. The telescopic member 1124 telescopes to drive the baffle 1123 to open and close relative to the inlet 1122 of the hopper 112, so as to prevent the material from overflowing from the opening during the loading process, and for some granular or powdery materials, the formation of dust can be reduced.

[0149] Possibly, the hopper 112 is further provided with a vibration feed inlet 150 , through which ultrasonic vibrations can be emitted into the feeding channel 1121 to prevent solid materials from agglomerating, further promote material flow, and improve feeding efficiency.

[0150] Optionally, the hopper 112 and / or the connector 113 are provided with a dust removal connection port 160, the dust removal connection port 160 on the hopper 112 is connected to the feeding channel 1121, and the other side of the dust removal connection port 160 is connected to an external dust removal device, and the solid powder or particles floating in the feeding channel 1121 are sucked out by the external dust removal device. Similarly, the dust removal connection port 160 on the connector 113 is connected to the communication cavity, and the other side of the dust removal connection port 160 is connected to an external dust removal device, and the solid powder or particles floating in the communication cavity are sucked out by the external dust removal device.

[0151] In addition, see Fig.10 The embodiment of the present application may also provide a feeding method, which is applied to the feeding system 100 in the present application. The feeding system 100 has a storage area and a feeding area, and the feeding device of the feeding system 100 is located in the feeding area.

[0152] In response to the material feeding instruction, the first transfer device 120 is controlled to move to the material storage area to load the material, and the loading information of the material is obtained.

[0153] The feeding instruction is issued by the user. The feeding instruction includes the type of material, the weight of the material, the location of the material in the storage area, the information of the feeding device, etc. The loading information of the material includes the type of material, the weight of the material, etc.

[0154] According to the material loading information and feeding instructions, the first transfer device 120 is controlled to move to the feeding area and obtain the feeding instructions.

[0155] In some embodiments, the loading information of the material is compared with the feeding instruction. When the loading information and the feeding instruction are consistent, it means that the first transfer device 120 has completed the loading of the material. After the material loading is completed, the first transfer device 120 moves to the loading area, and waits in the loading area and obtains the loading instruction. The loading instruction in the embodiment of the present application can be obtained by the interaction between the first transfer device 120 and the feeding device 110.

[0156] According to the loading instruction, the first transfer device 120 and the feeding device 110 are controlled to cooperate to feed the materials to the external storage device 200 .

[0157] The feeding method provided by the present application controls the first transfer device 120 so that the first transfer device 120 can move and transport materials in a dynamic manner, and delivers the materials to the external storage device 200 through the cooperation of the first transfer device 120 and the feeding device 110. In this way, the feeding efficiency of the materials is improved through the flexible mobilization of the first transfer device 120.

[0158] In some embodiments, controlling the first transfer device 120 to cooperate with the feeding device 110 to feed the material to the external storage device 200 specifically includes:

[0159] The lifting mechanism 123 of the first transfer device 120 is controlled to move, and the material box 130 is transferred from the object placement part 122 of the first transfer device 120 to the cover removal mechanism 125 of the first transfer device 120 .

[0160] The cover removing mechanism 125 is controlled to remove the box cover 131 of the material box 130 .

[0161] The baffle 1123 of the hopper 112 in the feeding device 110 is controlled to rotate so that the inlet 1122 of the feeding channel 1121 of the hopper 112 is opened.

[0162] The lifting mechanism 123 is controlled to move relative to the hopper 112 so as to place the box body 132 of the material box 130 on the first fixing component 114 of the feeding device 110 , and the first fixing component 114 and the box body 132 are controlled to cooperate.

[0163] The lifting mechanism 123 is controlled to escape from the inlet 1122 of the feeding channel 1121 , and the baffle 1123 is controlled to rotate so that the inlet 1122 of the feeding channel 1121 is closed.

[0164] The first fixing assembly 114 is controlled to rotate so as to pour the material in the box 132 into the feeding channel 1121 .

[0165] The hopper 112 is controlled to move relative to the support frame 111 of the feeding device 110 , and the second fixing component 115 of the feeding device 110 is controlled to move relative to the support frame 111 , so that the external storage device 200 is connected to the outlet of the feeding channel 1121 .

[0166] The support frame 111 is controlled to rotate, and the hopper 112 and the external material storage device 200 rotate along with the support frame 111 , so that the feeding device 110 is tilted relative to the first transfer device 120 .

[0167] The lifting mechanism 123 of the first transfer device 120 is controlled to move, and the material box 130 is transferred from the object placement part 122 of the first transfer device 120 to the cover removal mechanism 125 of the first transfer device 120 .

[0168] The cover removing mechanism 125 is controlled to remove the box cover 131 of the material box 130 .

[0169] The baffle 1123 of the hopper 112 in the feeding device 110 is controlled to rotate so that the inlet 1122 of the feeding channel 1121 of the hopper 112 is opened.

[0170] The lifting mechanism 123 is controlled to move relative to the hopper 112 so as to place the box body 132 of the material box 130 on the first fixing component 114 of the feeding device 110 , and the first fixing component 114 and the box body 132 are controlled to cooperate.

[0171] The lifting mechanism 123 is controlled to escape from the inlet 1122 of the feeding channel 1121 , and the baffle 1123 is controlled to rotate so that the inlet 1122 of the feeding channel 1121 is closed.

[0172] The first fixing assembly 114 is controlled to rotate so as to pour the material in the box 132 into the feeding channel 1121 .

[0173] The hopper 112 is controlled to move relative to the support frame 111 of the feeding device 110 , and the second fixing component 115 of the feeding device 110 is controlled to move relative to the support frame 111 , so that the external storage device 200 is connected to the outlet of the feeding channel 1121 .

[0174] The support frame 111 is controlled to rotate, and the hopper 112 and the external material storage device 200 rotate along with the support frame 111 , so that the feeding device 110 is tilted relative to the first transfer device 120 .

[0175] It should be noted that the structures and connection relationships of the feeding device 110, the first transfer device 120 and the external storage device 200 in the feeding system 100 mentioned in this section have been described in the aforementioned embodiments and will not be repeated in this section.

[0176] It should be noted that the phrases "one embodiment", "an embodiment", "an exemplary embodiment", "some embodiments", etc. mentioned in the specification indicate that the described embodiments may include certain features, structures or characteristics, but not every embodiment may include the certain features, structures or characteristics. In addition, such phrases do not necessarily refer to the same embodiment. In addition, when describing certain features, structures or characteristics in conjunction with an embodiment, it is within the knowledge of those skilled in the art to implement such features, structures or characteristics in conjunction with other embodiments, whether explicitly or not explicitly described.

[0177] In general, terms should be understood, at least in part, by the context in which they are used. For example, the term "one or more" as used herein may be used to describe any feature, structure, or characteristic in a singular sense, or may be used to describe a combination of features, structures, or characteristics in a plural sense, depending, at least in part, on the context. Similarly, terms such as "a," "an," or "the" may also be understood to convey singular usage or to convey plural usage, depending, at least in part, on the context.

[0178] It should be easily understood that “on,” “above,” and “over” in this application should be interpreted in the broadest manner, so that “on” not only means “directly on something,” but also includes the meaning of “on something” with intervening features or layers therebetween, and “above” or “over” not only includes the meaning of “above something” or “over,” but also may include the meaning of “above something” or “over” with no intervening features or layers therebetween (i.e., directly on something).

[0179] In addition, spatially relative terms, such as "below," "below," "below," "above," "above," etc., may be used herein for ease of description to describe the relationship of one element or feature relative to other elements or features as shown in the figures. Spatially relative terms are intended to encompass different orientations of the device in use or operation in addition to the orientation shown in the figures. The device may have other orientations (rotated 90° or at other orientations), and the spatially relative descriptors used herein may likewise be interpreted accordingly.

[0180] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present application, rather than to limit it. Although the present application has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or replace some or all of the technical features therein with equivalents. However, these modifications or replacements do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of the present application.

Claims

1. A feeding system (100), characterized in that: include: A feeding device (110), the feeding device (110) comprising a support frame (111) and a hopper (112), the hopper (112) being connected to the support frame (111); the hopper (112) having a feeding channel (1121), the feeding channel (1121) having an inlet (1122) and an outlet; A first transfer device (120), the first transfer device (120) being movably arranged relative to the feeding device (110), the first transfer device (120) being used to load materials and feed the materials into the feeding channel (1121) through the inlet (1122); The material moves to an external storage device (200) through the outlet.

2. The feeding system (100) according to claim 1, characterized in that: The hopper (112) is movably arranged along a first direction relative to the support frame (111); And / or, the hopper (112) is movably arranged relative to the support frame (111) along the second direction and / or the third direction, so that the outlet of the feeding channel (1121) and the inlet of the external storage device (200) are opposite to and connected to each other; The third direction, the second direction and the first direction are perpendicular to each other, and the first direction is along the extension direction of the support frame (111).

3. The feeding system (100) according to claim 2, characterized in that: The feeding device (110) further comprises a connecting piece (113), and the connecting piece (113) is arranged on the hopper (112); The connecting piece (113) has a connecting cavity, one end of which is connected to the feeding channel (1121) through the outlet of the feeding channel (1121), and the other end of which faces the external material storage device (200); The connecting member (113) is rotatably arranged relative to the hopper (112) around the axis of the connecting cavity.

4. The feeding system (100) according to any one of claims 1 to 3, characterized in that: The support frame (111) has a rotation axis (1115), and the support frame (111) drives the hopper (112) to rotate around the rotation axis (1115) to adjust the inclination angle of the feeding device (110) relative to the ground; The extension direction of the rotation axis (1115) is parallel to the second direction.

5. The feeding system (100) according to any one of claims 1 to 3, characterized in that: It also includes a material box (130), wherein the material box (130) is used to contain the material; The first transfer device (120) comprises a door frame (121), an object placement piece (122), a lifting mechanism (123) and a robot base (124); the door frame (121) is arranged on the robot base (124); the object placement piece (122) and the lifting mechanism (123) are respectively arranged on opposite sides of the door frame (121); When the first transfer device (120) and the feeding device (110) cooperate to feed materials, the lifting mechanism (123) is located on a side of the door frame (121) facing the feeding device (110); The object placement piece (122) is used to place the material box (130), and the lifting mechanism (123) can be telescopically moved toward the object placement piece (122) and the hopper (112) respectively relative to the door frame (121) to transfer the material box (130) between the object placement piece (122) and the hopper (112).

6. The feeding system (100) according to claim 5, characterized in that: There are a plurality of the object placement pieces (122), and the plurality of the object placement pieces (122) are arranged at intervals along the height direction of the door frame (121); and the lifting mechanism (123) is movably arranged relative to the door frame (121) along the height direction of the door frame (121).

7. The feeding system (100) according to claim 5, characterized in that: The material box (130) comprises a box cover (131) and a box body (132), wherein the box cover (131) is arranged on the top of the box body (132); The first transfer device (120) further comprises a cap removing mechanism (125), wherein the cap removing mechanism (125) is arranged on the door frame (121) and is movably arranged along the height direction of the door frame (121), and the cap removing mechanism (125) and the lifting mechanism (123) are arranged opposite to each other along the height direction of the door frame (121); The cover removing mechanism (125) is used to remove the box cover (131) of the material box (130) located on the lifting mechanism (123) from the box body (132), and / or to place the box cover (131) on the box body (132).

8. The feeding system (100) according to claim 5, characterized in that: The feeding device (110) comprises a first fixing component (114), wherein the first fixing component (114) is located in the feeding channel (1121) and close to the inlet (1122) of the feeding channel (1121); The first fixing component (114) is used to cooperate with the material box (130) to feed the material in the material box (130) into the feeding channel (1121).

9. The feeding system (100) according to claim 8, characterized in that: The first fixing component (114) is rotatably arranged relative to the hopper (112), so that the material can be poured into the feeding channel (1121) through the cooperation between the first fixing component (114) and the material box (130).

10. The feeding system (100) according to any one of claims 1 to 3, characterized in that: It also includes a second transfer device (140), and along the first direction, the hopper (112) and the second transfer device (140) are respectively located at two ends of the support frame (111); The external material storage device (200) is detachably connected to the support frame (111) via the second transfer device (140).

11. The feeding system (100) according to claim 10, characterized in that: The feeding device (110) also includes a second fixing component (115), which is movably arranged on the support frame (111) along the first direction, and the second fixing component (115) and the second transfer device (140) are detachably connected to each other so that when the second transfer device (140) and the second fixing component (115) are matched, the second transfer device (140) is fixed to the support frame (111).

12. The feeding system (100) according to claim 11, characterized in that: The feeding device (110) further comprises an image detector (117) and a controller (118), wherein the image detector (117) is connected to the hopper (112), and a detection end of the image detector (117) faces the outlet of the feeding channel (1121); The image detector (117) is used to detect the relative position of the outlet of the external material storage device (200) and the feeding channel (1121); the controller (118) is electrically connected to the image detector (117) and the second fixing component (115), respectively, and the controller (118) responds to the detection signal of the image detector (117) to make the outlet of the external material storage device (200) and the feeding channel (1121) relative to each other and connected.

13. The feeding system (100) according to claim 12, characterized in that: The feeding device (110) further comprises a weight detector (119), wherein the weight detector (119) is arranged on the support frame (111), and the weight detector (119) is used to detect the weight of the external material storage device (200); The weight detector (119) is electrically connected to the controller (118); when the weight value acquired by the weight detector (119) is equal to a preset value, the controller (118) sends a loading completion signal.

14. The feeding system (100) according to any one of claims 1 to 3, characterized in that: The hopper (112) has a baffle (1123), and the baffle (1123) is rotatably disposed at the inlet (1122) of the feeding channel (1121) so that the inlet (1122) can be opened or closed.

15. A feeding method, characterized in that: A feeding system (100) applied to any one of claims 1 to 14; the feeding system (100) comprises a storage area and a feeding area, and a feeding device (110) of the feeding system (100) is located in the feeding area; the method comprises: In response to a material feeding instruction, controlling the first transfer device (120) to move to the material storage area to load the material, and obtaining the loading information of the material; According to the material loading information and the feeding instruction, the first transfer device (120) is controlled to move to the feeding area and obtain the feeding instruction; According to the material loading instruction, the first transfer device (120) and the material feeding device (110) are controlled to cooperate with each other so as to feed the material to the external material storage device (200).

16. The feeding method according to claim 15, characterized in that: The controlling the first transfer device (120) to cooperate with the feeding device (110) to feed the material to the external storage device (200) specifically includes: Controlling the lifting mechanism (123) of the first transfer device (120) to move, and transferring the material box (130) from the object placement part (122) of the first transfer device (120) to the cover removal mechanism (125) of the first transfer device (120); Controlling the cover-removing mechanism (125) to remove the box cover (131) of the material box (130); Controlling the baffle (1123) of the hopper (112) in the feeding device (110) to rotate so that the inlet (1122) of the feeding channel (1121) of the hopper (112) is opened; Controlling the lifting mechanism (123) to move relative to the hopper (112) so as to place the box body (132) of the material box (130) on the first fixing component (114) of the feeding device (110), and controlling the first fixing component (114) and the box body (132) to cooperate; Controlling the lifting mechanism (123) to disengage from the inlet (1122) of the feeding channel (1121), and controlling the baffle (1123) to rotate so that the inlet (1122) of the feeding channel (1121) is closed; Controlling the first fixing component (114) to rotate so as to pour the material in the box (132) into the feeding channel (1121); Controlling the movement of the hopper (112) relative to the support frame (111) of the feeding device (110), and controlling the movement of the second fixing component (115) of the feeding device (110) relative to the support frame (111), so that the external storage device (200) and the outlet of the feeding channel (1121) are in communication; The support frame (111) is controlled to rotate, and the hopper (112) and the external material storage device (200) rotate along with the support frame (111), so that the feeding device (110) is tilted relative to the first transfer device (120).

Images