Feeding system and feeding method

Abstract

The application relates to the material feeding technology field 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 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 movably arranged relative to the feeding device, the first transfer device is used for loading materials, and the materials are fed into the feeding channel through the inlet; and the materials are moved to an external storage device through the outlet. Through the structural arrangement, the flexibility of the feeding system is realized, the working flexibility and stability of the feeding system are improved, and the working efficiency of the feeding system is improved.

Description

Technical Field

[0001] This application relates to the field of material feeding technology, and in particular to a feeding system and feeding method. Background Technology

[0002] With the continuous development of intelligent technology, various fields are adopting intelligent equipment to reduce labor intensity while increasing productivity. This is especially true in the material feeding process of some processing industries.

[0003] In related technologies, the feeding system uses a robotic arm to grasp materials and transfers them to the feeding mechanism through the relative movement between the joints of the robotic arm. One robotic arm can correspond to multiple feeding mechanisms, or a one-to-one correspondence can be set between a robotic arm and a feeding mechanism, with the robotic arm continuously working to complete the material feeding operation.

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

[0005] This application provides a feeding system and feeding method that can improve feeding efficiency.

[0006] To achieve the above objectives, this application adopts the following technical solution:

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

[0008] A feeding device includes a support frame and a hopper, the hopper being connected to the support frame and the support frame driving the hopper to rotate; the hopper has a feeding channel with an inlet and an outlet;

[0009] A 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 is moved to an external storage device through the outlet.

[0011] In one possible implementation, the hopper is movably disposed relative to the support frame along a first direction;

[0012] And / or, the hopper is movable relative to the support frame in a second direction and / or a third direction, such that the outlet of the feeding channel and the inlet of the external storage device are opposite to and communicate with each other;

[0013] 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.

[0014] In one possible implementation, the feeding device further includes a connector disposed on the hopper;

[0015] The connector has a communicating 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 connector is rotatably arranged relative to the hopper about the axis of the communicating cavity.

[0017] In one possible implementation, the support frame has a rotation axis, which drives the hopper to rotate around the rotation axis to adjust the tilt angle of the feeding device relative to the ground.

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

[0019] As one possible implementation, the feeding system further includes a hopper for holding the material;

[0020] The first transfer device includes a gantry, a storage component, a lifting mechanism, and a robot base. The gantry is mounted on the robot base, and the storage component and the lifting mechanism are respectively mounted on opposite sides of the gantry.

[0021] When the first transfer device and the feeding device work together to feed materials, the lifting mechanism is located on the side of the gantry facing the feeding device;

[0022] The placement component is used to place the material box, and the lifting mechanism can move relative to the gantry towards the placement component and the hopper respectively, so as to extend and retract the material box between the placement component and the hopper.

[0023] In one possible implementation, there are multiple placement components, which are spaced apart along the height direction of the gantry; the lifting mechanism is movable relative to the gantry along the height direction of the gantry.

[0024] In one possible implementation, the bin has a lid and a body, with the lid covering the top of the body;

[0025] The first transfer device further includes a cover-removing mechanism, which is disposed on the gantry and movable along the height direction of the gantry. The cover-removing mechanism and the lifting mechanism are disposed opposite to each other along the height direction of the gantry. The cover-removing mechanism is used to remove the cover of the material box located on the lifting mechanism from the box body, and / or to place the cover on the box body.

[0026] In one possible implementation, the feeding device includes a first fixing component located within the feeding channel and near the entrance of the feeding channel;

[0027] The first fixing component is used to connect with the material bin to feed the material in the material bin into the feeding channel.

[0028] In one possible implementation, the first fixing component is rotatably arranged relative to the hopper so that the material is poured into the feeding channel through the cooperation of the first fixing component and the hopper.

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

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

[0031] In one possible implementation, the feeding device further includes a second fixing component, which is movably disposed on the support frame along the first direction. 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 engaged.

[0032] In one possible implementation, the feeding device further includes an image detector and a controller, the image detector being connected to the hopper, with the detection end of the image detector facing the outlet of the feeding channel;

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

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

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

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

[0037] In a second aspect, this application provides a feeding method 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 includes:

[0038] In response to a feeding command, the first transfer device is controlled to move to the storage area to load materials, and the loading information of the materials is obtained;

[0039] Based on the loading information of the material and the feeding instruction, the first transfer device is controlled to move to the feeding area and the feeding instruction is obtained;

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

[0041] As one possible implementation, controlling the first transfer device and the feeding device to cooperate in order to deliver the material to an external storage device specifically includes:

[0042] Control the lifting mechanism of the first transfer device to move, and transfer the material box from the placement part of the first transfer device to the lid removal mechanism of the first transfer device;

[0043] Control the lid-removing mechanism to remove the lid of the material box;

[0044] Control the rotation of the baffle in the hopper of the feeding device to open the inlet of the feeding channel of the hopper;

[0045] Control 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 control the first fixing component and the box body to cooperate;

[0046] Control the lifting mechanism to disengage from the inlet of the feeding channel, and control the baffle to rotate so as to close the inlet of the feeding channel;

[0047] Control the rotation of the first fixed component to pour the material inside the box into the feeding channel;

[0048] Controlling the movement of the hopper relative to the support frame of the feeding device, and controlling the movement of the second fixing component of the feeding device relative to the support frame, so as to connect the outlet of the external storage device and the feeding channel;

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

[0050] The feeding system and method provided in this application include a feeding device and a first transfer device. The feeding device includes a support and a hopper, which is mounted on the support frame and has a feeding channel with an interconnected inlet and outlet for material to flow along the channel to an external storage device. The first transfer device carries the material relative to the feeding device and delivers the material through the inlet into the feeding channel. Thus, the movable design of the first transfer device enables a flexible scheduling design for the feeding system, improving its flexibility, stability, and reliability, thereby increasing its operational efficiency. Attached Figure Description

[0051] To more clearly illustrate the technical solutions in the embodiments of this application or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0052] Figure 1 A schematic diagram of the feeding system provided in the embodiments of this application;

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

[0054] Figure 3 A schematic diagram of the second fixing component in the feeding system provided in the embodiments of this application;

[0055] Figure 4 A schematic diagram of the support frame in the feeding system provided in the embodiments of this application;

[0056] Figure 5 A schematic diagram of the first transfer device in the feeding system provided in the embodiments of this application;

[0057] Figure 6 for Figure 5 A magnified view of the dashed box area in the image;

[0058] Figure 7 This is a control diagram of the feeding system provided in an embodiment of this application;

[0059] Figure 8 Layout diagram of the feeding system provided in the embodiments of this application Figure 1 ;

[0060] Figure 9 Layout diagram of the feeding system provided in the embodiments of this application Figure 2 ;

[0061] Figure 10 A flowchart of the feeding method provided in the embodiments of this application.

[0062] Explanation of reference numerals in the attached figures:

[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-Inlet; 1123-Baffle; 1124-Telescopic component;

[0067] 113 - Connector;

[0068] 114-First fixing component; 1141-Fixing element;

[0069] 115-Second fixing component; 1151-Connecting plate; 1152-Limiting component; 1153-First limiting part; 1154-Second limiting part; 1155-Third limiting part; 1156-Elastic baffle;

[0070] 116a - First drive component; 116b - Second drive component; 116c - Third drive component; 116d - Fourth drive component; 116e - Fifth drive component;

[0071] 117 - Image Detector;

[0072] 118 - Controller;

[0073] 119 - Weight detector;

[0074] 120 - First transfer device; 121 - Gantry; 122 - Item placement; 123 - Lifting mechanism; 124 - Robot base; 125 - Lid removal mechanism; 126 - Suction cup;

[0075] 130 - Material bin; 131 - Bin lid; 132 - Bin body;

[0076] 140 - Second transfer device;

[0077] 150-Vibration feed inlet;

[0078] 160 - Dust collector connection port;

[0079] 200 - External storage device. Detailed Implementation

[0080] To make the objectives, technical solutions, and advantages of the embodiments of this application clearer, the technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, not all embodiments. Based on the embodiments of this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application. Unless otherwise specified, the following embodiments and features can be combined with each other.

[0081] With the continuous development of intelligent technology, various fields are adopting intelligent equipment to reduce labor intensity while increasing productivity. This is especially true in the material feeding process of some processing industries.

[0082] In related technologies, the feeding system includes a conveyor line and a robotic arm. The robotic arm is located in the feeding area. The conveyor line transports materials to the feeding area, the robotic arm grabs materials from the conveyor line, and then transfers the materials to the feeding mechanism through the relative movement between the joints of the robotic arm. One robotic arm can correspond to multiple feeding mechanisms, or a one-to-one correspondence can be set up between the robotic arm and the feeding mechanism. The robotic arm works continuously to complete the material feeding operation.

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

[0084] To overcome the deficiencies in the prior art, this application provides a feeding system and a feeding method. The feeding system includes a feeding device and a first transfer device. The feeding device includes a support frame and a hopper, which are connected to the support frame. The hopper has a feeding channel with an inlet and an outlet. The first transfer device loads material and is movable relative to the feeding device, thereby feeding the material through the inlet of the feeding channel into the feeding channel. The material moves along the feeding channel and from the outlet to an external storage device. Thus, the movable arrangement of the first transfer device enables flexible scheduling of the feeding system, improving its operational flexibility and stability, thereby increasing its efficiency.

[0085] The contents of this application will now be described in detail with reference to the accompanying drawings, so that those skilled in the art can have a clearer and more detailed understanding of the contents of this application.

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

[0087] Figure 6 for Figure 5 A magnified view of the dashed box area in the image. Figure 7 This is a schematic diagram of the control of the feeding system provided in an embodiment of this application.

[0088] like Figures 1-7 As shown in the figure, this 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 being connected to the support frame 111; the hopper 112 has a feeding channel 1121, the feeding channel 1121 having an inlet 1122 and an outlet.

[0090] The first transfer device 120 is movable relative to the feeding device 110. The first transfer device 120 is used to load materials and feed them into the feeding channel 1121 through the inlet 1122. The materials are then moved to the external storage device 200 through the outlet.

[0091] According to the feeding system 100 provided in this application, a hopper 112 is mounted on a support frame 111. The hopper 112 has a feeding channel 1121, which has an inlet 1122 and an outlet that are interconnected, allowing materials to flow along the feeding channel 1121 to an external storage device 200. A first transfer device 120 carries materials and moves relative to the feeding device 110, delivering the materials through the inlet 1122 into the feeding channel 1121. Thus, the movable arrangement of the first transfer device 120 enables a flexible scheduling design for the feeding system 100, improving its flexibility, stability, and reliability, thereby increasing its operational efficiency.

[0092] The following sections will provide a detailed description of the specific structure of the feeding system 100 and various possible implementation methods.

[0093] For example, see Figure 1 , Figure 3 and Figure 4 In this embodiment of the application, the support frame 111 includes a base 1111 and a body 1112 that are connected to each other. The base 1111 can be fixedly connected to an external platform. In this way, the 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, which means that the hopper 112 is connected to the body 1112. The hopper 112 can be located along the Z direction on one side near the top of the body 1112, or in the middle of the body 1112, without any specific requirements.

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

[0096] It can be understood that the main body 1112 is rotatable relative to the base 1111 around the rotation axis 1115. The main body 1112 rotates relative to the base 1111 around the rotation axis 1115, with the extension direction of the rotation axis 1115 along the X direction. Thus, during the rotation of the main body 1112 around the rotation axis 1115, it can drive the hopper 112 to rotate around the rotation axis 1115, thereby adjusting the tilt angle of the hopper 112 relative to the ground. In this way, the main body 1112 drives the hopper 112 to rotate, and the hopper 112 tilts relative to the ground, changing the flow state of the material within the feeding channel 1121. This accelerates the flow of material within the feeding channel 1121, improving feeding efficiency. Simultaneously, the tilt of the hopper 112 relative to the ground creates a collision buffer between the material and the external storage device 200, preventing damage to the external storage device 200 due to excessive material flow velocity, ensuring the safety and stability of the external storage device 200. This ensures the stable operation of the feeding system 100, reduces feeding downtime, and improves feeding efficiency.

[0097] For example, the body 1112 can drive the hopper 112 to rotate and form an inclined angle with the ground. The inclined angle can be 60° to 90°, such as 60°, 65°, 70°, 75°, 80°, 85°, 90°, etc. This application embodiment 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, which has an inlet 1122 and an outlet. It is understood that the inlet 1122 and the outlet are interconnected. The inlet 1122 and the outlet can be located on different walls of the hopper 112, for example, on adjacent walls or opposite walls. This application does not make specific requirements in this regard. 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 materials in the embodiments of this application can be either solid or liquid. When the material is solid, it can be granular, powdered, or lumpy; this application does not make specific requirements in this regard. In a specific application, the feeding system 100 provided in this application can be used in the production and manufacturing of photovoltaic materials, such as photovoltaic panels, polycrystalline silicon, and monocrystalline silicon. Adjacent to this, the materials in these production fields can be silicon powder.

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

[0101] In some embodiments, the feeding device 110 and the first transfer device 120 of the feeding system 100 can be set up one-to-one. 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 sends 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 once, completing the material loading through a single relative movement; or, the first transfer device 120 can carry multiple separately packaged materials, completing the material loading through a single relative movement and multiple feedings. Thus, the material loading efficiency is improved through the material loading system 100.

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

[0104] Figure 8 Layout diagram of the feeding system provided in the embodiments of this application Figure 1 . Figure 9 Layout diagram of the feeding system provided in the embodiments of this application Figure 2 .

[0105] See Figure 8 and Figure 9 The feeding device 110 and the first transfer device 120 in the feeding system 100 can be arranged in the two different layouts described above. The first transfer device 120 can move along... Figure 8 and Figure 9 The movement of the material along the latitude and longitude lines. 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 of the first transfer device 120 is not limited to the above-mentioned movement layout.

[0106] Possibly, the hopper 112 is movable relative to the support frame 111 along a first direction; and / or, the hopper 112 is movable relative to the support frame 111 along a second direction and / or a third direction; the third direction, the second direction, and the first direction are perpendicular to each other, with the first direction extending along the direction of the support frame 111. Thus, by moving the hopper 112 relative to 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, thereby connecting the feeding channel 1121 and the external storage device 200, improving the accuracy of feeding, increasing the feeding efficiency of the feeding system 100, and reducing material leakage.

[0107] It should be noted that in this embodiment, the first direction 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 support frame 111 has a first sliding part 1113 extending along the first direction on its main body 1112. The hopper 112 is connected to the first sliding part 1113 and moves relative to the first sliding part 1113 along the first direction, thereby achieving height adjustment of the hopper 112 on the support frame 111. In this way, by simply adjusting the relative position of the hopper 112 with respect to the support frame 111 along the first direction, the outlet of the hopper 112 can be aligned with the external storage device 200, reducing material leakage during the feeding process and improving material feeding efficiency.

[0109] Alternatively, a second sliding portion 1114 extending along a second direction is provided on the main body 1112 of the support frame 111. The hopper 112 is connected to the second sliding portion 1114 and moves relative to the second sliding portion 1114 along the second direction, thereby adjusting the position of the hopper 112 on the support frame 111 along the X direction. In this way, by simply adjusting the relative position of the hopper 112 with respect to the support frame 111 along the second direction, the outlet of the hopper 112 and the external storage device 200 can be aligned, reducing material leakage during the feeding process and improving material feeding efficiency.

[0110] Of course, a first sliding part 1113 and a second sliding part 1114 can be simultaneously provided on the body 1112 of the support frame 111, so that the hopper 112 can move relative to the support frame 111 in both the first and second directions. 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 can be adjusted, reducing material leakage during the feeding process and 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 specific structure of the first sliding part 1113 and the second sliding part 1114 is not required in the embodiments of this application. Any structure that can realize the relative position adjustment 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 disposed at the outlet of the hopper 112; the connector 113 has a communicating cavity, one end of which is connected to the feeding channel 1121 via the outlet of the feeding channel 1121, and the other end of which faces the external storage device 200; the connector 113 is rotatably disposed relative to the hopper 112 about the axis of the communicating cavity. In this embodiment, the relative positional relationship between the connector 113 and the external storage device 200 is adjusted by the rotatable connection between the connector 113 and the hopper 112, so that the feeding system 100 can be adapted to different external storage devices 200.

[0113] Combination Figure 1 and Figure 2 The connector 113 is connected to the hopper 112 and located at the outlet of the feeding channel 1121. The communicating cavity of the connector 113 is connected to the feeding channel 1121 through the outlet of the feeding channel 1121. The side of the connector 113 facing away from the outlet of the hopper 112 faces the external storage device 200. In this embodiment, the connector 113 can be a metal pipe, a plastic pipe, or a flexible pipe, etc. The connector 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 connector 113.

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

[0115] In conjunction with the aforementioned embodiments, the connector 113 rotates relative to the hopper 112 about the axis of the communicating cavity so that the end of the connector 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 feeding efficiency.

[0116] Possibly, the feeding system 100 also includes a material bin 130, which is used to hold materials. The material bin 130 is delivered into the feeding channel 1121 via the first transfer device 120. In this embodiment, by setting up the material bin 130, the feeding system 100 can transport materials in different states through the cooperation of the material bin 130 and the first transfer device 120, which can reduce the flow loss of materials during the movement of the materials with the first transfer device 120 and improve the efficiency of the feeding operation.

[0117] Optionally, the first transfer device 120 includes a gantry 121, a storage component 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 component 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 materials, the lifting mechanism 123 is located on the side of the gantry 121 facing the feeding device 110. The lifting mechanism 123 can extend and retract relative to the gantry 121 toward the storage component 122 and toward the hopper 112 of the feeding device 110.

[0118] Materials are placed on the placement device 122, and the lifting mechanism 123 moves on the gantry 121 to transport the materials from the placement device 122 into the hopper 112. Thus, through the design of the movement path of the first transfer device 120, the movement of the first transfer device 120 is rationally controlled and arranged, thereby reducing the movement time of the first transfer device 120 and improving the loading efficiency of the feeding system 100.

[0119] It is easy to understand that the number of material bins 130 in this embodiment can correspond to the number of items 122 on the first transfer device 120. In some embodiments, there are multiple items 122, and the multiple items 122 are spaced apart along the height direction of the gantry 121; the lifting mechanism 123 is movable relative to the gantry 121 along the height direction of the gantry 121.

[0120] Combination Figure 1 and Figure 5 The first transfer device 120 is provided with five storage components 122, and correspondingly, the number of material bins 130 can also be five. Of course, the number of material bins 130 can also be less than five, and this embodiment of the application does not require this.

[0121] The lifting mechanism 123 moves along the Z direction on the gantry 121 and extends and retracts to a certain placement component 122 to transport the material box 130 loaded on the placement component 122 to the position of the entrance 1122 of the feeding channel 1121, and extends and retracts again to deliver the material box 130 into the feeding channel 1121, thus completing the material delivery.

[0122] In some possible implementations, the number of bins 130 is related to their volume. It is understood that the feeding system 100 can obtain the mass or volume of the corresponding material based on the feeding information, and can determine the number of bins 130 by calculation or weighing. When the number of placement components 122 shown in the figure is less than the actual determined number of bins 130, a first transfer device 120 with more placement components 122 can be selected, or multiple first transfer devices 120 can be used to load these bins 130. Alternatively, feeding can be completed by multiple movements of a first transfer device 120 relative to the feeding device 110. This improves the flexibility of the feeding system 100, allowing it to maximize feeding efficiency in environments with limited resources.

[0123] Optionally, the material bin 130 has a lid 131 and a body 132, with the lid 131 covering the top of the body 132. The first transfer device 120 is equipped with a lid-removing mechanism 125 corresponding to the lifting mechanism 123. The lid-removing mechanism 125 and the lifting mechanism 123 are located on the same side of the gantry 121 and are arranged opposite to each other along the Z direction and spaced apart. When the lifting mechanism 123 lifts the material bin 130, the lid 131 of the material bin 130 can be removed by the lid-removing mechanism 125, or the lid 131 can be placed on the body 132.

[0124] For example, the lid-removing mechanism 125 includes at least one of a suction cup 126 and a clamping claw. The suction cup 126 abuts against the lid 131 and uses suction to lift the lid 131 to remove it from the container body 132. Alternatively, the clamping claw clamps the edge of the lid 131 to remove the lid 131 from the container body 132 by mechanical force. After the material in the container body 132 has been fed, the clamping claw releases the lid 131, and the lid 131 is put back on the container body 132.

[0125] Possibly, the feeding device 110 includes a first fixing component 114, which is located in the feeding channel 1121 and near 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 component 114 is rotatably arranged relative to the material bin 112 so that the material is poured into the feeding channel 1121 through the cooperation of the first fixing component 114 and the material bin 130.

[0127] like Figure 2As shown, the first fixing component 114 includes two fixing members 1141 located within the feeding channel 1121. The two fixing members 1141 are arranged opposite each other on the inner wall of the feeding channel 1121 along the X direction, forming a fixing space between them. This fixing space is used to accommodate the material box 130. When the material box 130 is located within the fixing space, the two fixing members 1141 can clamp the material box 130 and drive the material box 130 to rotate, causing the opening of the material box 130 to tilt, 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 is adjustable, correspondingly, the size of the fixing space can be adjusted. The first fixing component 114 can be connected with material boxes 130 of different sizes, which improves the adaptability of the feeding system 100, thereby saving the connection time between 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 this embodiment 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, which will create a vibration effect on the material box 130 so that the material flows from the material box 130 to the feeding channel 1121 as much as possible.

[0130] As one possible implementation method, refer to Figure 1 and Figure 3 The feeding system 100 also includes a second transfer device 140. Along the first direction, the hopper 112 and the second transfer device 140 are respectively located at the 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 full external storage devices 200 in a timely manner.

[0131] For example, this application embodiment uses an external storage device 200 as a material cylinder for description. The material cylinder is detachably mounted on a second transfer device 140, which moves relative to the support frame 111 by manual handling or automated control to move the external storage device 200 to the support frame 111. The outlet of the feeding channel 1121 faces the external storage device 200. Material flows along the feeding channel 1121 and enters the external storage device 200.

[0132] To prevent the external storage device 200 from shifting during the feeding process, which could lead to material leakage and loss, the external storage device 200 can be connected to the support frame 111 via the second transfer device 140, so that the external storage device 200 and the support frame 111 remain relatively stable during the feeding process.

[0133] Understandably, the support frame 111 rotates around the rotation axis 1115, causing 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 and keep the external storage device 200 stable. At the same time, the support frame 111 reciprocates around the rotation axis 1115 at a certain angle, causing the external storage device 200 and the hopper 112 to sway, and allowing the material to flow into the external storage device 200 as much as possible. It can also make the material distribution in the external storage device 200 more uniform and compact, thereby accommodating more material and improving the feeding efficiency.

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

[0135] Possibly, the feeding device 110 may also include a second fixing component 115, which is movably disposed on the support frame 111 along a first direction. 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 engaged, the second transfer device 140 is fixed to the support frame 111.

[0136] Thus, the second fixing component 115 secures the second transfer device 140, ensuring a stable connection between the external storage device 200 and the support frame 111 during the feeding process. Furthermore, the second fixing component 115 is movable relative to the support frame 111 along the first direction, enabling rapid adjustment of the external storage device 200's position on the support frame 111. Combined with the position adjustment of the hopper 112 relative to the support frame 111, this allows for rapid docking between the external storage device 200 and the outlet on the hopper 112, thereby improving feeding efficiency.

[0137] like Figure 1 and Figure 3As shown, the second fixing component 115 in this embodiment includes a connecting plate 1151, a limiting member 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 limiting member 1152 and the elastic baffle 1156 are both connected to the connecting plate 1151, and the limiting member 1152 and the elastic baffle 1156 together form a fixing 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, thereby limiting the relative displacement between 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 part 1153, a second limiting part 1154, and a third limiting part 1155. The first limiting part 1153 limits the second transfer device 140 and the external storage device 200 along the Z direction to prevent relative displacement between them along the Z direction. The second limiting part 1154 abuts against the external storage device 200 along the X direction to prevent relative displacement between them along the X direction. The third limiting part 1155 abuts against the external storage device 200 along the Y direction to prevent relative displacement between them in the Y direction.

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

[0141] Combination Figures 1-4 A first driving component 116a is connected to a second fixing component 115. The first driving component 116a drives the second fixing component 115 to move relative to the support frame 111 along a first direction. A second driving component 116b is disposed on the support frame 111, and its output end is connected to the hopper 112 to drive the hopper 112 to move along the first direction. A third driving component 116c is disposed on the base 1111 of the support frame 111, and its output end faces the body 1112 of the support frame 111 to drive the body 1112 to rotate relative to the base 1111 about the rotation axis 1115. A fourth driving component 116d is disposed on the hopper 112, and its output end drives the hopper 112 to move along a second direction. A fifth driving component 116e is disposed on the hopper 112, and its output end is connected to a first fixing component 114 to drive the first fixing component 114 to rotate. By driving the relative movement of each component of the feeding system 100 through each driving component, the time consumed by the movement of each component of the feeding system 100 is saved, thereby improving the feeding efficiency of the feeding system 100.

[0142] It should be noted that 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 in this application embodiment all include motors to drive the movement of each component of the feeding system 100.

[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 faces the outlet. The image detector 117 is used to detect the relative position of the external storage device 200 and the outlet of the feeding channel 1121. The controller 118 is electrically connected to the image detector 117 and the second fixing component 115 respectively. 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 outlet of the feeding channel 1121 relative to each other 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. Based on the detection signal obtained by the image detector 117, 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 to adjust 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 this embodiment can be a camera, image sensor, etc., and there are no specific requirements.

[0146] Possibly, the feeding device 110 also includes a weight detector 119, which is mounted 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 material loading completion signal can be indicated by different colors of the indicator lights. Additionally, the weight detector 119 in this embodiment can be a weight sensor, etc. The preset value in this embodiment is the required material loading weight.

[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 are matched with 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 extends and retracts, causing 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 feeding process. For some granular or powdery materials, this can reduce the formation of dust.

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

[0150] Optionally, the hopper 112 and / or 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, which removes the solid powder or particles floating in the feeding channel 1121. Similarly, the dust removal connection port 160 on the connector 113 is connected to the connecting cavity, and the other side of the dust removal connection port 160 is connected to an external dust removal device, which removes the solid powder or particles floating in the connecting cavity.

[0151] Additionally, see Figure 10 This application embodiment can also provide a feeding method, applied to the feeding system 100 in this 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 feeding command, the first transfer device 120 is controlled to move to the storage area to load materials and the loading information of the materials is obtained.

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

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

[0155] In some implementations, 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 loading the material. After the material is loaded, the first transfer device 120 moves to the feeding area and waits there to obtain the feeding instruction. In this embodiment, the feeding instruction can be obtained through interaction between the first transfer device 120 and the feeding device 110.

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

[0157] The material feeding method provided in this application controls the first transfer device 120 to dynamically move and transport materials, and through the cooperation of the first transfer device 120 and the feeding device 110, the materials are delivered to the external storage device 200. Thus, the flexible movement of the first transfer device 120 improves the efficiency of material feeding operations.

[0158] In some embodiments, controlling the first transfer device 120 and the feeding device 110 to cooperate in order to deliver materials to the external storage device 200 specifically includes:

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

[0160] Control the lid removal mechanism 125 to remove the lid 131 of the material box 130.

[0161] The baffle 1123 of the hopper 112 in the feeding device 110 is rotated 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 control lifting mechanism 123 is disengaged from the inlet 1122 of the feeding channel 1121, and the control baffle 1123 is rotated to close the inlet 1122 of the feeding channel 1121.

[0164] Control the rotation of the first fixed component 114 to pour the material in the box 132 into the feeding channel 1121.

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

[0166] The control support frame 111 rotates, and the hopper 112 and the external storage device 200 rotate 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, so as to transfer the material box 130 from the placement part 122 of the first transfer device 120 to the lid removal mechanism 125 of the first transfer device 120.

[0168] Control the lid removal mechanism 125 to remove the lid 131 of the material box 130.

[0169] The baffle 1123 of the hopper 112 in the feeding device 110 is rotated 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 control lifting mechanism 123 is disengaged from the inlet 1122 of the feeding channel 1121, and the control baffle 1123 is rotated to close the inlet 1122 of the feeding channel 1121.

[0172] Control the rotation of the first fixed component 114 to pour the material in the box 132 into the feeding channel 1121.

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

[0174] The control support frame 111 rotates, and the hopper 112 and the external storage device 200 rotate 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 structure and connection relationship 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 foregoing embodiments, and will not be repeated here.

[0176] It should be noted that the terms "one embodiment," "embodiment," "exemplary embodiment," "some embodiments," etc., mentioned in the specification indicate that the described embodiment may include a specific feature, structure, or characteristic, but not every embodiment necessarily includes that specific feature, structure, or characteristic. Furthermore, such phrases do not necessarily refer to the same embodiment. Moreover, when a specific feature, structure, or characteristic is described in connection with an embodiment, implementing such a feature, structure, or characteristic in conjunction with other embodiments, whether explicitly described or not, is within the knowledge scope of those skilled in the art.

[0177] Generally speaking, terms should be understood at least in part by their use in context. For example, at least in part by context, the term "one or more" as used in the text can be used to describe any feature, structure, or characteristic of the singular meaning, or a combination of features, structures, or characteristics of the plural meaning. Similarly, at least in part by context, terms such as "a" or "the" can also be understood to convey either singular or plural usage.

[0178] It should be readily understood that the terms “on,” “above,” and “on top of” in this application should be interpreted in the broadest possible sense, such that “on” means not only “directly on something” but also “on something” with an intermediate feature or layer therebetween, and that “above” or “on top of” means not only “on top of something” but also “on top of something” without an intermediate feature or layer therebetween (i.e., directly on something).

[0179] Furthermore, for ease of explanation, spatially relative terms such as "below," "below," "under," "above," and "above" may be used 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 other than those shown in the figures. The device may have other orientations (rotated 90° or in other orientations), and the spatially relative descriptive terms used herein may be interpreted accordingly.

[0180] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of this application, and are not intended to limit them. Although this application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some or all of the technical features therein. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of this application.

Claims

1. A feeding system (100), characterized in that, include: Feeding device (110), 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; A 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 material moves to an external storage device (200) through the outlet; A material bin (130) is used to hold the material; The first transfer device (120) includes a gantry (121), a storage component (122), a lifting mechanism (123), and a robot base (124). The gantry (121) is mounted on the robot base (124), and the storage component (122) and the lifting mechanism (123) are respectively mounted on opposite sides of the gantry (121). When the first transfer device (120) and the feeding device (110) cooperate to feed materials, the lifting mechanism (123) is located on the side of the gantry (121) facing the feeding device (110); The placement component (122) is used to place the material box (130), and the lifting mechanism (123) can extend and retract relative to the gantry (121) toward the placement component (122) and the hopper (112) respectively, so as to transfer the material box (130) between the placement component (122) and the hopper (112); There are multiple placement components (122), and the multiple placement components (122) are spaced apart along the height direction of the gantry (121); the lifting mechanism (123) is movable relative to the gantry (121) along the height direction of the gantry (121).

2. The feeding system (100) according to claim 1, characterized in that, The hopper (112) is movably disposed relative to the support frame (111) along a first direction; And / or, the hopper (112) is movably disposed relative to the support frame (111) in a second direction and / or a third direction, such that the outlet of the feeding channel (1121) and the inlet of the external storage device (200) are opposite to and communicate with 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 includes a connector (113), which is disposed on the hopper (112); The connector (113) has a communicating 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 storage device (200). The connector (113) is rotatably disposed relative to the hopper (112) about the axis of the communicating cavity.

4. The feeding system (100) according to any one of claims 1-3, 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 tilt 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 1-3, characterized in that, The hopper (130) has a lid (131) and a body (132), with the lid (131) covering the top of the body (132); The first transfer device (120) further includes a cap-removing mechanism (125), which is disposed on the gantry (121) and is movably disposed along the height direction of the gantry (121). The cap-removing mechanism (125) and the lifting mechanism (123) are disposed opposite to each other along the height direction of the gantry (121). The lid removal mechanism (125) is used to remove the lid (131) of the hopper (130) located on the lifting mechanism (123) from the hopper body (132) and / or to place the lid (131) on the hopper body (132).

6. The feeding system (100) according to any one of claims 1-3, characterized in that, The feeding device (110) includes a first fixing component (114), which is located inside the feeding channel (1121) and near the entrance (1122) of the feeding channel (1121); The first fixing component (114) is used to cooperate with the material bin (130) to feed the material in the material bin (130) into the feeding channel (1121).

7. The feeding system (100) according to claim 6, characterized in that, The first fixing component (114) is rotatably arranged relative to the hopper (112) so that the material is poured into the feeding channel (1121) through the cooperation of the first fixing component (114) and the material box (130).

8. The feeding system (100) according to any one of claims 1-3, 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 the two ends of the support frame (111); The external storage device (200) is detachably connected to the support frame (111) via the second transfer device (140).

9. The feeding system (100) according to claim 8, characterized in that, The feeding device (110) further includes a second fixing component (115), which is movably disposed on the support frame (111) along the first direction. The second fixing component (115) and the second transfer device (140) are detachably connected to fix the second transfer device (140) to the support frame (111) when the second transfer device (140) and the second fixing component (115) are engaged.

10. The feeding system (100) according to claim 9, characterized in that, The feeding device (110) further 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) faces the outlet of the feeding channel (1121). The image detector (117) is used to detect the relative position of the external storage device (200) and the outlet of 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 storage device (200) and the outlet of the feeding channel (1121) relative to each other and connected.

11. The feeding system (100) according to claim 10, characterized in that, The feeding device (110) also 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) and the controller (118) are electrically connected; when the weight value obtained by the weight detector (119) is equal to the preset value, the controller (118) sends a feeding completion signal.

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

13. A feeding method, characterized in that, The method is applied to a feeding system (100) according to any one of claims 1-12; the feeding system (100) has a storage area and a feeding area, and the feeding device (110) of the feeding system (100) is located in the feeding area; the method includes: In response to the feeding command, the first transfer device (120) is controlled to move to the storage area to load the material, and the loading information of the material is obtained; Based on the loading information of the material and the feeding instruction, the first transfer device (120) is controlled to move to the feeding area and the feeding instruction is obtained; According to the feeding instruction, the first transfer device (120) and the feeding device (110) are controlled to cooperate to feed the material to the external storage device (200).

14. The feeding method according to claim 13, characterized in that, The control of the first transfer device (120) and the feeding device (110) to cooperate in order to feed the material to the external storage device (200) specifically includes: Control the lifting mechanism (123) of the first transfer device (120) to move, and transfer the material box (130) from the placement part (122) of the first transfer device (120) to the lid removal mechanism (125) of the first transfer device (120); Control the lid removal mechanism (125) to remove the lid (131) of the material box (130); The baffle (1123) of the hopper (112) in the feeding device (110) is rotated so that the inlet (1122) of the feeding channel (1121) of the hopper (112) is opened; Control 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 control the first fixing component (114) and the box body (132) to cooperate; Control the lifting mechanism (123) to disengage from the inlet (1122) of the feeding channel (1121), and control the baffle (1123) to rotate so that the inlet (1122) of the feeding channel (1121) is closed; Control the first fixing component (114) to rotate so as to pour the material in the box (132) into the feeding channel (1121); Control the movement of the hopper (112) relative to the support frame (111) of the feeding device (110), and control the movement of the second fixing component (115) of the feeding device (110) relative to the support frame (111) to connect the external storage device (200) and the outlet of the feeding channel (1121); Control the rotation of the support frame (111), the hopper (112) and the external storage device (200) rotate with the support frame (111) so that the feeding device (110) is tilted relative to the first transfer device (120).

Images