Multi-kettle automatic feeding system and method

Abstract

A multi-kettle automatic feeding system is characterized by comprising two or more elevator feeding mechanisms used for lifting a material barrel at the bottom layer to a target position of a two-layer platform and sending an empty material barrel at the target position back to the bottom layer; the at least one three-degree-of-freedom truss robot is used for clamping the material barrel at the target position, carrying the material barrel to a specified feeding position for feeding, and sending the empty material barrel after material pouring back to the target position; the plurality of vibration weighing and discharging mechanisms are arranged beside the reaction kettles and are used for receiving the materials fed by the truss robot and accurately discharging the materials into the reaction kettles; the conveying mechanism is arranged on the bottom layer and used for conveying the material barrels to the feeding mechanism and conveying out the empty material barrels collected by the feeding mechanism. A control system is further included. The device can meet the adding requirements of various materials, effectively ensures that the amount of materials added into the reaction kettle meets the production process requirements, is particularly suitable for adding dangerous / toxic materials in the production of energetic materials and the like, reduces the operation risk, and improves the overall operation collaboration and efficiency.

Description

Technical Field

[0001] The present invention belongs to the technical field of chemical production, and particularly relates to a multi-kettle automatic feeding system. Background Art

[0002] In the field of industrial production, the operation of adding solid materials to a reaction kettle faces many challenges. In the traditional method, adding solid materials to a reaction kettle requires multiple people to manually lift them. The labor intensity is high and the efficiency is low, making it difficult to meet the rhythm of modern large-scale industrial production. More seriously, in the preparation process of energetic materials such as propellants, the materials are mostly explosive and toxic. During manual operation, once an accident occurs, such as material leakage or explosion caused by collision, it not only increases the operation risk but also endangers the health of operators, presenting great potential safety hazards. In addition, there are various types of operations in modern industrial production workshops, and the space is limited. Different equipment and operations affect each other. Therefore, it is extremely urgent to develop a new type of reaction kettle feeding system. Summary of the Invention

[0003] The purpose of the present invention is to provide a multi-kettle automatic feeding system to achieve safe, efficient, and accurate material addition.

[0004] To achieve the above purpose, the technical solution adopted by the present invention is: a multi-kettle automatic feeding system, including: Two or more hoist feeding mechanisms for lifting the bottom layer of buckets to the target position on the second floor platform and sending the empty buckets at the target position back to the bottom layer; At least one three-degree-of-freedom truss robot for clamping the bucket at the target position, transporting it to the designated feeding position for feeding, and sending the emptied bucket after pouring back to the target position; Multiple vibrating weighing and discharging mechanisms are arranged beside each reaction kettle for receiving the feeding from the truss robot and accurately discharging the materials into the reaction kettle; A conveying mechanism is arranged at the bottom layer for transporting the buckets to the feeding mechanism and transporting the empty buckets retrieved by the feeding mechanism out; It further includes a control system connected to the hoist feeding mechanism, the truss robot, the vibrating weighing and discharging mechanism, and the conveying mechanism.

[0005] The truss robot consists of an X-axis guide rail, a Y-axis guide rail that can translate along the X-axis guide rail, a Z-axis connecting arm that can move back and forth, up and down along the Y-axis guide rail, and an end gripper connected to the lower end of the Z-axis connecting arm; The end gripper includes a gripper fixing frame connected to the Z-axis connecting arm; a fixed support seat for fixing the bucket is connected to the gripper fixing frame through a self-locking rotating shaft; and a motor for driving the fixed support seat to rotate and pour the material is arranged on the gripper fixing frame.

[0006] The fixed support seat includes a 匚-shaped base, a bottom support plate connected to the lower part of the base for supporting the material barrel, two contoured claws movably connected to the front end of the base for fixing the material barrel in the base, an arc-shaped positioning plate arranged in the base for cooperating with the two contoured claws to position the material barrel, and an opening and closing cylinder for driving the contoured claws to open and close to release / clamp the material barrel; a pouring weighing sensor is provided on the bottom support plate.

[0007] The clamp fixing frame is provided with a contoured inner support for fixing the material packaging bag in the barrel to prevent it from falling when pouring the material, and a lifting cylinder for driving the contoured inner support to descend / ascend to enter / leave the barrel; the contoured inner support is a double circular ring support frame adapted to the barrel, and the double circular ring support frame is connected to two parallel lifting cylinders via two sets of η-type connecting rods.

[0008] The X-axis guide rail comprises an X-axis guide rail 1 and an X-axis guide rail 2 which are arranged in parallel; the Y-axis guide rail is L-shaped and is mounted on the X-axis guide rail 1 and the X-axis guide rail 2.

[0009] The vibration weighing feeding mechanism comprises a four-corner bracket and a hopper arranged on the four-corner bracket; one or more hopper weighing sensors are arranged at the lower part of the hopper; The hopper discharge port is connected to the reactor feed port through a pipeline, and a discharge valve (cut-off valve) is provided near the reactor feed port on the pipeline; A serrated barbed screen is provided near the bottom of the hopper to break up material agglomerates so as to facilitate material discharge; A pneumatic vibrator is arranged in the hopper to prevent material from piling up.

[0010] The serrated barbed screen comprises a screen arranged in a hopper and a plurality of serrated barbed strips arranged on the screen.

[0011] A camera is arranged above the hopper to facilitate operators to observe the material discharge situation of the hopper.

[0012] The hoist loading mechanism is arranged at the bottom layer, and the upper end thereof passes through the second-layer platform; the hoist loading mechanism comprises a main body arranged at the bottom layer, and the upper end thereof passes through the second-layer platform; the main body is provided with two linear guide rails, and a slider movably connected to the linear guide rails and capable of lifting and lowering along the linear guide rails; the main body is provided with a rack, and the gear for meshing with the rack to drive the slider to lift and lower along the linear guide rails is connected to the servo motor for transmission; The lower baffle for carrying the material bucket is connected to the slider; a grasping mechanism is also connected to the slider, which is used to grasp the material bucket on the conveying mechanism to the lower baffle at the bottom layer and grasp the material bucket on the lower baffle to the target position on the second - layer platform; the grasping mechanism includes a U - shaped base, two profiling grippers movably connected to the front end of the base for fixing the material bucket in the base, an arc - shaped positioning plate arranged in the base for cooperating with the two profiling grippers to position the material bucket, an opening - closing air cylinder for driving the profiling grippers to open and close to release / clamp the material bucket, and a feeding telescopic air cylinder for driving the base to extend and retract; The feeding telescopic air cylinder is connected to the slider.

[0013] A weighing platform is arranged below the lower baffle, and a feeding weighing sensor is installed on the weighing platform.

[0014] A fence is installed around one end of the main body of the hoist feeding mechanism that extends out of the second - layer platform.

[0015] The conveying mechanism includes a material - bucket conveyor belt and an empty - bucket conveyor belt; a bucket - retreating air cylinder for pushing the empty bucket into the empty - bucket conveyor belt is arranged on one side of the material - bucket conveyor belt near the hoist feeding mechanism.

[0016] It also includes adjustable guiding plates arranged on both sides of the conveyor belt to keep the material bucket in the center position of the conveyor belt and prevent the material bucket from shifting and falling.

[0017] The present invention also provides a multi - kettle automatic feeding method, including: Multiple hoist feeding mechanisms, multiple three - degree - of - freedom truss robots, and multiple vibrating weighing and discharging mechanisms operate simultaneously; The operator opens the lid of the loading bucket, disassembles the packaging bag for loading and reversely sleeves it on the material bucket, places the processed material bucket at the starting end of the conveying mechanism, starts the conveying mechanism, and the material - bucket conveyor belt conveys the material bucket forward; When the material bucket reaches the hoist feeding mechanism, the material - bucket profiling grippers of the hoist feeding mechanism extend to clamp the material bucket and then return to the original position. At the same time, the feeding weighing sensor weighs the material bucket during feeding and transmits the data to the control system for recording; The hoist feeding mechanism lifts the material bucket and places it at the target position on the second - layer platform; The truss robot accurately moves to the target position according to the control system instruction, precisely grasps the material bucket through the end gripper, fixes the packaging bag by profiling and internal bracing, and transports the material bucket to the designated feeding position; The end gripper aligns the material - bucket opening with the hopper and slowly pours the powder into the hopper through rotational and tilting actions; during the pouring process, the weighing sensor of the end gripper real - time monitors the change in the weight of the material in the material bucket and sends it to the control system. When it detects that the weight decreases to be close to the feeding weighing weight, the control system controls the end gripper to perform fine - tuning actions to ensure that the material is completely poured out; After the material discharging is completed, the truss robot places the material bucket at the target position; the hoist feeding mechanism sends the empty bucket back to the bottom conveying mechanism, and the empty bucket is transported out through the empty bucket conveyor belt; the hoist feeding mechanism grabs the next material bucket and lifts it to the target position on the second-layer platform, and the truss robot grabs the material bucket at the target position and transports it to the designated feeding position for feeding, and so on in a cycle; After the hopper receives the material, the pneumatic vibrator inside it starts or stops vibrating according to the control system instructions to ensure that the powder maintains good fluidity and prevent the occurrence of material accumulation; the hopper weighing sensors at the four corners of the hopper continuously monitor the weight of the material in the hopper. When the hopper weighing sensors sense that the material accumulation reaches the preset threshold of the discharging weight, the control system controls the discharging valve to open and starts to discharge the material into the reactor; during the discharging process, the hopper weighing sensors continuously monitor the change of the material weight in the hopper and adjust the opening degree of the discharging valve according to the weight change to achieve accurate discharging; During the discharging process, when the vibration weighing sensor detects that the accumulated weight of the material remains unchanged for a long time or changes extremely slowly, the control system issues an alarm signal. The operator observes the discharging situation of the hopper through the camera and judges the cause of the problem. If the material is caked and blocked, the serrated spikes on the serrated sieve can be used to break the caked material under the action of the pneumatic vibrator to make it discharge smoothly; if the problem is still not solved, the operator stops the machine for inspection and cleaning, and restarts the discharging operation after troubleshooting.

[0018] The present invention has the following beneficial effects compared with the prior art: 1) High-precision weighing sensors are respectively equipped at the end gripper and the hopper, which can monitor the change of material weight in real time and accurately. During the material handling and discharging process, according to the accurate weighing data, the dumping action is precisely controlled, the opening and closing of the discharge valve are adjusted, etc., effectively ensuring that the amount of material added to the reaction kettle strictly meets the requirements of the production process. 2) The discharge valve in the vibrating weighing and discharging mechanism works in coordination with the weighing sensor, and realizes precise discharging according to the change of the material weight in the hopper, effectively avoiding the situation of excessive or insufficient material. 3) The mesh holes of the serrated bar screen are designed to be 30 meshes, and this design is suitable for the powder particle size range of 60 meshes - 80 meshes, which can effectively intercept foreign matters such as outer packaging and impurities in the material. The end face of the screen is provided with serrated barbs, and when the powder is poured, it will impact the barb tips for effective crushing to cope with the possible damp caking situation during transportation. 4) The profiling design of the end gripper (profiling claws and profiling inner supports) and adjustable guide plates of the conveying mechanism and other components enable the equipment to adapt to various different shapes and specifications of buckets, such as kraft paper buckets, stainless steel glue buckets, plastic glue buckets, etc. 5) The multi-kettle automatic feeding system of the present invention is provided with multiple reaction kettles and multiple truss robots. The end grippers all have a net load capacity of 100 kg, which can meet various material addition requirements, significantly reduce operation errors, improve the overall operation coordination and efficiency, shorten the adjustment time, and improve the overall production efficiency. 6) It is especially suitable for adding dangerous / toxic materials such as energetic materials in production, reducing operation risks and improving production safety. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] Figure 1 is a schematic three-dimensional structure diagram of the present invention.

[0020] Figure 2 is a second schematic three-dimensional structure diagram of the present invention.

[0021] Figure 3 is a schematic structure diagram of the end gripper.

[0022] Figure 4 is a schematic structure diagram of the vibrating weighing and discharging mechanism.

[0023] Figure 5 is a schematic structure diagram of the hopper.

[0024] Figure 6 is a schematic structure diagram of the hoist feeding mechanism.

[0025] Figure 7 is a schematic structure diagram of the conveying mechanism. DETAILED DESCRIPTION OF THE INVENTION

[0026] Next, the technical solutions in the embodiments of the present invention will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments. The following description of at least one exemplary embodiment is actually only illustrative and in no way limits the present invention and its application or use. Based on the embodiments in the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts belong to the scope of protection of the present invention.

[0027] Technologies, methods, and devices known to those of ordinary skill in the relevant art may not be discussed in detail, but where appropriate, the technologies, methods, and devices should be regarded as part of the authorization specification. Embodiment 1

[0028] Please refer to Figures 1 - 7 , the embodiment of the present invention provides a multi-kettle automatic feeding system, which mainly consists of the following components: two hoist feeding mechanisms 4 for lifting the bottom buckets to the target position on the second-floor platform and sending the empty buckets at the target position back to the bottom; two three-degree-of-freedom truss robots 1 for clamping the buckets at the target position and transporting them to the designated feeding position for feeding, and sending the empty buckets after pouring back to the target position; four vibrating weighing and feeding mechanisms 3 arranged beside each reaction kettle for receiving the feeding from the truss robot 1 and accurately feeding into the reaction kettle; a conveying mechanism 5 arranged at the bottom for transporting the buckets to the feeding mechanism 4 and transporting the empty buckets retrieved by the feeding mechanism 4 out; and a control system connected to the hoist feeding mechanism 4, the truss robot 1, the vibrating weighing and feeding mechanism 3, and the conveying mechanism 5.

[0029] The two truss robots 1 include a first truss robot 1.1 and a second truss robot 1.2. The truss robot 1 is composed of an X-axis guide rail 1.3, a Y-axis guide rail 1.4 that can translate along the X-axis guide rail, and a Z-axis connecting arm 1.5 that can move back and forth and up and down along the Y-axis guide rail. The first X-axis guide rails 1.6 of the first truss robot 1.1 and the second truss robot 1.2 are respectively fixed at the upper ends of the first-floor diagonal braces 1.7, and the second X-axis guide rails 1.8 of the first truss robot 1.1 and the second truss robot 1.2 are respectively fixedly connected above the second-floor platform 1.9 through columns. The Y-axis guide rail is arranged in an L shape on the first X-axis guide rail and the second X-axis guide rail.

[0030] The end of the Z-axis connecting arm 1.5 is equipped with an end gripper 2, and the end gripper 2 includes a gripper fixing frame 2.1 connected to the Z-axis connecting arm. The inner sides of the gripper fixing frame 2.1 are respectively connected to one end of a self-locking rotating shaft 2.3, and the other end of the self-locking rotating shaft 2.3 is respectively fixedly installed on a fixed support seat 2.4. Motors 2.2 for driving the fixed support seat 2.4 to rotate and pour materials are respectively fixed on the outer sides of the gripper fixing frame 2.1.

[0031] The fixed support base 2.4 includes a U-shaped base, a bottom support plate 2.9 connected to the lower part of the base for carrying the material bucket, two profiling grippers 2.5 movably connected to the front end of the base for fixing the material bucket inside the base, an arc-shaped positioning plate 2.11 arranged inside the base for cooperating with the two profiling grippers to position the material bucket, and an opening and closing air cylinder 2.8 for driving the profiling grippers 2.5 to open and close to release / clamp the material bucket. A tipping weighing sensor 2.10 is provided on the bottom support plate 2.9.

[0032] The gripper fixing frame 2.1 is provided with a profiling inner support 2.6 for fixing the material packaging bag inside the material bucket to prevent it from falling during tipping. The profiling inner support 2.6 is above the profiling gripper and the fixed support base 2.4. Lifting air cylinders 2.7 are installed on both sides of the profiling inner support 2.6, and an opening and closing air cylinder 2.8 is installed at the middle position on the side of the fixed support base 2.4. The profiling inner support 2.6 is a double-ring support frame 2.61 adapted to the material bucket, and the double-ring support frame is connected to two parallel lifting air cylinders 2.7 through two groups of η-shaped connecting rods 2.62.

[0033] A hopper 3.1 is arranged at the top of the vibrating weighing and feeding mechanism 3. A serrated puncture sieve mesh 3.2 is arranged near the bottom inside the hopper 3.1. The serrated puncture sieve mesh 3.2 includes a sieve mesh 3.21 arranged inside the hopper and multiple serrated puncture bars 3.22 arranged on the sieve mesh. A four-corner bracket 3.3 is arranged at the bottom of the vibrating weighing and feeding mechanism 3. The four-corner bracket 3.3 is fixedly installed with the bottom edge of the hopper 3.1. Vibration weighing sensors 3.4 are installed at the four connections of the hopper 3.1 and the four corners of the four-corner bracket 3.3. A cut-off valve 3.5 is arranged below the hopper 3.1. The cut-off valve 3.5 is connected to the bottom of the hopper 3.1 through a pipeline 3.6. A pneumatic vibrator 3.7 is installed below the hopper 3.1. A camera 3.8 is installed on the other side of the outer wall of the hopper 3.1. There is a reactor 3.9 on one side of the vibrating weighing and feeding mechanism 3. The cut-off valve 3.5 is connected to the reactor feed port 3.10 on one side of the upper part of the reactor.

[0034] The hoist feeding mechanism 4 includes a main body arranged at the bottom layer, and the upper end of the main body passes through the second-layer platform. The main body is provided with two linear guide rails 4.4 installed along the lifting direction of the hoist feeding mechanism 4, and a slider 4.41 movably connected to the linear guide rails and capable of lifting and lowering along the linear guide rails. The main body is provided with a rack 4.2, and a gear 4.1 used for meshing with the rack 4.2 to drive the slider to lift and lower along the linear guide rail is connected to the servo motor 4.3. The lower baffle 4.7 for carrying the material barrel is connected to the slider 4.41. The slider 4.41 is also connected with a grabbing mechanism for grabbing the material barrel on the conveying mechanism to the lower baffle 4.7 at the bottom layer, and grabbing the material barrel on the lower baffle 4.7 to the target position on the second-layer platform. The right end of one side of the lower baffle 4.7 is fixedly connected to the servo motor 4.3. The grabbing mechanism includes a 匚-shaped base, two contour claws 4.11 movably connected to the front end of the base for fixing the barrel in the base, an arc-shaped positioning plate 4.5 arranged in the base for cooperating with the two contour claws to position the barrel, an opening and closing cylinder 4.12 for driving the contour claws 4.11 to open and close to release / clamp the barrel, and a feeding telescopic cylinder 4.6 for driving the base to extend and retract. The feeding telescopic cylinder 4.6 is connected to the slider 4.41. A weighing platform 4.8 is arranged below the lower baffle 4.7, and a feeding weighing sensor 4.9 is installed on the weighing platform 4.8. The upper end of the hoist feeding mechanism 4 passes through the second-layer platform 1.9, and the hoist feeding mechanism 4 is equipped with a fence 4.10 around one end of the second-layer platform 1.9.

[0035] The left and right sides of the conveying mechanism 5 are respectively provided with an empty barrel conveyor belt 5.1 and a material barrel conveyor belt 5.2 and are equipped with an adjustable guide plate 5.3. The barrel-retracting cylinder 5.5 is located at one side of the intersection area of ​​the empty barrel conveyor belt 5.1 and the material barrel conveyor belt 5.2. After the material barrel contour gripper of the elevator feeding mechanism 4 places the empty barrel on the material barrel conveyor belt 5.2, the barrel-retracting cylinder 5.5 pushes the empty barrel onto the empty barrel conveyor belt 5.1. The lever cylinder 1 5.4 and the lever cylinder 2 5.6 used to cooperate with the limited material barrel are located on both sides of the conveyor belt.

[0036] The method of using the above multi-kettle automatic feeding system for multi-kettle automatic feeding is as follows: The No. 1 truss robot 1.1 and the No. 2 truss robot 1.2 operate simultaneously. The operator needs to pre-process the materials. The specific operation is to open the lid of the loading bucket, remove the plastic bag for loading and put it inside out on the bucket, and place the processed material bucket at the starting end of the conveying mechanism 5. Pay attention to the direction and position of the bucket when placing it to ensure that it can smoothly enter the conveyor belt. Start the conveying mechanism 5. The first stop rod cylinder 5.4 extends, and the bucket conveyor belt 5.2 conveys the bucket forward. During the conveying process, the adjustable guide plate 5.3 automatically adjusts the width according to the bucket size to ensure that the bucket is always located at the center of the conveyor belt, preventing the bucket from shifting or falling. When the bucket reaches the specified position, the first stop rod cylinder 5.4 retracts, and the second stop rod cylinder 5.6 extends. The bucket profiling gripper of the hoist feeding mechanism 4 extends to clamp the bucket and then returns to its original position. The bucket is placed on the lower baffle 4.7, and the feeding weighing sensor 4.9 weighs the bucket for the first time and transmits the data to the control system for recording.

[0037] After receiving the bucket, the hoist feeding mechanism 4 drives the rack and pinion 4.2 by the servo motor 4.3 to smoothly lift the bucket to the second-layer platform. During the lifting process, the bucket profiling gripper tightly holds the bucket to ensure the stable lifting of the bucket. After reaching the second-layer platform 1.9, the truss robot 1 starts to operate. According to the precise motion control of the X, Y, and Z axes of the control system instructions, it accurately moves to the target position and precisely grabs the bucket through the end gripper 2.

[0038] The self-locking rotating shaft 2.3 of the end gripper 2 ensures self-locking during tipping and pouring. The profiling inner support 2.6 is driven by the lifting cylinder 2.7 to fix the packaging bag. The profiling gripper 2.5 is driven by the opening and closing cylinder 2.8 to clamp the bucket. After the end gripper 2 grabs the bucket, it transports it to the designated feeding position. The end gripper 2 aligns the bucket opening with the hopper 3.1 and slowly pours the powder into the hopper through rotational and tilting movements.

[0039] During the pouring process, the weighing sensor 2.10 of the end gripper 2 monitors the change in the weight of the material in the bucket in real time. When it detects that the weight has decreased to near the preset pouring completion weight, it controls the end gripper 2 to perform fine-tuning actions (such as slow rotation, slight vibration, etc.) to ensure that the material is poured out as completely as possible. If after multiple fine-tuning operations, the weighing sensor 2.10 still detects that the remaining material weight in the bucket exceeds the allowable range, the equipment emits an alarm signal, and the operator judges whether there is material blockage or other abnormal conditions. If it is determined to be material blockage, corresponding measures (such as manual assistance for dredging, adjusting equipment parameters, etc.) can be taken for processing to ensure the smooth completion of the pouring operation. After the pouring is completed, the truss robot 1 places the material bucket at the target position. The bucket profiling gripper of the hoist feeding mechanism 4 grabs the empty bucket and sends it back to the bottom conveying mechanism, and the empty bucket is transported out through the empty bucket conveyor belt. The bucket profiling gripper grabs the next bucket, lifts it to the target position on the second-layer platform, and the truss robot 1 grabs the bucket at the target position and transports it to the designated feeding position for feeding, and so on in a cycle.

[0040] After the hopper 3.1 receives the material, the pneumatic vibrator 3.7 inside it starts or stops according to the control system instructions, and controls the vibration frequency and intensity by adjusting the air pressure to ensure that the powder maintains good fluidity and prevent the occurrence of material accumulation. The vibration weighing sensors 3.4 at the four corners of the hopper 3.1 monitor the weight of the material in the hopper in real time. When the sensor senses that the material has accumulated to a certain extent (reaching the preset threshold of the feeding weight), the control system controls the cut-off valve 3.5 to open and starts feeding the material into the reaction kettle. During the feeding process, the vibration weighing sensor 3.4 continuously monitors the change in the weight of the material in the hopper 3.1, and adjusts the opening degree of the cut-off valve 3.5 according to the weight change to achieve precise feeding and ensure that the amount of material added to the reaction kettle 3.9 meets the production process requirements. If during the feeding process, the vibration weighing sensor 3.4 detects that the accumulated weight of the material remains unchanged for a long time or changes extremely slowly, it may indicate problems such as poor feeding or material caking and blockage. At this time, the equipment emits an alarm signal, and the operator can observe the feeding situation of the hopper through the camera 3.8 to judge the cause of the problem. If it is caused by material caking and blockage, the serrated spikes on the serrated sieve mesh 3.2 can be used to break the caking under the action of the vibrator 3.7 to make it feed smoothly; if the problem cannot be solved through simple operations, the operator needs to stop the machine for inspection and cleaning, and restart the feeding operation after troubleshooting.

[0041] The present invention has been disclosed above with preferred embodiments. However, it is not intended to limit the present invention. Any person skilled in the relevant art can make some changes or modifications to the above-disclosed structure and technical content within the scope of the technical solution of the present invention to form equivalent embodiments of equivalent changes. However, as long as it does not depart from the content of the technical solution of the present invention, any simple modification, equivalent change and modification made to the above embodiments based on the technical essence of the present invention still fall within the scope of the technical solution of the present invention.

Claims

1. A multi-kettle automatic feeding system, characterized in that: Including: More than two hoist feeding mechanisms (4) for lifting the bottom buckets to the target position on the second - floor platform and sending the empty buckets at the target position back to the bottom layer; At least one three - degree - of - freedom truss robot (1) for clamping the buckets at the target position, transporting them to the designated feeding position for feeding, and sending the empty buckets after pouring back to the target position; Multiple vibrating weighing and feeding mechanisms (3) are arranged beside each reactor for receiving the feeding from the truss robot (1) and accurately feeding into the reactor; A conveying mechanism (5) is arranged on the bottom layer for transporting the buckets to the feeding mechanism (4) and transporting the empty buckets retrieved by the feeding mechanism (4) out; It further includes a control system connected to the hoist feeding mechanism (4), the truss robot (1), the vibrating weighing and feeding mechanism (3), and the conveying mechanism (5).

2. The multi-kettle automatic feeding system according to claim 1 is characterized in that: The truss robot (1) is composed of an X - axis guide rail, a Y - axis guide rail that can translate along the X - axis guide rail, a Z - axis connecting arm that can move back - and - forth and up - and - down along the Y - axis guide rail, and an end gripper (2) connected to the lower end of the Z - axis connecting arm; The end gripper (2) includes a gripper fixing frame (2.1) connected to the Z - axis connecting arm; a fixed support seat (2.4) for fixing the bucket is connected to the gripper fixing frame (2.1) through a self - locking rotating shaft (2.3); a motor (2.2) for driving the fixed support seat (2.4) to rotate and pour the material is arranged on the gripper fixing frame (2.1); The fixed support seat (2.4) includes a U - shaped base, a bottom support plate (2.9) connected to the lower part of the base for carrying the bucket, two profiling clamping claws (2.5) movably connected to the front end of the base for fixing the bucket inside the base, an arc - shaped positioning plate (2.11) arranged inside the base for cooperating with the two profiling clamping claws to position the bucket, and an opening - closing air cylinder (2.8) for driving the profiling clamping claws (2.5) to open and close to release / clamp the bucket; a pouring weighing sensor (2.10) is arranged on the bottom support plate (2.9).

3. The multi-kettle automatic feeding system according to claim 2 is characterized in that: A profiling inner support (2.6) for fixing the material packaging bag in the bucket to prevent it from falling during pouring and a lifting air cylinder (2.7) for driving the profiling inner support (2.6) to descend / ascend to enter / leave the bucket are arranged on the gripper fixing frame (2.1); the profiling inner support (2.6) is a double - ring support frame (2.61) adapted to the bucket, and the double - ring support frame is connected to two parallel lifting air cylinders (2.7) through two groups of η - type connecting rods (2.62).

4. The multi-reactor automatic feeding system according to claim 2 is characterized in that: The X - axis guide rail includes X - axis guide rail one and X - axis guide rail two arranged in parallel; the Y - axis guide rail is in an L - shape and is arranged on X - axis guide rail one and X - axis guide rail two.

5. The multi-reactor automatic feeding system according to claim 1 is characterized in that: The vibrating weighing and feeding mechanism (3) includes a four - corner bracket (3.3) and a hopper (3.1) arranged on the four - corner bracket (3.3); one or more hopper weighing sensors (3.4) are arranged at the lower part of the hopper (3.1); The discharge port of the hopper (3.1) is connected to the feed inlet (3.10) of the reactor through a pipeline (3.6), and a feed valve is arranged near the feed inlet of the reactor on the pipeline (3.6); Inside the hopper (3.1) near the bottom, there is a serrated bar screen (3.2) for breaking up material agglomerates to facilitate smooth feeding. Inside the hopper (3.1), there is a pneumatic vibrator (3.7) for preventing material accumulation.

6. The multi-kettle automatic feeding system according to claim 5 is characterized in that: The serrated bar screen (3.2) includes a screen (3.21) disposed inside the hopper and multiple serrated bar strips (3.22) arranged on the screen.

7. The multi-reactor automatic feeding system according to claim 5 is characterized in that: Above the hopper, there is a camera (3.8) for facilitating the operator to observe the feeding situation of the hopper.

8. The multi-reactor automatic feeding system according to claim 1 is characterized in that: The hoist feeding mechanism (4) is arranged on the bottom layer and its upper end passes through the second - layer platform; the hoist feeding mechanism (4) includes a main body disposed on the bottom layer, and the upper end of the main body passes through the second - layer platform; on the main body, there are two linear guide rails (4.4) and a slider (4.41) movably connected to the linear guide rails and capable of lifting and lowering along the linear guide rails; on the main body, there is a rack (4.2), and a gear (4.1) for meshing with the rack (4.2) to drive the slider to lift and lower along the linear guide rails is in transmission connection with a servo motor (4.3). The lower baffle (4.7) for carrying the material bucket is connected to the slider (4.41); on the slider (4.41), there is also a grasping mechanism for grasping the material bucket on the conveying mechanism to the lower baffle (4.7) at the bottom layer and grasping the material bucket on the lower baffle (4.7) to the target position at the second - layer platform; the grasping mechanism includes a U - shaped base, two profiling grippers (4.11) movably connected to the front end of the base for fixing the material bucket inside the base, an arc - shaped positioning plate (4.5) disposed inside the base for cooperating with the two profiling grippers to position the material bucket, an opening - closing cylinder (4.12) for driving the profiling grippers (4.11) to open and close to release / clamp the material bucket, and a feeding telescopic cylinder (4.6) for driving the base to extend and retract. Below the lower baffle (4.7), there is a weighing platform (4.8), and a feeding weighing sensor (4.9) is installed on the weighing platform (4.8).

9. The multi-tank feeding system according to claim 1, characterized in that: The conveying mechanism (5) includes a material - bucket conveyor belt (5.2) and an empty - bucket conveyor belt (5.1); on one side of the material - bucket conveyor belt (5.2) near the hoist feeding mechanism (4), there is a bucket - pushing cylinder (5.5) for pushing the empty bucket onto the empty - bucket conveyor belt.

10. A multi-kettle automatic feeding method, characterized in that: Including: Multiple hoist feeding mechanisms (4), multiple three - degree - of - freedom truss robots (1), and multiple vibrating weighing and feeding mechanisms (3) operate simultaneously. The operator opens the lid of the loading bucket, disassembles the packaging bag for loading and puts it on the material bucket in reverse, places the processed material bucket at the starting end of the conveying mechanism (5), starts the conveying mechanism (5), and the material - bucket conveyor belt (5.2) conveys the material bucket forward. When the material bucket reaches the hoist feeding mechanism (4), the bucket - profiling grippers of the hoist feeding mechanism (4) extend to clamp the material bucket and then return to the original position. At the same time, the feeding weighing sensor (4.9) weighs the material bucket during feeding and transmits the data to the control system for recording. The hoist feeding mechanism (4) lifts the material bucket and places it at the target position on the second - layer platform. The truss robot (1) moves accurately to the target position according to the control system command, accurately grabs the barrel through the end gripper (2), fixes the packaging bag with the contoured inner support, and moves the barrel to the designated feeding position; The end clamp (2) aligns the barrel opening with the hopper (3.1) and slowly pours the powder into the hopper by rotating and tilting. During the pouring process, the weighing sensor (2.10) of the end clamp (2) monitors the weight change of the material in the barrel in real time and sends it to the control system. When the weight is detected to be reduced to a weight close to the loading weighing weight, the control system controls the end clamp (2) to perform fine adjustment to ensure that the material is completely poured out. After the material is unloaded, the truss robot (1) places the material barrel at the target position; the elevator loading mechanism (4) sends the empty barrel back to the bottom conveying mechanism, and the empty barrel is transported out via the empty barrel conveyor belt; the elevator loading mechanism (4) grabs the next barrel and lifts it to the target position on the second-floor platform, and the truss robot (1) grabs the barrel at the target position and moves it to the designated feeding position for feeding, and the cycle continues; After receiving the material, the pneumatic vibrator (3.7) inside the hopper (3.1) starts or stops vibrating according to the control system command to ensure that the powder maintains good fluidity and prevents the occurrence of material pile-up; the hopper weighing sensors (3.4) at the four corners of the hopper (3.1) monitor the weight of the material in the hopper in real time. When the hopper weighing sensors sense that the material accumulation reaches a preset discharge weight threshold, the control system controls the discharge valve to open and starts to discharge the material into the reactor; during the discharge process, the hopper weighing sensors (3.4) continuously monitor the weight change of the material in the hopper (3.1), and adjust the opening of the discharge valve according to the weight change to achieve accurate discharge; During the material discharge process, when the vibrating weighing sensor (3.4) detects that the accumulated weight of the material remains unchanged for a long time or changes abnormally slowly, the control system sends out an alarm signal, and the operator observes the material discharge situation of the hopper through the camera (3.8) to determine the cause of the problem. If the blockage is caused by material agglomeration, the serrated thorns on the serrated thorn screen (3.2) can be used to break the agglomerates under the action of the pneumatic vibrator (3.7) to enable smooth material discharge; If the problem is still not solved, the operator will stop the machine for inspection and cleaning, and restart the unloading operation after the fault is eliminated.

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