Cloth crushing system and method

Abstract

The embodiment of the invention provides a cloth crushing system and method. The cloth crushing system comprises a cloth device, a visual identification module and a mechanical arm. The material distributing equipment comprises a support, a material distributing disc, a discharging device and a discharging piece, and the material distributing disc is rotationally arranged on the support. The material distribution disc is provided with a feeding area and a discharging area, the circumferential side of the material distribution disc is opposite to the crushing position, and the crushing position is located between the feeding area and the discharging area. The discharging device is provided with a feeding port and a discharging port, the feeding port is used for receiving the crushed metal alloy, and the discharging port is used for conveying the metal alloy received by the feeding port to conveying equipment for subsequent transfer. And the blanking part of the blanking piece can guide the metal alloy which is crushed and flows to the discharging area to the discharging port. And the visual identification module can judge whether the metal alloy on the material distribution disc is the to-be-crushed alloy or not, and after the metal alloy is judged to be the to-be-crushed alloy, the mechanical arm is used for crushing, so that automatic circulation and crushing of the metal alloy are realized, the crushing efficiency is improved, and large-scale production is facilitated.

Description

Technical Field

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

[0002] Ferroalloys are important materials in industrial production, widely used in various fields such as steel smelting, machinery manufacturing, and electronic materials. To meet different process requirements, ferroalloys usually need to be crushed into particles of specific sizes to facilitate transportation, storage, and subsequent processing.

[0003] In the related art, the crushing of ferroalloys is mainly achieved by crushers or manual hammering. Crusher usually uses mechanical extrusion, shearing or impact to crush ferroalloys into the required particle size. When crushing by crusher, the crusher is likely to cause excessive crushing of ferroalloys, resulting in particles that are too small and a high powder rate. Therefore, in the related art, manual hammering is mainly used to crush ferroalloys, that is, the operator transfers the ferroalloy to the crushing workbench, uses a hammer or other tools to hit the ferroalloy at the crushing workbench, and after crushing it into the appropriate size, it is transported to the target area.

[0004] However, the crushing efficiency and manual transfer efficiency of manual hammering are low and are not suitable for large-scale production. Summary of the Invention

[0005] The embodiments of the present application provide a material crushing system and method to solve the problem that the crushing efficiency of manual hammering and manual transportation are low and unsuitable for large-scale production.

[0006] In a first aspect, an embodiment of the present application provides a material distribution and crushing system for metal alloys, the material distribution and crushing system comprising:

[0007] The material distribution equipment includes a bracket, a material distribution disc, a discharging device and a discharge piece. The material distribution disc is rotatably mounted on the bracket and is used to carry the metal alloy. The material distribution disc has a feed area and a discharge area in the circumferential direction. The feed area is used to allow the metal alloy to enter the material distribution disc. The lateral side of the material distribution disc is constructed to be opposite to the crushing position. Along the rotation direction of the material distribution disc, the crushing position is located between the feed area and the discharge area. The discharge device is located on the lateral side of the material distribution disc in the circumferential direction. The discharge device has a feed port and a discharge port. The feed port is arranged opposite to the discharge area. The feed port is used to receive the metal alloy that has been crushed and transferred to the discharge area. The discharge port is connected to the feed port.

[0008] A visual recognition module is mounted on the side of the distribution tray facing away from the bracket; the visual recognition module is configured to take a picture of the metal alloy on the distribution tray and identify whether the metal alloy on the distribution tray is the alloy to be crushed, and metal alloys with a size greater than or equal to a preset size are the alloy to be crushed;

[0009] The mechanical arm is provided at a crushing position, and the mechanical arm has a crushing hammer at one end thereof facing the crushing position, and the crushing hammer is configured to crush the alloy to be crushed.

[0010] In some embodiments, the material crushing system further comprises an information processing module and a control module, the information processing module is configured to establish a polar coordinate system for the material disc, and determine the polar coordinates of the alloy to be crushed according to the photos, and mark and locate the alloy to be crushed;

[0011] The information processing module is further configured to determine the crushing path according to the order of the alloy to be crushed entering the working area when the alloy to be crushed is multiple;

[0012] The control module is configured to control the crushing hammer to crush the alloy to be crushed one by one according to the crushing path when the alloy to be crushed enters the working area.

[0013] In some embodiments, the control module is configured to determine whether the alloy to be crushed enters the working area according to the rotating speed of the material disc and the polar coordinates of the alloy to be crushed.

[0014] In some embodiments, the material crushing system further comprises a judgment module, and the visual recognition module is further configured to take photos of the same alloy to be crushed before and after being crushed by the mechanical arm;

[0015] The judgment module is configured to determine whether the size of the alloy to be crushed after being crushed is greater than a preset size according to the photos taken by the visual recognition module of the alloy to be crushed after being crushed;

[0016] The crushing frequency of the crushing hammer on the material disc is adjustable, and the control module is configured to increase the crushing frequency of the crushing hammer and / or reduce the rotating speed of the material disc when the size of the alloy to be crushed after being crushed is greater than the preset size.

[0017] In some embodiments, the material crushing system further comprises a feeding conveying device, and the discharge end of the feeding conveying device is connected to the feeding area, and the feeding conveying device is configured to convey the metal alloy to the feeding area through the discharge end;

[0018] The visual recognition module is further configured to take photos of multiple alloys to be crushed in the working area of the mechanical arm before and after being crushed;

[0019] The judgment module is configured to determine whether the number of the alloy to be crushed in the working area exceeds a preset numerical range according to the photos taken by the visual recognition module of the alloy to be crushed in the working area before and after being crushed;

[0020] The control module is configured to reduce the rotating speed of the material disc or the feeding conveying device when the number of the alloy to be crushed in the working area exceeds the preset numerical range and maintains for a first time;

[0021] The breaking frequency of the breaking hammer on the distributing disc is adjustable, and the control module is configured to increase the rotating speed of the distributing disc or the feeding conveying device, or decrease the breaking frequency of the mechanical arm, after a second time of maintaining when the number of the alloy to be broken in the working area does not exceed a preset range of values.

[0022] In some embodiments, the number of the mechanical arms is multiple, the circumference of the distributing disc is provided with a breaking position corresponding to each of the mechanical arms, and the adjacent mechanical arms have an overlapping area in the working area on the distributing disc.

[0023] The mechanical arm not performing the breaking operation is configured to break the alloy to be broken in the overlapping area.

[0024] In a second aspect, the embodiments of the present application provide a breaking method of a material breaking system, applied to the material breaking system as described in any one of the first aspect, and the breaking method comprises the following steps:

[0025] 1) establishing a polar coordinate system for the distributing disc in the material breaking system;

[0026] 2) taking a photo of the metal alloy on the distributing disc by a visual recognition module in the material breaking system, and identifying whether the metal alloy on the distributing disc is the alloy to be broken, and the metal alloy with a size greater than or equal to a preset size is the alloy to be broken;

[0027] 3) determining the polar coordinates of the alloy to be broken according to the photo, marking and positioning the alloy to be broken;

[0028] 4) controlling the breaking hammer in the mechanical arm arranged at the breaking position to break the alloy to be broken.

[0029] In some embodiments, the step 4) of controlling the breaking hammer in the mechanical arm arranged at the breaking position to break the alloy to be broken comprises:

[0030] When the alloy to be broken is multiple, the breaking path is determined according to the order of the alloy to be broken entering the working area of the mechanical arm;

[0031] When the alloy to be broken enters the working area, the breaking hammer is controlled to break the metal alloy according to the breaking path.

[0032] In some embodiments, the step 2) of taking a photo of the metal alloy on the distributing disc by the visual recognition module in the material breaking system comprises:

[0033] Controlling the visual recognition module to take a photo of the same alloy to be broken before and after being broken by the mechanical arm;

[0034] The breaking method further comprises:

[0035] According to the photos of the broken alloy taken by the visual recognition module, it is judged whether the size of the broken alloy is greater than the preset size;

[0036] When the size of the broken alloy is greater than the preset size, the crushing frequency of the crushing hammer is increased and / or the rotating speed of the distributing disc is decreased; and / or,

[0037] Step 2) The visual recognition module in the distributing crushing system takes photos of the metal alloy on the distributing disc, and further comprises:

[0038] The visual recognition module controls the plurality of mechanical arms in the working area to take photos of the alloy before and after crushing;

[0039] The crushing method further comprises:

[0040] According to the photos of the alloy in the working area taken by the visual recognition module before and after crushing, it is judged whether the number of the alloy in the working area exceeds the preset value range;

[0041] If the number of the alloy exceeds the preset value range and maintains for a first time, the rotating speed of the distributing disc or the feeding conveying device is decreased;

[0042] If the number of the alloy does not exceed the preset value range and maintains for a second time, the rotating speed of the distributing disc or the feeding conveying device is increased, or the crushing frequency of the mechanical arm is decreased.

[0043] In some embodiments, the number of the mechanical arms is multiple, and the circumferential direction of the distributing disc is provided with a crushing position corresponding to each mechanical arm, and the corresponding working areas of the adjacent mechanical arms on the distributing disc have an overlapping area;

[0044] Step 4) The mechanical arm provided in the crushing position crushes the alloy, comprising:

[0045] The mechanical arm which does not perform the crushing operation at present crushes the alloy in the overlapping area.

[0046] The cloth breaking system and method provided by the embodiment of the application, the cloth breaking system comprises a cloth device, a visual identification module and a mechanical arm. The cloth device comprises a support, a cloth disc, a discharging device and a discharging piece. The cloth disc is rotationally arranged on the support and is used for carrying metal alloy. The cloth disc has a feeding area and a discharging area in the circumferential direction. The feeding area is used for allowing the metal alloy to enter the cloth disc. The cloth disc is opposite to a breaking position in the lateral direction of the circumferential direction and the breaking position is located between the feeding area and the discharging area in the rotation direction of the cloth disc. The discharging device is arranged on the support and is located in the lateral direction of the circumferential direction of the cloth disc. The discharging device has oppositely arranged feeding and discharging openings. The feeding opening is used for receiving the broken metal alloy transferred to the discharging area. The discharging opening is arranged on the top of the conveying device and is used for conveying the metal alloy received by the feeding opening to the conveying device for subsequent transfer. The discharging piece has a discharging part. The discharging part is arranged on the side of the cloth disc away from the support and at least part of the discharging part is located in the discharging area. The discharging part can guide the broken metal alloy transferred to the discharging area to the discharging opening. The visual identification module can determine whether the metal alloy on the cloth disc is the alloy to be broken. After determining that the alloy to be broken, the mechanical arm is used for breaking, so that the automatic transfer and breaking of the metal alloy are realized. Manual operation is not required, the labor intensity is reduced, the efficiency of the metal alloy breaking is improved, the broken metal alloy can be transferred to the target position by using the cloth device and the conveying device, the transfer efficiency is improved, and the large-scale production is facilitated. BRIEF DESCRIPTION OF DRAWINGS

[0047] In order to more clearly illustrate the technical solutions in the embodiments of the present application or the prior art, the following will briefly introduce the drawings needed to be used in the embodiments or the prior art description. Obviously, the drawings in the following description are some embodiments of the present application, and other drawings can also be obtained by those skilled in the art without creative labor.

[0048] Figure 1 Structure diagram of the cloth device provided by the embodiment of the present application Figure 1 ;

[0049] Figure 2 Structure diagram of the cloth device provided by the embodiment of the present application Figure 2 ;

[0050] Figure 3 Structure diagram of the cloth device provided by the embodiment of the present application Figure 3 ;

[0051] Figure 4 Structure diagram of the cloth breaking system provided by the embodiment of the present application Figure 1 ;

[0052] Figure 2 Structure diagram of the cloth breaking system provided by the embodiment of the present applicationFigure 6 ;

[0053] Figure 3 Structure diagram of the cloth breaking system provided by the embodiment of the application Figure 7 ;

[0054] Figure 4 Structure diagram of the cloth breaking system provided by the embodiment of the application Figure 1 .

[0055] Reference signs:

[0056] 100 - cloth equipment;

[0057] 10 - support;

[0058] 20 - cloth disc; 21 - cloth disc body; 211 - feeding area; 212 - discharging area; 213 - breaking position; 22 - wear plate;

[0059] 30 - discharging device; 31 - feeding port; 32 - discharging port;

[0060] 40 - discharging piece; 41 - discharging part;

[0061] 50 - transmission device; 51 - motor; 52 - first transmission piece; 53 - second transmission piece;

[0062] 60 - buffer piece;

[0063] 70 - lubricating device;

[0064] 90 - mechanical arm; 91 - working area;

[0065] 200 - visual recognition module;

[0066] 300 - information processing module;

[0067] 400 - judgment module;

[0068] 500 - control module;

[0069] 600 - feeding conveying equipment;

[0070] 700 - processor;

[0071] 800 - memory;

[0072] 900 - bus. DETAILED DESCRIPTION

[0073] To make the purposes, technical solutions, and advantages of the embodiments of the present application clearer, the technical solutions in the embodiments of the present application will be described clearly and completely below with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are some but not all of the embodiments of the present application. Based on the embodiments in the present application, all other embodiments obtained by a person of ordinary skill in the art without creative work fall within the protection scope of the present application.

[0074] The embodiments of the present application provide a material distribution device. The material distribution device can be used in steel smelting, mechanical manufacturing, electronic materials, and other fields, and can realize efficient and uniform distribution of metal alloys, thereby improving production efficiency and product quality. Hereinafter, the structure and function of the ferroalloy distribution system will be described mainly by taking the application scenario in the field of steel smelting as an example.

[0075] In order to meet different process requirements, metal alloys usually need to be crushed into particles of a specific size for transportation, storage, and subsequent processing. For example, in the process of steel smelting, crushing metal alloys into small particles can improve the reaction speed and uniformity in the steel smelting furnace, thereby improving smelting efficiency and product quality.

[0076] In the related art, the crushing of metal alloys is mainly realized by crushers or manual hammering. Among them, the crusher usually includes a jaw crusher, a hammer crusher, and a roller crusher, etc. The jaw crusher realizes the crushing of metal alloys into smaller particles by the reciprocating motion of the moving jaw and the fixed jaw through extrusion. The hammer crusher realizes the impact crushing of metal alloys by the high-speed rotating hammer head. The roller crusher realizes the crushing by applying pressure to the metal alloys by two relatively rotating rollers. Although the crusher can realize automatic production and has high efficiency, it is easy to cause excessive crushing of metal alloys during the crushing process, resulting in too small particles and high powder rate. In addition, the equipment cost of the crusher is high, and it needs to be regularly maintained during operation, increasing the production cost.

[0077] Therefore, manual hammering is still widely used in the field of alloy crushing. The operator needs to transfer the metal alloys to the crushing workbench and use a hammer or other tools to knock the metal alloys at the crushing workbench to crush them into the appropriate size, which can better control the size of the crushed particles. However, the manual hammering method has low working efficiency and is not conducive to large-scale production.

[0078] Therefore, the application provides a material crushing system and method. The material crushing system comprises a material equipment, a visual identification module and a mechanical arm. The material equipment comprises a support, a material disc, a discharging device and a discharging piece. The material disc is rotationally arranged on the support and is used for carrying metal alloys. The material disc has a feeding area and a discharging area in the circumferential direction. The feeding area is used for allowing the metal alloys to enter the material disc. The crushing position is opposite to the discharging area in the circumferential direction of the material disc and is located between the feeding area and the discharging area in the rotation direction of the material disc. The discharging device is arranged on the support and is located in the circumferential direction of the material disc. The discharging device has oppositely arranged feeding and discharging openings. The feeding opening is used for receiving the crushed metal alloys transferred to the discharging area. The discharging opening is arranged on the top of the conveying equipment and is used for conveying the metal alloys received by the feeding opening to the conveying equipment for subsequent transfer. The discharging piece has a discharging part. The discharging part is arranged on the side of the material disc away from the support and at least part of the discharging part is located in the discharging area. The discharging part can guide the crushed metal alloys transferred to the discharging area to the discharging opening. The visual identification module can determine whether the metal alloys on the material disc are alloys to be crushed. After determining that the metal alloys are the alloys to be crushed, the mechanical arm is used for crushing, so that the automatic transfer and crushing of the metal alloys are realized. The labor intensity is reduced, and the crushing efficiency of the metal alloys is improved. The crushed metal alloys can be transferred to a target position by using the material equipment and the conveying equipment, the transfer efficiency is improved, and the large-scale production is facilitated.

[0079] Figure 1 Structure diagram of the material equipment 100 provided in the application Figure 2 , Figure 2 Structure diagram of the material equipment 100 provided in the application Figure 3 , Figure 3 Structure diagram of the material equipment 100 provided in the application Figures 1 to 3 .

[0080] The structure of the material equipment 100 provided in the application will be further described below. Figures 1 to 3

[0081] In a first aspect, the application provides a material equipment 100, which comprises a support 10 and a material disc 20. The material disc 20 is rotationally arranged on the support 10 and is used for carrying metal alloys.

[0082] Specifically, in the application, the support 10 is a supporting structure of the material equipment 100. The support 10 can be made of high-strength materials to ensure sufficient strength and stability.

[0083] ​The material distribution disc 20 is rotationally arranged on the support 10 and used for carrying the metal alloy, and the circumferential direction of the material distribution disc 20 has a feeding area 211 and a discharging area 212, the metal alloy can enter the material distribution disc 20 through the feeding area 211 and then be transmitted to the transmission device through the discharging area 212.

[0084] The feeding area 211 and the discharging area 212 are arranged close to each other, the feeding area 211 is the starting point of the rotation of the metal alloy on the material distribution disc 20, the discharging area 212 is the terminal point of the rotation of the metal alloy on the material distribution disc 20, and the number of the crushing positions 213 is three, and the three crushing positions 213 are evenly and spacedly arranged between the feeding area 211 and the discharging area 212 in the rotation direction of the material distribution disc 20, the metal alloy enters the first crushing position 213 after rotating one quarter of a circle, enters the second crushing position 213 after rotating two quarters of a circle, enters the third crushing position 213 after rotating three quarters of a circle, and then flows to the discharging area 212.

[0085] Please refer to Figures 1 to 3 In an exemplary embodiment, the material distribution disc 20 rotates clockwise, the feeding area 211 and the discharging area 212 are arranged close to each other, the feeding area 211 is the starting point of the rotation of the metal alloy on the material distribution disc 20, the discharging area 212 is the terminal point of the rotation of the metal alloy on the material distribution disc 20, the number of the crushing positions 213 is three, and the three crushing positions 213 are evenly and spacedly arranged between the feeding area 211 and the discharging area 212 in the rotation direction of the material distribution disc 20, the metal alloy enters the first crushing position 213 after rotating one quarter of a circle, enters the second crushing position 213 after rotating two quarters of a circle, enters the third crushing position 213 after rotating three quarters of a circle, and then flows to the discharging area 212.

[0086] It should be noted that the specific positions and the number of the discharging area 212, the feeding area 211 and the crushing position 213 are not limited in the embodiment, and can be adaptively selected according to actual needs.

[0087] Please refer to Figures 1 to 3 In the embodiment, the material distribution disc 20 is arranged on the support 10 through the rotating shaft to realize the rotation of the material distribution disc 20. In other embodiments, the arrangement mode of the material distribution disc 20 can also be adaptively selected, and the embodiment does not make any limitation in this regard.

[0088] The material distribution device 100 provided by the embodiment further comprises a discharging device 30, which is arranged on the support 10 and located at the side of the material distribution disc 20 in the circumferential direction. The discharging device 30 has a feeding port 31 and a discharging port 32. The feeding port 31 is arranged opposite to the discharging area 212 to receive the broken metal alloy transferred to the discharging area 212. The discharging port 32 is in communication with the feeding port 31 and is configured to be arranged at the top of the conveying device 80, so as to convey the broken metal alloy to the conveying device 80.

[0089] Specifically, the shape and size of the feeding port 31 are matched with the shape and size of the discharging area 212, so that the feeding port 31 can effectively receive the broken metal alloy discharged from the discharging area 212.

[0090] The feeding port 31 can gradually narrow in the direction close to the discharging port 32, so as to guide the flow direction of the metal alloy inside the discharging device 30, and make the metal alloy flow more smoothly to the discharging port 32.

[0091] Please refer to Figures 1 to 3 In the embodiment, the communication direction of the feeding port 31 and the discharging port 32 is perpendicular to the ground, so that the metal alloy can flow more smoothly from the feeding port 31 to the discharging port 32 by gravity, without the aid of additional power devices for auxiliary transportation, thereby simplifying the structure of the discharging device 30 and reducing energy consumption and production cost. At the same time, this can also reduce the problem of stagnation and accumulation of the metal alloy during the conveying process, and ensure that the metal alloy can quickly and continuously enter the conveying device 80, thereby improving the operation efficiency and stability of the entire material distribution device 100.

[0092] In the embodiment, the shape of the discharging port 32 is the same as that of the feeding port 31, so as to ensure that the flow path of the metal alloy is more smooth during the process of flowing from the feeding port 31 to the discharging port 32, and reduce the problem of accumulation or blockage of the metal alloy during the conveying process.

[0093] In actual application, the shape and size of the discharging area 212, the feeding port 31 and the discharging port 32 can be designed according to the feeding speed of the feeding conveying device 600 and the conveying speed of the conveying device 80 in the material breaking system. In the embodiment, the shape and size of the discharging area 212, the feeding port 31 and the discharging port 32 are not limited.

[0094] In the embodiment, the conveying device 80 is a conveying belt which can rotate. Through the movement of the conveying belt, the broken metal alloy can be automatically conveyed without manual transfer, thereby improving the production efficiency and reducing the labor intensity.

[0095] In other embodiments, the conveying device 80 can also be a pipe or a transfer trolley or other device capable of conveying, and the present embodiment does not make any limitation, and can be adaptively selected according to actual needs.

[0096] Please refer to Figures 1 to 3 The material distribution device 100 provided in the present embodiment further comprises a discharging member 40, the discharging member 40 has a discharging portion 41, the discharging portion 41 is arranged on the side of the material distribution disc 20 away from the support 10, and at least part of the discharging portion 41 is located in the discharging area 212. The discharging portion 41 is configured to guide the metal alloy that is crushed and transferred to the discharging area 212 to the feed port 31. In this way, the discharging portion 41 can guide the metal alloy, and guide the crushed metal alloy to the feed port 31 of the discharging device 30 in the discharging area 212, avoiding the crushed metal alloy from continuing to flow to the feeding area 211 through the discharging area 212.

[0097] By adopting the material distribution device 100 provided in the present embodiment, the metal alloy can be transferred to the crushing position 213 through the material distribution disc 20, realizing automatic transfer of the metal alloy. At the same time, through the arrangement of the discharging port 32 and the conveying device 80, the crushed metal alloy can be transferred to the target position, improving the transfer efficiency and being beneficial to large-scale production.

[0098] In some embodiments, the discharging portion 41 can be a scraper. When the material distribution disc 20 rotates, the discharging member 40 can rotate relative to the material distribution disc 20, so as to scrape and guide the metal alloy that is crushed and transferred to the discharging area 212 to the feed port 31 through the contact and relative motion between the discharging portion 41 and the material distribution disc 20. In this way, while ensuring that the crushed metal alloy can smoothly enter the discharging device 30, the accumulation of the metal alloy on the surface of the material distribution disc 20 can also be prevented, further improving the operation efficiency and transmission stability of the material distribution device 100.

[0099] In other embodiments, the discharging member 40 can also be a guide plate or other structure capable of guiding, and the present embodiment does not make any limitation, and can be adaptively selected according to actual needs.

[0100] Please refer to Figures 1 to 3 In some embodiments, one end of the discharging portion 41 is arranged on the side of the material distribution disc 20 adjacent to the crushing position 213, and the other end is inclined toward the feed port 31 in the discharging area 212.

[0101] Specifically, since the discharging area 212 is a region, the edge of the discharging area 212 close to the feeding area 211 is not necessarily completely horizontal. In order to ensure that the broken metal alloy can enter the discharging area 212 completely, one end of the discharging part 41 is inclined towards the feeding port 31 in the discharging area 212, so that the discharging part 41 can better adapt to the actual shape of the discharging area 212, and ensure that all the broken metal alloy can be effectively guided to the feeding port 31 during the rotation of the distributing disc 20, thereby ensuring that all the broken metal alloy can smoothly enter the discharging device 30, and avoiding residual or omission caused by the non-horizontal edge of the discharging area 212.

[0102] In addition, by arranging one end of the discharging part 41 on the side of the distributing disc 20 adjacent to the crushing position 213, the discharging part 41 can avoid interfering with the flow of unbroken metal alloy.

[0103] Please refer to Figures 1 to 3 In some embodiments, the distributing device 100 further comprises a transmission device 50, which comprises a motor 51, a first transmission member 52 and a second transmission member 53. The motor 51 is arranged on the support 10, and the output shaft of the motor 51 is in transmission connection with the first transmission member 52 to drive the first transmission member 52 to rotate. The first transmission member 52 is in engagement with the second transmission member 53, and the first transmission member 52 is configured to drive the second transmission member 53 to rotate when rotating. The second transmission member 53 is arranged on the support 10 and is connected with and fixed relative to the distributing disc 20. Therefore, when the first transmission member 52 is driven to rotate by the motor 51, the first transmission member 52 can drive the distributing disc 20 to rotate through the second transmission member 53, so as to realize the flow of the metal alloy.

[0104] Specifically, in the present embodiment, the motor 51 is fixedly arranged on the support 10, which can be fixed by bolts or other fixing methods to ensure the stability of the motor 51.

[0105] The output end of the motor 51 can be connected with the first transmission member 52 through a shaft coupling to ensure the efficiency and stability of power transmission.

[0106] Please refer to Figures 1 to 3 In the present embodiment, the first transmission member 52 is a driving gear, and the second transmission member 53 is a driven gear. The driving gear and the driven gear are in engagement with each other, so as to realize efficient transmission of power and stable rotation of the distributing disc 20. By adopting the transmission mode of gear transmission, not only the stable operation of the distributing disc 20 can be ensured, but also the rotation speed of the distributing disc 20 can be controlled through the transmission ratio between the driving gear and the driven gear, so as to meet different production requirements.

[0107] Specifically, the number of teeth and the module of the first transmission member 52 can be set according to the speed requirement of the cloth reel 20 to achieve an adaptive transmission ratio. The second transmission member 53 is installed on the central shaft of the cloth reel 20 and is relatively fixed to the cloth reel 20 through key connection. The number of teeth and the module of the second transmission member 53 are matched with those of the first transmission member 52 to ensure that the first transmission member 52 and the second transmission member 53 can be engaged with each other.

[0108] In other embodiments, the second transmission member 53 can also be relatively fixed to the cloth reel 20 in other connection manners, which are not limited in the present embodiment. For example, the second transmission member 53 can be a ring gear matched with the outer edge of the cloth reel 20 and is fixedly connected to the outer edge of the cloth reel 20 through a plurality of connection members uniformly distributed along the circumference of the ring gear. The connection members can be bolts.

[0109] Please refer to Figures 1 to 3 In some embodiments, the cloth distribution device 100 further comprises a lubricating device 70, which is arranged on the support 10. The lubricating device 70 has a spray head arranged towards the first transmission member 52 and the second transmission member 53 and is filled with lubricating liquid inside to fill the lubricating liquid between the first transmission member 52 and the second transmission member 53.

[0110] In some embodiments, the cloth distribution device 100 further comprises a control box (not shown). The motor 51 is a variable frequency motor which is configured to be connected to the control box. The control box is used to adjust the frequency of the variable frequency motor and control the start and stop of the variable frequency motor.

[0111] Specifically, the speed of the variable frequency motor is proportional to the power supply frequency. By changing the power supply frequency, the speed of the variable frequency motor can be adjusted to meet the requirements of different production scenarios for the rotation speed of the cloth reel 20 in the cloth distribution device 100.

[0112] In the present embodiment, a frequency converter (not shown) is arranged in the control box. The operator can input the required speed parameter through the operation interface on the control box. The frequency converter can accurately adjust the output frequency according to the speed parameter input by the operator through the control box, so as to realize stepless adjustment of the speed of the motor 51 and further realize stepless adjustment of the speed of the cloth reel 20.

[0113] In the present embodiment, a start button and a stop button are further arranged in the control box to control the start and stop of the variable frequency motor, so as to ensure that the cloth distribution device 100 can flexibly adjust the running state according to the production requirements. For example, the operator can start the variable frequency motor through the start button at the beginning of production; and can stop the motor 51 through the stop button when the production is over or needs to be paused.

[0114] In some embodiments, the cloth distribution device 100 further comprises a first detection member (not shown) and an alarm (not shown). The first detection member is configured to monitor the rotation resistance of the cloth distribution disc 20 in real time. The control box is in communication connection with the first detection member, and the control box is configured to control the alarm to alarm when the rotation resistance monitored by the first detection member exceeds a first threshold value. The control box is further configured to control the cloth distribution disc 20 to stop rotating when the rotation resistance monitored by the first detection member is greater than or equal to a second threshold value. For example, the control box can control the cloth distribution disc 20 to stop rotating by controlling the start and stop of the motor 51 in the transmission device 50. The second threshold value is greater than the first threshold value.

[0115] In some embodiments, the cloth distribution device 100 further comprises a first detection member (not shown) and an alarm (not shown). The first detection member is configured to monitor the rotation resistance of the cloth distribution disc 20 in real time. The control box is in communication connection with the first detection member, and the control box is configured to control the alarm to alarm when the rotation resistance monitored by the first detection member exceeds a first threshold value. The control box is further configured to control the cloth distribution disc 20 to stop rotating when the rotation resistance monitored by the first detection member is greater than or equal to a second threshold value. For example, the control box can control the cloth distribution disc 20 to stop rotating by controlling the start and stop of the motor 51 in the transmission device 50. The second threshold value is greater than the first threshold value.

[0116] Specifically, in the present embodiment, the first detection member is a torque sensor, which can be installed on the cloth distribution disc 20 to detect the rotation torque of the cloth distribution disc 20 when it rotates. When there is too much metal alloy on the cloth distribution disc 20 or the metal alloy is unevenly distributed, the rotation resistance of the cloth distribution disc 20 will increase, resulting in an increase in torque. Therefore, by monitoring the rotation torque of the cloth distribution disc 20 in real time through the first detection member, the rotation state of the cloth distribution disc 20 can be obtained in real time.

[0117] The control box receives the monitoring data of the first detection member in real time through communication connection with the first detection member. The operator can preset a first threshold value for the rotation torque of the cloth distribution disc 20. When the first detection member monitors that the rotation torque of the cloth distribution disc 20 exceeds the first threshold value, the control box will control the alarm to alarm to prompt the operator to check whether the transmission of the transmission device 50 is abnormal, resulting in excessive rotation torque of the cloth distribution disc 20.

[0118] When the first detection member monitors that the rotation torque of the cloth distribution disc 20 exceeds the second threshold value, the control box will also control the cloth distribution disc 20 to stop rotating to prevent the cloth distribution disc 20 from being damaged due to excessive rotation torque.

[0119] Please refer to Figures 1 to 3 In some embodiments, the cloth distribution device 100 further comprises a buffer member 60, which is clamped between the second transmission member 53 and the cloth distribution disc 20. This can avoid rigid collision between the cloth distribution disc 20 and the second transmission member 53, thereby reducing mechanical impact and vibration of the cloth distribution device 100 during operation, reducing wear of the cloth distribution device 100, and prolonging the service life of the cloth distribution device 100.

[0120] Specifically, when the metal alloy enters the feeding area 211 of the cloth disc 20, due to its weight and falling speed, a relatively large impact force can be generated on the cloth disc 20, which is directly transmitted to the second transmission member 53 and the motor 51, causing the cloth equipment 100 to bear a relatively large instantaneous load, leading to a rigid collision between the cloth disc 20 and the second transmission member 53, increasing the wear of the cloth equipment 100, and even causing damage to the second transmission member 53. In addition, when the metal alloy is unevenly distributed on the cloth disc 20, it can also cause the cloth disc 20 to generate an unbalanced torque during rotation, so that the cloth disc 20 bears a larger load at some positions, thereby causing a rigid collision between the cloth disc 20 and the second transmission member 53.

[0121] To avoid the above problems, in the present embodiment, a buffer 60 is arranged between the cloth disc 20 and the second transmission member 53 to alleviate the impact of the impact force and the unbalanced torque. The buffer 60 can absorb and alleviate the impact force generated when the metal alloy falls through its elastic deformation, and can also adjust the torque transmission between the cloth disc 20 and the second transmission member 53 in the case of uneven load distribution of the cloth disc 20, thereby reducing the impact of the impact force on the cloth equipment 100, ensuring the stable operation of the cloth equipment 100, reducing the maintenance cost and maintenance frequency of the cloth equipment 100, and prolonging the service life of the cloth equipment 100.

[0122] Please refer to Figures 1 to 3 In some embodiments, the buffer 60 includes a buffer pad or a damper. When the buffer 60 is a damper, the cloth equipment 100 further includes a second detection member (not shown) and a controller. The second detection member is configured to monitor the load change on the cloth disc 20 in real time. The controller is in communication connection with the second detection member and the damper, respectively, and the controller is configured to adjust the damping coefficient of the damper when the load change monitored by the second detection member exceeds a third threshold value.

[0123] The buffer pad can be made of an elastic material, such as rubber, polyurethane or spring, etc., so that a flexible connection is formed between the second transmission member 53 and the cloth disc 20 through the arrangement of the buffer pad. When the cloth disc 20 generates an instantaneous torque fluctuation due to uneven distribution of the metal alloy or other factors during operation, the buffer 60 can absorb and alleviate the impact force, preventing the impact force from being directly transmitted to the second transmission member 53 and the motor 51, thereby avoiding damage to the cloth equipment 100 caused by rigid collision.

[0124] As described above, the buffer 60 can also be a damper. The damper can generate a damping force, and by arranging the damper between the second transmission member 53 and the cloth disc 20, the damper can absorb and alleviate the impact force and unbalanced torque generated by the cloth disc 20 due to load change, thereby inhibiting the rigid collision between the cloth disc 20 and the second transmission member 53.

[0125] In some embodiments, the damper can be a hydraulic damper, which includes a cylinder, a piston and damping oil. The piston is movably arranged in the cylinder, and the damping oil flows in the cylinder through the small holes or channels on the piston. When the cloth disc 20 is subjected to an impact force or a load change, the piston moves in the cylinder and squeezes the damping oil, and the damping oil flows in the opposite direction of the movement of the piston through the small holes on the piston, thereby generating a resistance to absorb and dissipate energy and reduce vibration and impact. By adjusting the size or number of the small holes on the piston, the flow resistance of the damping oil can be changed, and thus the damping coefficient can be adjusted.

[0126] In other embodiments, the damper can also be a viscous damper or a pneumatic damper, and the present embodiment does not make any limitation thereon, and the selection can be made adaptively according to actual needs.

[0127] In the present embodiment, the second detection member is a load sensor for monitoring the load change on the cloth disc 20 in real time. When the distribution of the metal alloy on the cloth disc 20 is uneven or the falling speed is inconsistent, the load sensor can detect the load change of the cloth disc 20 and transmit it to the controller in real time. When the load change of the cloth disc 20 exceeds the third threshold value, the controller can adjust the damping coefficient of the damper.

[0128] For example, when the cloth disc 20 is running, a large amount of metal alloy suddenly falls, causing the load on the cloth disc 20 to increase sharply. At this time, the load change monitored by the second detection member exceeds the third threshold value, and the controller determines that the cloth disc 20 may face a larger impact force, and then sends a signal to the damper to increase the damping coefficient. The damper absorbs and dissipates more energy by increasing the damping force, reduces the vibration and impact of the cloth disc 20, and ensures the stability of the cloth equipment 100.

[0129] When the damper is a hydraulic damper, the controller can control the electromagnetic valve to adjust the opening of the small holes on the piston of the hydraulic damper, and thus adjust the damping coefficient of the hydraulic damper.

[0130] Please refer to Figures 1 to 3 In some embodiments, the cloth equipment 100 further includes a mechanical arm 90, which is arranged at the crushing position 213, and the mechanical arm 90 has a crushing hammer at one end towards the crushing position 213. The mechanical arm 90 is configured to crush the alloy to be crushed, and the metal alloy with a size greater than or equal to a preset size is the alloy to be crushed. The impact force of the crushing hammer on the cloth disc 20 and the crushing frequency are adjustable.

[0131] Please refer to Figure 4Specifically, in the embodiment, the mechanical arm 90 is installed at the crushing position 213, and one end of the mechanical arm 90 is provided with a crushing hammer, so that the crushing efficiency of the metal alloy can be greatly improved by replacing manual hammering through the arrangement of the mechanical arm 90.

[0132] The crushing hammer can be made of high-strength material, so that the crushing hammer can withstand a large impact force and facilitate the crushing operation of the alloy to be crushed.

[0133] Specifically, in the embodiment, the movement of the mechanical arm 90 is controlled by the controller, and the impact force and crushing frequency of the mechanical arm 90 can be adjusted adaptively according to the rotation speed of the distribution disc 20 and the quantity and distribution of the alloy to be crushed, so as to ensure that all the alloy to be crushed can be crushed in time, thereby ensuring the crushing efficiency and reducing the labor intensity of the operator.

[0134] For example, when the size of the alloy to be crushed on the distribution disc 20 is large, the impact force and crushing frequency of the crushing hammer can be increased to ensure that the alloy to be crushed can be fully crushed; and when the size of the alloy to be crushed is small, the impact force and crushing frequency of the crushing hammer can be appropriately reduced to avoid excessive crushing and unnecessary damage to the distribution disc 20.

[0135] In some embodiments, the distribution device 100 further comprises a visual recognition module 200, which is arranged on the side of the distribution disc 20 away from the support 10. The visual recognition module 200 is configured to take a photo of the metal alloy on the distribution disc 20 and identify whether the metal alloy on the distribution disc 20 is the alloy to be crushed.

[0136] Specifically, the visual recognition module 200 can take a photo of the metal alloy on the distribution disc 20 and identify whether the metal alloy on the distribution disc 20 is the alloy to be crushed, thereby realizing accurate crushing of the alloy to be crushed, avoiding invalid crushing and excessive crushing, and improving the operation efficiency and crushing quality of the distribution device 100.

[0137] The visual recognition module 200 can capture the size, shape and distribution of the metal alloy on the distribution disc 20 through the camera. According to the size of the captured metal alloy, the visual recognition module 200 can compare the size of the captured metal alloy with a preset size threshold to determine whether it needs to be crushed. If the size of the metal alloy is greater than or equal to the preset size threshold, the visual recognition module 200 will mark it as the alloy to be crushed, and send the coordinate information of the alloy to be crushed to the controller, so that the mechanical arm 90 can accurately position and crush the alloy to be crushed.

[0138] Meanwhile, during the crushing process, the visual recognition module 200 can also monitor the crushing effect in real time to ensure that the alloy to be crushed is crushed to the required size. If the crushed metal alloy is still larger than the preset size, the visual recognition module 200 can continue to send a signal to the controller to adjust the impact force or crushing frequency of the crushing hammer until the alloy to be crushed reaches the preset size.

[0139] Please refer to Figure 1 In some embodiments, the distribution disc 20 includes a distribution disc body 21 and a plurality of wear plates 22, and the distribution disc body 21 is rotatably arranged on the support 10. The plurality of wear plates 22 are arranged on the side of the distribution disc body 21 away from the support 10, and there is a spacing between adjacent wear plates 22.

[0140] Specifically, the wear plate 22 is made of a wear-resistant material, such as a hard alloy, to ensure that the wear plate 22 can maintain a longer service life under high-wear working conditions.

[0141] When the metal alloy enters the feeding area 211 of the distribution disc 20, the metal alloy will slide and roll between the wear plates 22 under the rotating action of the distribution disc 20. In this process, mutual friction and collision between the metal alloys occur, so that larger metal alloy blocks are preliminarily crushed into smaller particles in the interaction, achieving preliminary crushing. Through preliminary crushing, the workload of subsequent crushing operations can be reduced, making the mechanical arm 90 or the operator more efficient when crushing the metal alloy.

[0142] Among them, the number and spacing of the wear plates 22 can be adaptively selected according to actual needs, and the present embodiment does not make any limitation.

[0143] Figure 5 Structure diagram of the material crushing system provided by the embodiment of the present application Figure 2 , Figure 1 Structure diagram of the material crushing system provided by the embodiment of the present application Figure 2 .

[0144] Please refer to Figure 4 , Figure 5 , Figure 6 and Figure 3 , in a second aspect, the present embodiment also provides a material crushing system, which includes a material equipment 100, a mechanical arm 90 and a visual recognition module 200.

[0145] Among them, the material equipment 100, the mechanical arm 90 and the visual recognition module 200 have been described in the above embodiments, and will not be repeated here.

[0146] The material crushing system provided by the embodiment realizes automatic flow and discharging of the metal alloy, and does not need an operator to transfer, the visual recognition module 200 shoots a photo of the metal alloy on the material disc 20, and identifies whether the metal alloy on the material disc 20 is the alloy to be crushed, so as to realize accurate crushing of the alloy to be crushed, avoid invalid crushing and excessive crushing, improve the operation efficiency and crushing quality of the material equipment 100, the alloy to be crushed is crushed by the mechanical arm 90, automatic flow and crushing of the metal alloy are realized, and the crushing efficiency is greatly improved, which is beneficial to large-scale production.

[0147] Figure 1 The structure diagram of the material crushing system provided by the embodiment of the application Figure 4 .

[0148] Please refer to Figure 5 、 Figure 6 、 Figure 4 and Figure 5 In some embodiments, the material crushing system further comprises an information processing module 300 and a control module 500, the information processing module 300 is configured to be able to establish a polar coordinate system for the material disc 20, and determine the polar coordinates of the alloy to be crushed according to the photo, mark and position the alloy to be crushed.

[0149] Specifically, the information processing module 300 is further configured to determine a crushing path according to the order of the alloy to be crushed entering the working area 91 of the mechanical arm 90 when the alloy to be crushed is multiple, so as to give the optimal crushing path according to the order of the alloy to be crushed entering the working area 91 of the mechanical arm 90, combined with the position of the alloy to be crushed in the polar coordinate system, reduce the invalid movement of the mechanical arm 90, and improve the crushing efficiency.

[0150] Please refer to Figure 1 and Figure 4 In some embodiments, the crushing path of the material crushing system is "S" shape, so as to reduce the invalid movement of the mechanical arm 90. That is, for the alloy to be crushed on the same polar axis, the alloy to be crushed closest to the mechanical arm 90 can be taken as the starting point, and the alloy to be crushed gradually crushed towards the center of the material disc 20, and then the alloy to be crushed on the adjacent polar axis in the rotation direction of the material disc 20 is crushed in turn, so as to realize "S" shape path planning.

[0151] In other embodiments, for the alloy to be crushed on the same polar axis, the alloy to be crushed located at the center of the material disc 20 can also be taken as the starting point, and the alloy to be crushed gradually crushed towards the alloy to be crushed close to the mechanical arm 90, and then the alloy to be crushed on the adjacent polar axis in the rotation direction of the material disc 20 is crushed in turn, and the embodiment does not make any limitation on this.

[0152] Please refer to Figure 5、 Figure 6 、 Figure 1 and Figure 4 wherein the control module 500 is configured to control the breaking hammers to break the to-be-broken alloy one by one according to the breaking path after the to-be-broken alloy enters the working area 91 of the mechanical arm 90. When the to-be-broken alloy enters the working area 91, the control module 500 can accurately control the action of the breaking hammers according to the breaking path, so that the breaking hammers can break each to-be-broken alloy one by one and in order. The control module 500 can adjust the impact force and breaking frequency of the breaking hammers in real time according to the size and hardness of the to-be-broken alloy, so as to ensure the breaking effect and avoid excessive breaking and damage to the material breaking system.

[0153] Through the cooperative work of the information processing module 300 and the control module 500, the material breaking system can realize the automatic control of the metal alloy positioning, path planning and breaking operation, improve the breaking efficiency, reduce the manual intervention, and improve the stability of the breaking quality.

[0154] Please refer to Figure 5 、 Figure 6 、 Figure 1 and Figure 4 In some embodiments, the control module 500 is configured to determine whether the to-be-broken alloy enters the working area 91 according to the rotating speed of the material disc 20 and the polar coordinates of the to-be-broken alloy.

[0155] Specifically, the rotating speed of the material disc 20 can directly affect the position change of the to-be-broken alloy on the material disc 20. The control module 500 can capture the rotating speed information of the material disc 20 in real time, and the information processing module 300 can determine the polar coordinate position of the to-be-broken alloy on the material disc 20 through the photos taken by the visual recognition module 200. The control module 500 can combine the real-time rotating speed of the material disc 20 and the polar coordinates of the to-be-broken alloy to obtain the real-time position of the to-be-broken alloy during the rotation of the material disc 20, so as to determine whether the to-be-broken alloy enters the working area 91 of the mechanical arm 90. By obtaining the position of the to-be-broken alloy, the control module 500 can ensure that the breaking hammers break the to-be-broken alloy at the appropriate time and position, and avoid invalid operation or missed breaking opportunity.

[0156] In addition, in the present embodiment, the control module 500 has a 5G edge computing module inside. The 5G edge computing module can control the breaking path of the mechanical arm 90 and the transmission device, and indirectly control the rotating speed of the material disc 20 by controlling the transmission device, so that the breaking path of the mechanical arm 90 and the rotating speed of the material disc 20 are realized in real time.

[0157] In the embodiment, the error between the breaking path of the mechanical arm 90 and the rotating speed of the material disc 20 is less than or equal to 1 mm. When the error between the breaking path of the mechanical arm 90 and the rotating speed of the material disc 20 exceeds 1 mm, the control module 500 can dynamically adjust the motion path of the mechanical arm 90 and the rotating speed of the material disc 20 according to real-time data to ensure the synchronization of the mechanical arm 90 and the material disc 20.

[0158] Specifically, the 5G edge computing module adopts a 5G edge computing technology. The 5G edge computing module is a prior art module, and the 5G edge computing technology is a prior art algorithm, which will not be described here.

[0159] By adopting the 5G edge computing module, the control instructions transmitted by the control module 500 can be transmitted and executed in real time, reducing the synchronization error caused by communication delay, ensuring that the communication delay is less than 10 ms, and further ensuring that the entire material breaking system can operate efficiently and stably.

[0160] Please refer to Figure 5 , Figure 6 , Figure 1 and Figure 4 In some embodiments, the material breaking system further comprises a judgment module 400, and the visual recognition module 200 is further configured to take photos of the same to-be-broken alloy before and after being broken by the mechanical arm 90. The judgment module 400 is configured to determine whether the size of the broken to-be-broken alloy is greater than a preset size according to the photos taken by the visual recognition module 200 of the broken to-be-broken alloy. The breaking frequency of the breaking hammer on the material disc 20 is adjustable, and the control module 500 is configured to increase the breaking frequency of the breaking hammer and / or reduce the rotating speed of the material disc 20 when the size of the broken to-be-broken alloy is greater than the preset size.

[0161] Specifically, the visual recognition module 200 can not only take photos of the to-be-broken alloy on the material disc 20, but also take photos of the same to-be-broken alloy before and after being broken by the mechanical arm 90. In this way, the material breaking system can monitor the breaking effect in real time and ensure that the to-be-broken alloy is broken to a size meeting the requirements.

[0162] The judgment module 400 determines whether the size of the broken to-be-broken alloy is greater than a preset size according to the size information of the broken alloy provided by the visual recognition module 200. If the size of the broken alloy is still greater than the preset size, it means that the breaking effect does not meet the requirements and needs to be further broken. At this time, the control module 500 will adjust the breaking frequency of the breaking hammer and / or the rotating speed of the material disc 20 according to the feedback of the judgment module 400.

[0163] Specifically, the control module 500 can increase the number of blows of the breaking hammer, so that the breaking hammer performs more breaking operations on the alloy in unit time, thereby more effectively reducing the size of the alloy. At the same time, the control module 500 can also reduce the rotating speed of the distributing disc 20, so that the alloy to be broken stays on the distributing disc 20 for a longer time, thereby providing more time and opportunity for the breaking hammer to perform breaking operations.

[0164] Through the synergistic effect of the visual recognition module 200 and the judgment module 400, the material breaking system can be dynamically adjusted, the breaking parameters can be flexibly adjusted according to the actual breaking situation, the breaking efficiency is improved, the subsequent processing problems caused by incomplete breaking are reduced, and the automation degree and reliability of the entire material breaking system are improved.

[0165] Please refer to Figure 5 , Figure 6 , Figure 1 and Figure 4 In some embodiments, the material breaking system further comprises a feeding conveying device 600, the discharge end of the feeding conveying device 600 is connected to the feeding area 211, and the feeding conveying device 600 is configured to convey the metal alloy to the feeding area 211 through the discharge end to continuously and stably convey the metal alloy to the feeding area 211 through the discharge end, thereby providing the material breaking system with the alloy to be broken.

[0166] The visual recognition module 200 is also configured to take photos of a plurality of alloys to be broken in the working area 91 of the mechanical arm 90 before and after breaking, thereby monitoring the number and state of the alloys in the working area 91 of the mechanical arm 90 in real time and providing information for subsequent breaking operations. The judgment module 400 is configured to determine whether the number of alloys to be broken in the working area 91 exceeds a preset value range according to the photos taken by the visual recognition module 200 before and after breaking the alloys to be broken in the working area 91. If the photos before and after breaking show that the number of alloys to be broken in the working area 91 exceeds the preset value range, it means that the feeding speed is too fast or the breaking efficiency is insufficient, resulting in accumulation of alloys to be broken.

[0167] The control module 500 is configured to, after the number of alloys to be broken in the working area 91 exceeds the preset value range and maintains for a first time, the control module 500 can reduce the rotating speed of the distributing disc 20 or the feeding conveying device 600, so that the rotating speed of the distributing disc 20 or the feeding conveying device 600 matches the number of alloys to be broken in the working area 91, so as to improve the breaking effect, and at the same time, through the setting of the first time, the adjusting frequency of the rotating speed of the distributing disc 20 or the feeding conveying device 600 can be avoided to be too high.

[0168] The breaking frequency of the breaking hammer to the distributing disc 20 is adjustable, and the control module 500 is configured to increase the rotating speed of the distributing disc 20 or the feeding conveying device 600, or decrease the breaking frequency of the mechanical arm 90, after the number of the alloy to be broken in the working area 91 does not exceed the preset numerical range and is maintained for a second time. In this way, the rotating speed of the distributing disc 20 or the feeding conveying device 600 can also be matched with the number of the alloy to be broken in the working area 91, so as to improve the breaking effect, and through the setting of the second time, the rotating speed of the distributing disc 20, the rotating speed of the feeding conveying device 600 and the breaking frequency of the mechanical arm 90 can be prevented from being adjusted too frequently.

[0169] The first time and the second time can be a time value or a time interval, which is not limited in the embodiment of the present application.

[0170] Please refer to Figure 5 , Figure 6 , Figure 1 and Figure 4 . Specifically, the control module 500 adjusts the operating parameters of the material breaking system in real time by receiving the feedback information of the judgment module 400. When the number of the alloy to be broken in the working area 91 exceeds the preset numerical range and is maintained for a first time, the control module 500 can decrease the rotating speed of the distributing disc 20, so as to avoid that the distributing disc 20 continuously feeds the alloy to be broken to the working area 91 of the mechanical arm 90, causing further accumulation of the alloy to be broken, so that the mechanical arm 90 has sufficient time to break the alloy to be broken. At the same time, the control module 500 can also decrease the rotating speed of the feeding conveying device 600, so as to reduce the feeding speed of the metal alloy, and ensure that the metal alloy supply and the breaking operation of the whole material breaking system can be coordinated. In addition, the control module 500 can also increase the breaking frequency of the mechanical arm 90, so that the breaking hammer can perform more breaking operations on the alloy in unit time, and the breaking hammer can perform more breaking operations on the alloy to be broken in unit time, thereby improving the breaking efficiency.

[0171] On the contrary, when the number of the alloy to be broken in the working area 91 does not exceed the preset numerical range and is maintained for a second time, the control module 500 can increase the rotating speed of the distributing disc 20 or the feeding conveying device 600, so as to increase the feeding speed of the metal alloy, and ensure that the metal alloy supply and the breaking operation of the whole material breaking system can be coordinated, and also provide more sufficient time for the mechanical arm 90 to process each alloy to be broken, thereby improving the breaking quality. At the same time, the control module 500 can also decrease the breaking frequency of the mechanical arm 90, so as to reduce the energy consumption of the material breaking system.

[0172] Please refer to Figure 5 , Figure 6 and Figure 1In some embodiments, the number of mechanical arms 90 is multiple, the circumferential direction of the material disc 20 is provided with a crushing position 213 corresponding to each mechanical arm 90, and the adjacent mechanical arms 90 have an overlapping area in the corresponding working area 91 of the material disc 20. The mechanical arm 90 that does not perform the crushing operation is configured to crush the alloy to be crushed in the overlapping area.

[0173] Specifically, in the present embodiment, the number of mechanical arms 90 is three, i.e., the first mechanical arm 90a, the second mechanical arm 90b, and the third mechanical arm 90c, and the number of crushing positions 213 is three. Among them, the working area 91 of the first mechanical arm 90a and the working area 91 of the second mechanical arm 90b have an overlapping area, and the working area 91 of the second mechanical arm 90b and the third mechanical arm 90c has an overlapping area, so that part of the alloy to be crushed can be simultaneously in the working range of two mechanical arms 90. When the first mechanical arm 90a is crushing a certain alloy to be crushed, the second mechanical arm 90b can use the overlapping part in the working area 91 to crush other alloys to be crushed, thereby improving the crushing efficiency and reducing the idle time of the mechanical arm 90, so that the whole material crushing system can run more efficiently.

[0174] It should be noted that the number of mechanical arms 90 can be adaptively selected according to actual needs, and the present embodiment does not make any limitation.

[0175] In the present embodiment, the mechanical arm 90 can be a four-axis collaborative mechanical arm, and the high-frequency hydraulic crushing hammer is arranged at one end of the mechanical arm 90 close to the material disc 20, so as to ensure the flexibility and accuracy of the mechanical arm 90, and quickly position the alloy to be crushed on the material disc 20 and perform accurate crushing operation. The crushing capacity of the high-frequency hydraulic crushing hammer is strong, and the impact force can be adaptively adjusted to crush the alloy to be crushed to the required size in a short time, further improving the crushing efficiency of the material crushing system.

[0176] In other embodiments, the structure of the mechanical arm 90 and the crushing hammer can also be adaptively selected according to actual needs, and the present embodiment does not make any limitation.

[0177] In addition, in some embodiments, a feedback unit is arranged on the mechanical arm 90, which can sense and measure the size and direction of the force received by the mechanical arm 90 during the crushing process, so as to avoid damage to the mechanical arm 90 or the material disc 20 and other components by detecting the reaction force received by the mechanical arm 90 and the crushing hammer in real time.

[0178] For example, when the force detected by the feedback unit exceeds a preset safety threshold, the feedback unit can send a signal to the controller to adjust the impact force or crushing frequency of the breaker hammer, thereby avoiding damage to components such as the robotic arm 90 or the distribution tray 20.

[0179] In this embodiment, the sensitivity of the feedback unit is between -5 and 5 N to accurately sense the magnitude of the force applied to the robotic arm 90. In other embodiments, the specific structure and sensitivity of the feedback unit may be adaptively selected, and this embodiment does not impose any limitation thereto.

[0180] Please refer to Figure 4 、 Figure 5 、 Figure 6 and Figure 1 In a third aspect, this embodiment provides a crushing method for a material distribution system, which is applied to the material distribution system according to any embodiment of the second aspect. The crushing method for the material distribution system comprises the following steps:

[0181] 1) Establish a polar coordinate system for the material distribution plate 20 in the material distribution crushing system.

[0182] First, a polar coordinate system is established for the distribution tray 20 in the distribution and crushing system. The origin of the polar coordinate system is set at the center of the distribution tray 20. This system can accurately determine the coordinate information of the metal alloy at each position on the distribution tray 20, making it easy to determine the position of the metal alloy on the distribution tray 20, providing an accurate positioning basis for subsequent crushing operations.

[0183] 2) The visual recognition module 200 in the material distribution and crushing system takes a photo of the metal alloy on the material distribution tray 20 and identifies whether the metal alloy on the material distribution tray 20 is the alloy to be crushed. The metal alloy with a size greater than or equal to the preset size is the alloy to be crushed.

[0184] The visual recognition module 200 uses a camera to take real-time photos of the metal alloy on the distribution tray 20, capturing its size, shape, and distribution. Based on the captured size of the metal alloy, the visual recognition module 200 compares it with a preset size to determine whether it requires crushing. If the size of the metal alloy is greater than or equal to the preset size, the visual recognition module 200 marks it as an alloy to be crushed. This configuration of the visual recognition module 200 allows accurate selection of alloys for crushing, providing a clear target for subsequent crushing operations.

[0185] 3) Determine the polar coordinates of the alloy to be crushed based on the photo, and mark and locate the alloy to be crushed.

[0186] 4) Controlling the breaker hammer in the mechanical arm 90 located on the crushing position 213 to crush the alloy to be crushed.

[0187] Specifically, when the polar coordinate system is established and the alloy to be broken is determined, the position of each alloy to be broken on the distribution disc 20 can be accurately marked and positioned. Thus, the mechanical arm 90 can be controlled to accurately position and break the alloy to be broken, avoiding unnecessary movement of the mechanical arm 90 and improving the breaking efficiency.

[0188] Please refer to Figure 4 , Figure 5 , Figure 6 and Figure 1 In some embodiments, step 4) includes:

[0189] 41) When there are multiple alloys to be broken, the breaking path is determined according to the order in which the alloys to be broken enter the working area 91 of the mechanical arm 90.

[0190] Specifically, when there are multiple alloys to be broken, the breaking path can be determined according to the order in which the alloys to be broken enter the working area 91 of the mechanical arm 90. Thus, the optimal breaking path can be obtained according to the order in which the alloys to be broken enter the working area 91 of the mechanical arm 90, combined with the position of the alloy to be broken in the polar coordinate system, reducing unnecessary movement of the mechanical arm 90 and improving the breaking efficiency.

[0191] When multiple alloys to be broken are located on the same polar axis of the distribution disc 20, the alloy to be broken closest to the mechanical arm 90 can be taken as the starting point, and the path planning can be gradually performed towards the alloy to be broken close to the center of the distribution disc 20. Alternatively, the alloy to be broken close to the center of the distribution disc 20 can be taken as the starting point, and the path planning can be gradually performed towards the alloy to be broken closest to the mechanical arm 90. The present embodiment does not make any limitation in this regard.

[0192] 42) When the alloy to be broken enters the working area 91, the breaking hammer is controlled to break the metal alloy one by one according to the breaking path.

[0193] When the alloy to be broken enters the working area 91, the action of the breaking hammer can be accurately controlled according to the breaking path, so that the breaking hammer can break each alloy to be broken one by one and in order.

[0194] The impact force and breaking frequency of the breaking hammer can be adjusted in real time according to the size and hardness of the alloy to be broken, so as to ensure the breaking effect, avoid excessive breaking and damage to the distribution breaking system, and thus realize the automatic control from path planning to breaking operation, improve the breaking efficiency, reduce manual intervention, and improve the stability of the breaking quality. For example, when the size of the alloy to be broken is large and the hardness is large, the impact force and breaking frequency of the breaking hammer can be increased.

[0195] Please refer toFigure 4 、 Figure 5 、 Figure 6 and Figure 1 In some embodiments, step 2) taking a picture of the metal alloy on the material distribution plate 20 by the visual recognition module 200 in the material distribution system includes:

[0196] 21) Control the visual recognition module 200 to take photos of the same alloy to be crushed before and after being crushed by the robotic arm 90.

[0197] The crushing methods of the cloth crushing system also include:

[0198] 5) Determine whether the size of the alloy to be crushed after crushing is larger than a preset size based on the photos taken by the visual recognition module 200 of the alloy to be crushed after crushing.

[0199] 6) When the size of the alloy to be crushed after crushing is larger than the preset size, the crushing frequency of the crushing hammer is increased and / or the rotation speed of the distribution plate 20 is reduced.

[0200] This enables the material distribution and crushing system to monitor the crushing effect in real time to ensure that the alloy to be crushed is crushed to the required size.

[0201] Based on the size information of the crushed alloy provided by the visual recognition module 200, it can be determined whether the size of the crushed alloy exceeds the preset size. If the size of the crushed alloy is still larger than the preset size, it indicates that the crushing effect is not satisfactory and further crushing is required. In this case, the crushing frequency of the breaker and / or the rotation speed of the distribution plate 20 can be further adjusted.

[0202] Specifically, the hammer's strike frequency can be increased, allowing it to perform more crushing operations on the alloy per unit time, thereby more effectively reducing the alloy's size. Simultaneously, the speed of the distribution disc 20 can be reduced, allowing the alloy to remain on the distribution disc 20 longer, thereby providing the hammer with more time and opportunity to perform crushing operations.

[0203] The visual recognition module 200 takes photos of the same alloy to be crushed before and after being crushed by the robotic arm 90, and adjusts the size to the preset size. When the size of the alloy after crushing is larger than the preset size, the crushing frequency of the breaker hammer is increased and / or the rotation speed of the distribution disc 20 is reduced. In this way, the distribution and crushing system can be dynamically adjusted, and the crushing parameters can be flexibly adjusted according to the actual crushing situation, thereby improving the crushing efficiency, reducing subsequent processing problems caused by incomplete crushing, and improving the automation and reliability of the entire distribution and crushing system.

[0204] Please refer to Figure 4 、 Figure 5 、 Figure 6 and Figure 1In some embodiments, step 2) further comprises:

[0205] 22) The control module 500 controls the visual recognition module 200 to take photos of the plurality of alloys to be crushed in the working area 91 of the mechanical arm 90 before and after crushing.

[0206] The crushing method further comprises:

[0207] 7) The control module 500 determines whether the number of alloys to be crushed in the working area 91 exceeds a preset numerical range according to the photos taken by the visual recognition module 200 before and after crushing.

[0208] If the number of alloys to be crushed exceeds the preset numerical range and maintains for a first time, the rotational speed of the material disc 20 or the feeding conveying device 600 is reduced.

[0209] If the number of alloys to be crushed does not exceed the preset numerical range and maintains for a second time, the rotational speed of the material disc 20 or the feeding conveying device 600 is increased, or the crushing frequency of the mechanical arm 90 is reduced.

[0210] Specifically, when the number of alloys to be crushed in the working area 91 exceeds the preset numerical range and maintains for a first time, the rotational speed of the material disc 20 can be reduced to avoid the material disc 20 continuously conveying the alloys to be crushed to the working area 91 of the mechanical arm 90, thereby causing further accumulation of the alloys to be crushed, so that the mechanical arm 90 has sufficient time to crush the alloys to be crushed. At the same time, the rotational speed of the feeding conveying device 600 can also be reduced to reduce the feeding speed of the metal alloys, so as to ensure that the metal alloy supply and crushing operation of the entire material crushing system can be coordinated. In addition, the crushing frequency of the mechanical arm 90 can also be increased, so that the crushing hammer performs more crushing operations on the alloys in a unit of time, and the crushing hammer performs more crushing operations on the alloys to be crushed in a unit of time, thereby improving the crushing efficiency.

[0211] On the contrary, when the number of alloys to be crushed in the working area 91 does not exceed the preset numerical range and maintains for a second time, the control module 500 can increase the rotational speed of the material disc 20 or the feeding conveying device 600, thereby increasing the feeding speed of the metal alloys, ensuring that the metal alloy supply and crushing operation of the entire material crushing system can be coordinated, and also providing the mechanical arm 90 with more sufficient time to process each alloy to be crushed, thereby improving the crushing quality. At the same time, the control module 500 can also reduce the crushing frequency of the mechanical arm 90, thereby reducing the energy consumption of the material crushing system.

[0212] Please refer to Figure 4 , Figure 5 and Figure 7In some embodiments, the number of mechanical arms 90 is multiple, the circumference of the material distribution disc 20 is provided with a crushing position 213 corresponding to each mechanical arm 90, and the adjacent mechanical arms 90 have an overlapping area in the corresponding working area 91 on the material distribution disc 20.

[0213] Step 4) Controlling the mechanical arm 90 at the crushing position 213 to crush the alloy to be crushed, including:

[0214] 43) The mechanical arm 90 that has not performed the crushing operation crushes the alloy to be crushed in the overlapping area.

[0215] Specifically, in the present embodiment, the number of mechanical arms 90 is three, and the number of crushing positions 213 is three. The working area 91 of the first mechanical arm 90a has an overlapping area with the working area 91 of the second mechanical arm 90b, and the working area 91 of the second mechanical arm 90b has an overlapping area with the working area 91 of the third mechanical arm 90c, so that part of the alloy to be crushed can be simultaneously in the working range of two mechanical arms 90. When the first mechanical arm 90a is performing a crushing operation on a certain alloy to be crushed, the second mechanical arm 90b can use the overlapping part in the working area 91 to crush other alloys to be crushed, thereby improving the crushing efficiency and reducing the idle time of the mechanical arm 90, so that the whole material crushing system can operate more efficiently.

[0216] It should be noted that the number of mechanical arms 90 can be adaptively selected according to actual needs, and the present embodiment does not make any limitation.

[0217] Figure 4 Structure of the material crushing system provided by the present embodiment Figure 7 .

[0218] Please refer to Figure 7 In some embodiments, the material crushing system comprises at least one processor 700 and a memory 800.

[0219] The memory 800 stores computer execution instructions. The at least one processor 700 executes the computer execution instructions stored in the memory 800, so that the at least one processor 700 performs the crushing method according to any one of the third aspect.

[0220] Optionally, the memory 800 can be independent or integrated with the processor 700.

[0221] The implementation principle and technical effects of the material crushing system provided by the present embodiment can be referred to the foregoing embodiments, which will not be repeated here.

[0222] In a fifth aspect, the embodiments further provide a computer readable storage medium, which stores computer executable instructions. When the processor 700 executes the computer executable instructions, the breaking method of the cloth breaking system according to any one of the preceding embodiments is implemented.

[0223] The computer readable storage medium can be a Read Only Memory (ROM), a Random Access Memory (RAM), a Compact Disc Read Only Memory (CD-ROM), a magnetic tape, a floppy disk, an optical data storage device, etc.

[0224] Please refer to ​ In a sixth aspect, the embodiments further provide a program product, which includes an executable computer program stored in a readable storage medium. The at least one processor 700 of the cloth breaking system can read the computer program from the readable storage medium, and the at least one processor 700 executes the computer program to make the cloth breaking system implement the breaking method of the cloth breaking system provided in the various embodiments.

[0225] In several embodiments provided in the present disclosure, it should be understood that the disclosed devices and methods can be implemented in other manners. For example, the embodiments of the device described above are merely schematic; for example, the division of the modules is merely a logical function division; there can be another division manner in actual implementation; for example, a plurality of modules or components can be combined or integrated into another system, or some features can be ignored or not executed. In addition, the displayed or discussed mutual couplings or direct couplings or communication connections between different modules can be indirect couplings or communication connections through some interfaces, devices or modules, and can be electrical, mechanical or in other forms.

[0226] The modules illustrated as separate components can or can not be physically separate, and the components illustrated as modules can or can not be physical units, i.e., can be located in one place, or can be distributed on a plurality of network units. Some or all of the modules can be selected according to actual needs to achieve the purpose of the embodiments.

[0227] In addition, each functional module in the various embodiments of the present disclosure can be integrated in one processing unit, or each module can be physically present separately, or two or more modules can be integrated in one unit. The unit formed by the above modules can be realized in the form of hardware, or in the form of hardware plus software function unit.

[0228] The integrated module implemented in the form of the software function module can be stored in a computer readable storage medium. The software function module is stored in a storage medium and includes a plurality of instructions for enabling a computer device (which can be a personal computer, a server, or a network device, etc.) or a processor to execute part of the steps of the method of various embodiments of the present disclosure.

[0229] It should be understood that the processor 700 can be a central processing unit (CPU), and can also be other general-purpose processors, digital signal processors (DSP), application specific integrated circuits (ASIC), etc. The general-purpose processor can be a microprocessor or can also be any conventional processor. The steps of the method disclosed in the present application can be directly embodied as hardware processor execution, or executed by a combination of hardware and software modules in the processor.

[0230] The memory 800 can include a high-speed RAM memory, and can also include a non-volatile storage NVM, for example, at least one disk memory, and can also be a U disk, a mobile hard disk, a read-only memory, a magnetic disk or an optical disk, etc.

[0231] The bus 900 can be an industry standard architecture (ISA) bus, a peripheral component (PCI) bus, or an extended industry standard architecture (EISA) bus, etc. The bus can be divided into an address bus, a data bus, a control bus, etc. For the convenience of representation, the bus 900 in the drawings of the present disclosure does not limit only one bus or one kind of bus.

[0232] The aforementioned storage medium can be realized by any kind of volatile or non-volatile storage devices or a combination thereof, such as static random access memory (SRAM), electrically erasable programmable read-only memory (EEPROM), erasable programmable read-only memory (EPROM), programmable read-only memory (PROM), ROM, magnetic storage, flash memory, magnetic disk or optical disk. The storage medium can be any available medium that can be accessed by a general or special purpose computer.

[0233] An exemplary storage medium is coupled to the processor 700 so that the processor 700 can read information from, and write information to, the storage medium. Of course, the storage medium can be part of the processor 700. The processor 700 and the storage medium can be located in an ASIC. Of course, the processor 700 and the storage medium can exist as separate components in the electronic device or as part of a host device.

[0234] Those skilled in the art can understand that all or part of the steps of the foregoing method embodiments can be completed by program instruction related hardware. The foregoing program can be stored in a computer readable storage medium. The program, when executed, executes steps including the foregoing method embodiments; and the foregoing storage medium includes various storage media that can store program codes, such as ROM, RAM, magnetic disk or optical disk.

[0235] The embodiments or implementations in the present application are described in a progressive manner, and each embodiment focuses on the difference from other embodiments. The same or similar parts between the embodiments can be referred to each other.

[0236] In the description of the present application, it should be understood that the terms "center", "longitudinal", "transverse", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer" and the like indicate the orientation or positional relationship based on the orientation or positional relationship shown in the drawings, and are only for the purpose of facilitating the description of the present application and simplifying the description, and do not indicate or imply that the device or element referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as a limitation on the present application.

[0237] In the description of the application, it should be understood that the terms "comprising" and "having" and any variations thereof used herein are intended to cover a non-exclusive inclusion, for example, a process, method, display structure, product or device including a series of steps or units need not be limited to those clearly listed steps or units, but can include other steps or units not clearly listed or inherent to these processes, methods, products or devices.

[0238] The term "and / or" used in the present application is only to describe the association relationship of the associated objects, which means that there can be three relationships, for example, A and / or B can mean that A exists alone, A and B exist together, and B exists alone. In addition, the character " / " herein generally represents that the front and rear associated objects have an "or" relationship.

[0239] Unless otherwise clearly defined and limited, the terms "mounting", "connecting", "connecting", "fixing" and the like should be understood in a broad sense, for example, it can be fixed connection, or detachable connection, or integrated; it can be directly connected, or indirectly connected through an intermediate medium; it can be the internal communication of two elements or the interaction relationship of two elements. For those skilled in the art, the specific meaning of the above terms in the present application can be understood according to the specific circumstances. In addition, the terms "first", "second" and the like are only for the purpose of description, and cannot be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features.

[0240] Finally, it should be pointed out that: the above embodiments are only used to illustrate the technical solutions of the present application, and not to limit them; although the present application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that they can still modify the technical solutions recorded in the foregoing embodiments, or make equivalent replacement for part or all of the technical features; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the scope of the technical solutions of the embodiments of the present application.

Claims

1. A material breaking system, applied to metal alloys, characterized in that: include: The material distribution equipment comprises a bracket, a material distribution disc, a discharging device and a discharge piece, wherein the material distribution disc is rotatably arranged on the bracket, and the material distribution disc is used to carry the metal alloy; the material distribution disc has a feeding area and a discharging area in the circumferential direction, and the feeding area is used to allow the metal alloy to enter the material distribution disc; the material distribution disc is constructed to be opposite to the crushing position on the lateral side in the circumferential direction, and the crushing position is located between the feeding area and the discharging area along the rotation direction of the material distribution disc; the discharging device is located on the lateral side of the material distribution disc in the circumferential direction; the discharging device has a feeding port and a discharging port, the feeding port is arranged opposite to the discharging area, and the feeding port is used to receive the metal alloy that has been crushed and transferred to the discharging area; the discharging port is connected to the feeding port; a visual recognition module mounted on a side of the distribution tray facing away from the bracket; the visual recognition module is configured to take a picture of the metal alloy on the distribution tray and identify whether the metal alloy on the distribution tray is the alloy to be crushed, and the metal alloy having a size greater than or equal to a preset size is the alloy to be crushed; A mechanical arm is arranged at the crushing position; the mechanical arm has a crushing hammer at one end facing the crushing position, and the crushing hammer is configured to crush the alloy to be crushed.

2. The material breaking system according to claim 1, characterized in that: It also includes an information processing module and a control module, wherein the information processing module is configured to establish a polar coordinate system for the distribution plate, determine the polar coordinates of the alloy to be crushed based on the photograph, and mark and locate the alloy to be crushed; The information processing module is further configured to determine a crushing path according to the order in which the alloys to be crushed enter the working area when there are multiple alloys to be crushed; The control module is configured to control the breaker hammer to crush the alloy to be crushed one by one according to the crushing path when the alloy to be crushed enters the working area.

3. The material breaking system according to claim 2, characterized in that: The control module is configured to determine whether the alloy to be crushed enters the working area according to a rotation speed of the distribution disc and the polar coordinates of the alloy to be crushed.

4. The material breaking system according to claim 2, characterized in that: The system further comprises a judgment module, wherein the visual recognition module is further configured to take photos of the same alloy to be crushed before and after being crushed by the robotic arm; The judgment module is configured to judge whether the size of the alloy to be crushed after crushing is greater than the preset size based on the photograph of the alloy to be crushed after crushing taken by the visual recognition module; The crushing frequency of the crushing hammer on the distribution disc is adjustable, and the control module is configured to increase the crushing frequency of the crushing hammer and / or reduce the rotation speed of the distribution disc when the size of the alloy to be crushed after crushing is larger than the preset size.

5. The material breaking system according to claim 4, characterized in that: Also included is a feed conveying device, wherein a discharge end of the feed conveying device is connected to the feed zone, and the feed conveying device is configured to convey the metal alloy to the feed zone through the discharge end; The visual recognition module is further configured to take photos of the plurality of alloys to be crushed within the working area of ​​the robot arm before and after crushing; The judgment module is configured to judge whether the amount of the alloy to be crushed in the working area exceeds a preset value range based on the photos of the alloy to be crushed in the working area taken by the visual recognition module before and after crushing; The control module is configured to reduce the rotation speed of the distribution plate or the feed conveying device when the amount of the alloy to be crushed in the working area exceeds the preset value range and remains within the preset value range for a first time; The crushing frequency of the crushing hammer on the distribution disc is adjustable, and the control module is constructed to increase the rotation speed of the distribution disc or the feeding and conveying equipment, or reduce the crushing frequency of the robotic arm after the amount of the alloy to be crushed in the working area does not exceed the preset numerical range and is maintained for a second time.

6. The material breaking system according to any one of claims 1 to 5, characterized in that: There are multiple robotic arms, and each of the positions of the robotic arms corresponding to the distribution disc is provided with a crushing position in the circumferential direction of the distribution disc, and the corresponding working areas of adjacent robotic arms on the distribution disc have overlapping areas; The robotic arm that is not currently performing a crushing operation is configured to crush the alloy to be crushed within the overlapping region.

7. A crushing method for a material crushing system, characterized in that: The material crushing system according to any one of claims 1 to 6 is characterized in that the crushing method comprises the following steps: 1) Establishing a polar coordinate system for the material distribution plate in the material distribution crushing system; 2) Using a visual recognition module in the material distribution and crushing system, a photo of the metal alloy on the material distribution tray is taken to identify whether the metal alloy on the material distribution tray is the alloy to be crushed. The metal alloy whose size is greater than or equal to a preset size is the alloy to be crushed; 3) determining the polar coordinates of the alloy to be crushed based on the photograph, and marking and positioning the alloy to be crushed; 4) Controlling a breaker hammer in a mechanical arm located at a crushing position to crush the alloy to be crushed.

8. The crushing method according to claim 7, characterized in that: The step 4) controlling the breaker hammer in the mechanical arm provided at the crushing position to crush the alloy to be crushed comprises: When there are multiple alloys to be crushed, the crushing path is determined according to the order in which the alloys to be crushed enter the working area of ​​the robot arm; When the alloy to be crushed enters the working area, the crushing hammer is controlled to crush the metal alloy one by one according to the crushing path.

9. The crushing method according to claim 8, characterized in that: The step 2) taking a picture of the metal alloy on the material distribution tray by using the visual recognition module in the material distribution crushing system includes: controlling the visual recognition module to take photos of the same alloy to be crushed before and after being crushed by the robotic arm; The crushing method further comprises: determining whether the size of the alloy to be crushed after crushing is larger than the preset size based on the photograph taken by the visual recognition module of the alloy to be crushed after crushing; When the size of the alloy to be crushed after crushing is larger than the preset size, increasing the crushing frequency of the crushing hammer and / or reducing the rotation speed of the distribution disc; and / or, The step 2) taking a photo of the metal alloy on the material distribution tray by the visual recognition module in the material distribution crushing system further includes: Controlling the visual recognition module to take photos of the plurality of alloys to be crushed within the working area of ​​the robotic arm before and after crushing; The crushing method further comprises: determining whether the amount of the alloy to be crushed in the working area exceeds a preset value range based on the photographs taken by the visual recognition module of the alloy to be crushed in the working area before and after crushing; If the amount of the alloy to be crushed exceeds the preset value range and remains for a first time, reducing the rotation speed of the distribution disc or the feeding conveying device; If the amount of the alloy to be crushed does not exceed the preset value range and is maintained for a second time, the rotation speed of the distribution plate or the feeding conveying device is increased, or the crushing frequency of the robot arm is reduced.

10. The crushing method according to any one of claims 7 to 9, characterized in that: There are multiple robotic arms, and each of the positions of the robotic arms corresponding to the distribution disc is provided with a crushing position in the circumferential direction of the distribution disc, and the corresponding working areas of adjacent robotic arms on the distribution disc have overlapping areas; The step 4) controlling the breaker hammer in the mechanical arm provided at the crushing position to crush the alloy to be crushed comprises: The robotic arm that has not yet performed the crushing operation crushes the alloy to be crushed in the overlapping area.

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