Clothing device

Abstract

The embodiment of the application provides a kind of cloth equipment, including support, cloth disc, discharging device and discharging piece, cloth disc is rotationally arranged on support, for carrying metal alloy.Cloth disc has feeding area and discharge area, cloth disc is opposite with broken position in the side of circumference, and along the rotation direction of cloth disc, broken position is located between feeding area and discharge area.Discharging device has feeding port and discharge port, feeding port is used to receive the metal alloy that is broken and flows to discharge area, discharge port is arranged at the top of conveying equipment, to transmit the metal alloy received by feeding port to conveying equipment for subsequent transfer.Discharging piece has discharging part, discharging part is arranged on the side of cloth disc away from support, can guide the metal alloy that is broken and flows to discharge area to discharge port, so as to realize the automatic flow and discharging of metal alloy, without operator to transfer, reduce labor intensity, in turn improve the efficiency of metal alloy crushing, be favorable to large-scale production.

Description

Technical Field

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

[0002] Ferroalloys are important materials in industrial production, widely used in steel smelting, machinery manufacturing, electronic materials, and many other fields. 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 related technologies, the crushing of ferroalloys is mainly achieved through crushers or manual hammering. Crushers typically use mechanical extrusion, shearing, or impact to break ferroalloys into the desired particle size. However, when using crushers, they can easily over-crush the ferroalloys, resulting in excessively small particles and a high powder content. Therefore, related technologies primarily employ manual hammering for ferroalloy crushing. Operators transport the ferroalloy to the crushing table, where they use hammers or other tools to break it into the appropriate size before transporting it to the target area.

[0004] However, manual hammering has low crushing efficiency and manual transfer efficiency, making it unsuitable for large-scale production. Summary of the Invention

[0005] This application provides a fabric-making device to solve the problems of low crushing efficiency from manual hammering and low manual transfer efficiency, which are unsuitable for large-scale production.

[0006] This application provides a fabric-laying device for metal alloys, the fabric-laying device comprising:

[0007] support;

[0008] The feeding disc is rotatably mounted on the support and is used to carry the metal alloy. The feeding disc has a feeding area and a discharging area in its circumference. The feeding area is used to allow the metal alloy to enter the feeding disc. The feeding disc is configured to be opposite the crushing position on the circumferential side. Along the rotation direction of the feeding disc, the crushing position is located between the feeding area and the discharging area.

[0009] The discharge device is mounted on a support and is located on the circumferential side of the feeding disc; the discharge device has an inlet and an outlet, the inlet is opposite to the discharge area, the inlet is used to receive the crushed metal alloy that flows to the discharge area; the outlet is connected to the inlet and is configured to be located on the top of the conveying equipment.

[0010] The feeding component has a feeding section located on the side of the feeding disc away from the support, and at least part of the feeding section is located in the discharge area, and the feeding section is configured to guide the metal alloy to be crushed and transferred to the discharge area through a feed inlet.

[0011] In some embodiments, one end of the feeding section is located on the side of the feeding disc adjacent to the crushing position, and the other end is inclined toward the feeding port in the discharge area.

[0012] In some embodiments, the fabric-making equipment further includes a transmission device, which includes a motor, a first transmission member, and a second transmission member. The motor is mounted on a support, and the output shaft of the motor is connected to the first transmission member to drive the first transmission member to rotate.

[0013] The first transmission member meshes with the second transmission member, and the first transmission member is configured to drive the second transmission member to rotate when rotating; the second transmission member is mounted on the bracket and is connected to and fixed relative to the fabric disc.

[0014] In some embodiments, the fabric-making equipment further includes a control box, the motor is a variable frequency motor, the variable frequency motor is configured to be connected to the control box, and 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.

[0015] In some embodiments, the fabric-making equipment further includes a first detection element and an alarm, the first detection element being configured to monitor the rotational resistance of the fabric disc in real time;

[0016] The control box is communicatively connected to the first detection element, and the control box is configured to control the alarm to sound when the rotational resistance detected by the first detection element exceeds a first threshold; the control box is also configured to control the fabric disc to stop rotating when the rotational resistance detected by the first detection element is greater than or equal to a second threshold, wherein the second threshold is greater than the first threshold.

[0017] In some embodiments, the fabric-making device further includes a cushioning element sandwiched between the second transmission element and the fabric tray.

[0018] In some embodiments, the buffer includes a cushioning pad or a damper;

[0019] When the buffer is a damper, the fabric feeding device also includes a second detection element and a controller. The second detection element is configured to monitor the load changes on the fabric feeding disc in real time.

[0020] The controller is communicatively connected to the second sensor and the damper, and is configured to adjust the damping coefficient of the damper when the load change detected by the second sensor exceeds a third threshold.

[0021] In some embodiments, the device further includes a robotic arm located at the crushing position, and the robotic arm has a crushing hammer at one end facing the crushing position. The robotic arm 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.

[0022] The impact force of the hydraulic breaker on the fabric disc and the crushing frequency are both adjustable.

[0023] In some embodiments, the fabric equipment further includes a vision recognition module mounted on the side of the fabric tray away from the support.

[0024] The visual recognition module is configured to take pictures of the metal alloy on the fabric tray and identify whether the metal alloy on the fabric tray is the alloy to be crushed.

[0025] In some embodiments, the fabric tray includes a fabric tray body and a plurality of abrasion-resistant plates, the fabric tray body being rotatably mounted on a support.

[0026] Multiple wear-resistant plates are located on the side of the fabric disc body away from the support, and there is a gap between adjacent wear-resistant plates.

[0027] The feeding device provided in this application includes a support, a feeding disc, a discharge device, and a feeding component. The feeding disc is rotatably mounted on the support and is used to carry metal alloys. The feeding disc has a feeding area and a discharge area circumferentially. The feeding area allows the metal alloy to enter the feeding disc. The feeding disc is located on its circumferential side opposite a crushing position, and the crushing position is located between the feeding area and the discharge area along the rotation direction of the feeding disc. The discharge device is mounted on the support and located on the circumferential side of the feeding disc. The discharge device has an inlet and an outlet arranged opposite each other. The inlet receives the crushed metal alloy that flows to the discharge area, and the outlet is located at the top of the conveying equipment to transfer the metal alloy received by the inlet to the conveying equipment for subsequent transfer. The feeding unit has a feeding section located on the side of the feeding disc away from the support, and at least part of the feeding section is located in the discharge area. It can guide the crushed metal alloy that has flowed to the discharge area to the discharge port, thereby realizing the automated flow and feeding of metal alloy. The operator only needs to crush the metal alloy that has flowed to the crushing position at the crushing position. There is no need for the operator to transfer it, which reduces the labor intensity and improves the efficiency of metal alloy crushing. At the same time, the crushed metal alloy can be transferred to the target position by the feeding equipment and the conveying equipment, which can improve the transfer efficiency and is conducive to large-scale production. Attached Figure Description

[0028] To more clearly illustrate the technical solutions in the embodiments of this application or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0029] Figure 1 Schematic diagram of the fabric-laying equipment provided in the embodiments of this application Figure 1 ;

[0030] Figure 2Schematic diagram of the fabric-laying equipment provided in the embodiments of this application Figure 2 ;

[0031] Figure 3 Schematic diagram of the fabric-laying equipment provided in the embodiments of this application Figure 3 ;

[0032] Figure 4 A schematic diagram of the fabric shredding system provided in the embodiments of this application. Figure 1 ;

[0033] Figure 5 A schematic diagram of the fabric shredding system provided in the embodiments of this application. Figure 2 ;

[0034] Figure 6 A schematic diagram of the fabric shredding system provided in the embodiments of this application. Figure 3 ;

[0035] Figure 7 A schematic diagram of the fabric shredding system provided in the embodiments of this application. Figure 4 .

[0036] Figure label:

[0037] 100-Fabrication equipment;

[0038] 10-Staff;

[0039] 20-Fabricating disc; 21-Fabricating disc body; 211-Feeding area; 212-Discharge area; 213-Crushing position; 22-Abrasion-resistant plate;

[0040] 30 - Discharge device; 31 - Feed inlet; 32 - Discharge outlet;

[0041] 40 - Blanking part; 41 - Blanking section;

[0042] 50 - Transmission device; 51 - Motor; 52 - First transmission component; 53 - Second transmission component;

[0043] 60-Buffer component;

[0044] 70 - Lubrication device;

[0045] 80 - Transmission equipment;

[0046] 90 - Robotic arm; 91 - Working area;

[0047] 200 - Visual Recognition Module;

[0048] 300 - Information Processing Module;

[0049] 400 - Decision module;

[0050] 500-Control Module;

[0051] 600 - Feeding and conveying equipment;

[0052] 700-processor;

[0053] 800 - Memory;

[0054] 900-bus. Detailed Implementation

[0055] To make the objectives, technical solutions, and advantages of the embodiments of this application clearer, the technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, not all embodiments. Based on the embodiments of this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.

[0056] This application provides a fabric placement device that can be used in various fields such as steel smelting, machinery manufacturing, and electronic materials. It enables efficient and uniform fabric placement of metal alloys, thereby improving production efficiency and product quality. The following description primarily uses an application scenario in the steel smelting field as an example to illustrate the structure and function of the ferroalloy fabric placement system.

[0057] To meet different process requirements, metal alloys often need to be crushed into particles of a specific size to facilitate transportation, storage, and subsequent processing. For example, in the steelmaking process, crushing metal alloys into smaller particles can improve their reaction rate and uniformity in the steelmaking furnace, thereby enhancing smelting efficiency and product quality.

[0058] In related technologies, the crushing of metal alloys is mainly achieved through crushers or manual hammering. Crushers typically include jaw crushers, hammer crushers, and roller crushers. Jaw crushers use the reciprocating motion of the moving and fixed jaws to crush metal alloys into smaller particles through compression. Hammer crushers use high-speed rotating hammers to impact and crush metal alloys. Roller crushers rely on two relatively rotating rollers to apply pressure to the metal alloy for crushing. While crushers can achieve automated production and high efficiency, they are prone to over-grinding of metal alloys during the crushing process, resulting in excessively small particles and a high powder content. Furthermore, crushers have high equipment costs and require regular maintenance during operation, increasing production costs.

[0059] Therefore, manual hammering is still widely used in the field of alloy crushing. Operators need to transfer the metal alloy to the crushing table, where they use hammers or other tools to strike the metal alloy and crush it into suitable sizes, allowing for better control over the size of the crushed particles. However, manual hammering is inefficient and not conducive to large-scale production.

[0060] In view of this, this application proposes a material feeding device, including a support, a feeding disc, a discharge device, and a feeding component. The feeding disc is rotatably mounted on the support and is used to carry metal alloys. The feeding disc has a feeding area and a discharge area around its circumference. The feeding area is used to allow the metal alloys to enter the feeding disc, and the discharge area is used to discharge the crushed metal alloys to the discharge device. The crushing position of the feeding disc is located between the feeding area and the discharge area. The operator only needs to perform hammer crushing operations on the metal alloys at the crushing position. The crushed metal alloys that flow to the discharge area can flow to the discharge device under the guidance of the feeding component, thereby realizing the automated flow and discharge of metal alloys. There is no need for operators to transfer the metal alloys, which reduces labor intensity and improves the efficiency of metal alloy crushing. At the same time, the crushed metal alloys can be transferred to the target location using the feeding device and the conveying device, which can improve the transfer efficiency and is conducive to large-scale production.

[0061] Figure 1 Schematic diagram of the structure of the fabric-laying device 100 provided in the embodiments of this application Figure 1 , Figure 2 Schematic diagram of the structure of the fabric-laying device 100 provided in the embodiments of this application Figure 2 , Figure 3 Schematic diagram of the structure of the fabric-laying device 100 provided in the embodiments of this application Figure 3 .

[0062] The following is combined with Figures 1 to 3 The structure of the fabric-making equipment 100 provided in this embodiment will be further described.

[0063] In a first aspect, this embodiment provides a fabric spreading device 100, including a support 10 and a fabric spreading tray 20. The fabric spreading tray 20 is rotatably mounted on the support 10 and is used to carry metal alloys.

[0064] Specifically, in this embodiment, the bracket 10 is a support structure for the fabric-making equipment 100. The bracket 10 can be made of high-strength materials to ensure sufficient strength and stability.

[0065] The material feeding tray 20 is rotatably mounted on the support 10 to carry the metal alloy. The material feeding tray 20 has a feeding area 211 and a discharging area 212 in its circumference. The metal alloy can enter the material feeding tray 20 through the feeding area 211 and then be transferred to the conveying equipment through the discharging area 212.

[0066] The feeding disc 20 is located circumferentially opposite the crushing position 213. In the rotation direction of the feeding disc 20, the crushing position 213 is located between the feeding area 211 and the discharge area 212. This allows the metal alloy to flow to the crushing position 213 after entering the feeding area 211 through the feeding area 211, driven by the rotation of the feeding disc 20. The operator can then crush the metal alloy that has flowed to the crushing position 213. The crushed metal alloy is then driven to the discharge position by the rotation of the feeding disc 20. This achieves automated flow and unloading of the metal alloy, eliminating the need for operators to manually transfer the metal alloy to be crushed to the crushing position 213 and then to the conveying equipment. This reduces labor intensity and improves the efficiency of metal alloy crushing, which is beneficial for large-scale production.

[0067] Please refer to Figures 1 to 3 In one exemplary embodiment, the feeding disc 20 rotates clockwise, and 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 feeding disc 20, and the discharging area 212 is the ending point of the rotation of the metal alloy on the feeding disc 20. There are three crushing positions 213. In the rotation direction of the feeding disc 20, the three crushing positions 213 are evenly and spaced between the feeding area 211 and the discharging area 212. After the metal alloy enters the feeding disc 20 through the feeding area 211, it rotates with the feeding disc 20 for a quarter turn and then enters the first crushing position 213. After rotating for two-quarters of a turn, it enters the second crushing position 213. After rotating for three-quarters of a turn, it enters the third crushing position 213 and then flows to the discharging area 212.

[0068] It should be noted that this embodiment does not limit the specific location and number of the discharge zone 212, the feed zone 211 and the crushing station 213, and can be adapted to actual needs.

[0069] Please refer to Figures 1 to 3 In this embodiment, the fabric tray 20 is mounted on the bracket 10 via a rotating shaft to enable rotation of the fabric tray 20. In other embodiments, the arrangement of the fabric tray 20 can be adapted, and this embodiment does not impose any restrictions on this.

[0070] The fabric feeding device 100 provided in this embodiment also includes a discharge device 30, which is disposed on the support 10 and located on the circumferential side of the fabric feeding disc 20. The discharge device 30 has an inlet 31 and an outlet 32. The inlet 31 is disposed opposite to the discharge area 212 to receive the crushed metal alloy that flows to the discharge area 212. The outlet 32 ​​is connected to the inlet 31 and is configured to be located at the top of the conveying device 80, thereby conveying the crushed metal alloy to the conveying device 80.

[0071] Specifically, the shape and size of the feed inlet 31 are matched with the shape and size of the discharge zone 212 so that the feed inlet 31 can effectively receive the crushed metal alloy discharged from the discharge zone 212.

[0072] The feed inlet 31 can gradually narrow towards the discharge outlet 32, thereby guiding the flow direction of the metal alloy inside the discharge device 30, so that the metal alloy can flow more smoothly to the discharge outlet 32.

[0073] Please refer to Figures 1 to 3 In this embodiment, the connection direction between the inlet 31 and the outlet 32 ​​is perpendicular to the ground, allowing the metal alloy to flow more smoothly from the inlet 31 to the outlet 32 ​​under gravity, eliminating the need for an additional power unit to assist in transportation. This simplifies the structure of the outlet device 30 and reduces energy consumption and production costs. Simultaneously, this also reduces the problem of metal alloy stagnation and accumulation during transmission, ensuring that the metal alloy can enter the transmission equipment 80 quickly and continuously, thus improving the overall operating efficiency and stability of the fabric distribution equipment 100.

[0074] In this embodiment, the shape of the outlet 32 ​​is the same as that of the inlet 31 to ensure that the flow path of the metal alloy is smoother as it flows from the inlet 31 into the outlet 32, reducing the accumulation or blockage of the metal alloy during the transmission process.

[0075] In practical applications, the shape and size of the discharge zone 212, the inlet 31 and the outlet 32 ​​can be designed based on the feeding speed of the feeding conveyor 600 and the transmission speed of the transmission device 80 in the fabric crushing system. In this embodiment, the shape and size of the discharge zone 212, the inlet 31 and the outlet 32 ​​are not restricted in any way.

[0076] In this embodiment, the transmission device 80 is a conveyor belt that can operate. Through the movement of the conveyor belt, the crushed metal alloy can be automatically transported without manual handling, which improves production efficiency and reduces labor intensity.

[0077] In other embodiments, the transmission device 80 may also be other devices capable of transmission, such as pipes or transfer carts. This embodiment does not impose any restrictions on this and can make an adaptive selection according to actual needs.

[0078] Please refer to Figures 1 to 3The fabric feeding device 100 provided in this embodiment also includes a feeding component 40, which has a feeding section 41. The feeding section 41 is located on the side of the fabric feeding disc 20 away from the support 10, and at least part of the feeding section 41 is located in the discharge area 212. The feeding section 41 is configured to guide the crushed metal alloy to the feed inlet 31 of the discharge area 212. This allows the feeding section 41 to guide the metal alloy and guide the crushed metal alloy to the feed inlet 31 of the discharge device 30 in the discharge area 212, thus preventing the crushed metal alloy from continuing to flow to the feed area 211 after passing through the discharge area 212.

[0079] By using the feeding device 100 provided in this embodiment, the metal alloy can be transferred to the crushing position 213 through the feeding disc 20, realizing the automated transfer of the metal alloy. At the same time, through the setting of the discharge port 32 and the transmission device 80, the crushed metal alloy can be transferred to the target position, improving the transfer efficiency and facilitating large-scale production.

[0080] In some embodiments, the feeding part 41 can be a scraper, and the feeding disc 20 can rotate relative to the feeding part 40 when it rotates. By utilizing the contact and relative movement between the feeding part 41 and the feeding disc 20, the metal alloy that has been crushed and transferred to the discharge area 212 is scraped up and guided to the feed inlet 31. This ensures that the crushed metal alloy can smoothly enter the discharge device 30, while also preventing the metal alloy from remaining and accumulating on the surface of the feeding disc 20, further improving the operating efficiency and transmission stability of the feeding equipment 100.

[0081] In other embodiments, the feeder 40 may also be a guide plate or other structure that can achieve guidance. This embodiment does not impose any restrictions on this and can make an adaptive selection according to actual needs.

[0082] Please refer to Figures 1 to 3 In some embodiments, one end of the feeding part 41 is located on the side of the feeding disc 20 adjacent to the crushing position 213, and the other end is inclined towards the feed inlet 31 in the discharge area 212.

[0083] Specifically, since the discharge zone 212 is a single area, the edge of the discharge zone 212 near the feed zone 211 is not necessarily perfectly horizontal. To ensure that all the crushed metal alloy can enter the discharge zone 212, one end of the feeding part 41 is inclined towards the feed inlet 31 in the discharge zone 212. This allows the feeding part 41 to better fit the actual shape of the discharge zone 212, ensuring that all the crushed metal alloy can be effectively guided to the feed inlet 31 during the rotation of the feeding disc 20. This ensures that all the crushed metal alloy can smoothly enter the discharge device 30, avoiding residue or omission caused by the non-horizontal edge of the discharge zone 212.

[0084] Furthermore, by positioning one end of the feeding section 41 on the side of the feeding disc 20 adjacent to the crushing position 213, interference of the feeding section 41 with the flow of the uncrushed metal alloy can be avoided.

[0085] Please refer to Figures 1 to 3 In some embodiments, the fabric feeding device 100 further includes a transmission device 50, which includes a motor 51, a first transmission member 52, and a second transmission member 53. The motor 51 is mounted on the support 10, and its output shaft is connected to the first transmission member 52 to drive the first transmission member 52 to rotate. The first transmission member 52 meshes 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 mounted on the support 10 and is connected to and relatively fixed to the fabric tray 20. Thus, when the motor 51 drives the first transmission member 52 to rotate, the first transmission member 52 can drive the fabric tray 20 to rotate through the second transmission member 53, thereby realizing the transfer of the metal alloy.

[0086] Specifically, in this embodiment, the motor 51 is fixedly mounted on the bracket 10, and can be fixed by bolts or other fixing methods to ensure the stability of the motor 51.

[0087] The output end of the motor 51 can be connected to the first transmission component 52 via a coupling to ensure the efficiency and stability of power transmission.

[0088] Please refer to Figures 1 to 3 In this embodiment, the first transmission component 52 is a driving gear, and the second transmission component 53 is a driven gear. The driving gear and the driven gear mesh with each other, thereby achieving efficient power transmission and driving the fabric disc 20 to rotate smoothly. By adopting a gear transmission method, not only can the stable operation of the fabric disc 20 be ensured, but the rotational speed of the fabric disc 20 can also be controlled by the transmission ratio between the driving gear and the driven gear to meet different production needs.

[0089] Specifically, the number of teeth and module of the first transmission component 52 can be set according to the rotational speed requirements of the fabric disc 20 to achieve an appropriate transmission ratio. The second transmission component 53 is installed on the central shaft of the fabric disc 20 and is fixed to the fabric disc 20 by a key connection. The number of teeth and module of the second transmission component 53 are matched with those of the first transmission component 52 to ensure that the first transmission component 52 and the second transmission component 53 can mesh with each other.

[0090] In other embodiments, the second transmission member 53 may also be relatively fixed to the fabric disc 20 by other connection methods, and this embodiment does not impose any restrictions on this. For example, the second transmission member 53 may be a ring gear that mates with the outer edge of the fabric disc 20, and is fixedly connected to the outer edge of the fabric disc 20 by a plurality of connectors evenly distributed along the circumference of the ring gear, wherein the connectors may be bolts.

[0091] Please refer to Figures 1 to 3 In some embodiments, the fabric-making equipment 100 further includes a lubrication device 70, which is disposed on the support 10. The lubrication device 70 has a nozzle facing the first transmission member 52 and the second transmission member 53, and the nozzle is filled with lubricating fluid to fill the lubricating fluid between the first transmission member 52 and the second transmission member 53.

[0092] In some embodiments, the fabric-making equipment 100 further includes a control box (not shown), and the motor 51 is a variable frequency motor 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.

[0093] 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 fabric disc 20 in the fabric equipment 100.

[0094] In this embodiment, a frequency converter (not shown) is installed in the control box. The operator can input the required speed parameters through the operation interface on the control box. The frequency converter can accurately adjust the output frequency according to the speed parameters input by the operator through the control box, thereby realizing stepless adjustment of the speed of motor 51, and further realizing stepless adjustment of the speed of fabric disc 20.

[0095] In this embodiment, the control box is also equipped with a start button and a stop button to control the start and stop of the variable frequency motor, ensuring that the fabric laying equipment 100 can flexibly adjust its operating status according to production needs. For example, at the start of production, the operator can start the variable frequency motor using the start button; at the end of production or when a pause is needed, the motor 51 can be stopped using the stop button.

[0096] In some embodiments, the fabric feeding device 100 further includes a first detection element (not shown) and an alarm (not shown). The first detection element is configured to monitor the rotational resistance of the fabric disc 20 in real time. A control box is communicatively connected to the first detection element, and the control box is configured to, when the rotational resistance detected by the first detection element exceeds a first threshold,

[0097] Specifically, the control box triggers an alarm. It is also configured to stop the fabric disc 20 from rotating when the rotational resistance detected by the first sensor is greater than or equal to a second threshold. For example, the control box can stop the fabric disc 20 from rotating by controlling the start and stop of the motor 51 in the transmission device 50. The second threshold is greater than the first threshold.

[0098] The first and second thresholds can be set according to actual needs, and this embodiment does not impose any restrictions on them. Specifically, in this embodiment, the first detection element is a torque sensor, which can be installed on the fabric disc 20 to detect the rotational torque of the fabric disc 20 during rotation. When there is too much metal alloy on the fabric disc 20 or the metal alloy is unevenly distributed, the rotational resistance of the fabric disc 20 will increase, leading to an increase in torque. Therefore, by monitoring the rotational torque of the fabric disc 20 in real time through the first detection element, the rotational state of the fabric disc 20 can be obtained in real time.

[0099] The control box receives monitoring data from the first detection element in real time via a communication connection. The operator can preset a first threshold for the rotational torque of the fabric disc 20. When the first detection element detects that the rotational torque of the fabric disc 20 exceeds the first threshold, the control box will activate the alarm to alert the operator and prompt them to check whether there is an abnormality in the transmission of the transmission device 50, which could cause the fabric disc 20 to generate excessive rotational torque.

[0100] When the first detection element detects that the rotational torque of the fabric disc 20 exceeds the second threshold, the control box will also control the fabric disc 20 to stop rotating to prevent the fabric disc 20 from being damaged due to excessive rotational torque.

[0101] Please refer to Figures 1 to 3 In some embodiments, the fabric spreading device 100 further includes a buffer 60, which is sandwiched between the second transmission member 53 and the fabric spreading disc 20. This can prevent rigid collisions between the fabric spreading disc 20 and the second transmission member 53, thereby reducing mechanical impact and vibration of the fabric spreading device 100 during operation, reducing wear of the fabric spreading device 100, and extending the service life of the fabric spreading device 100.

[0102] Specifically, when the metal alloy enters the feeding area 211 of the fabric feeding disc 20, its weight and falling speed may generate a large impact force on the fabric feeding disc 20. This impact force will be directly transmitted to the second transmission component 53 and the motor 51, causing the fabric feeding device 100 to bear a large instantaneous load, leading to a rigid collision between the fabric feeding disc 20 and the second transmission component 53, increasing the wear of the fabric feeding device 100, and even damaging the second transmission component 53. In addition, when the metal alloy on the fabric feeding disc 20 is unevenly distributed, it will also cause the fabric feeding disc 20 to generate an unbalanced torque during rotation, causing the fabric feeding disc 20 to bear a greater load in some positions, thereby leading to a rigid collision between the fabric feeding disc 20 and the second transmission component 53.

[0103] To avoid the aforementioned problems, this embodiment incorporates a buffer 60 between the fabric disc 20 and the second transmission component 53 to mitigate the impact of impact force and unbalanced torque. The buffer 60, through its elastic deformation, absorbs and mitigates the impact force generated when the metal alloy falls. Simultaneously, it adjusts the torque transmission between the fabric disc 20 and the second transmission component 53 when the load distribution on the fabric disc 20 is uneven, thereby reducing the impact of impact force on the fabric laying equipment 100. This ensures stable operation of the fabric laying equipment 100 while reducing maintenance costs and repair frequency, and extending the service life of the fabric laying equipment 100.

[0104] Please refer to Figures 1 to 3 In some embodiments, the buffer 60 includes a cushioning pad or a damper. When the buffer 60 is a damper, the fabric feeding device 100 also includes a second detection element (not shown) and a controller. The second detection element is configured to monitor load changes on the fabric feeding disc 20 in real time. The controller is communicatively connected to both the second detection element and the damper, and is configured to adjust the damping coefficient of the damper when the load change detected by the second detection element exceeds a third threshold.

[0105] The buffer pad can be made of elastic material, such as rubber, polyurethane, or springs. By setting the buffer pad, a flexible connection is formed between the second transmission component 53 and the fabric disc 20. When the fabric disc 20 experiences instantaneous torque fluctuations due to uneven metal alloy distribution or other factors during operation, the buffer component 60 can absorb and mitigate the impact force, preventing the impact force from being directly transmitted to the second transmission component 53 and the motor 51, thereby avoiding damage to the fabric feeding equipment 100 caused by rigid collisions.

[0106] As described above, the buffer 60 can also be a damper. The damper can generate damping force, and by placing the damper between the second transmission member 53 and the fabric disc 20, the damper can absorb and mitigate the impact force and unbalanced torque generated by the load change of the fabric disc 20, thereby suppressing rigid collisions between the fabric disc 20 and the second transmission member 53.

[0107] The damper can be a hydraulic damper, which includes a cylinder, a piston, and damping oil. The piston is movable within the cylinder, and the damping oil flows through small holes or channels on the piston. When the distribution disc 20 is subjected to impact force or load changes, the piston moves within the cylinder and compresses the damping oil. The damping oil flows through the small holes on the piston in the opposite direction of piston movement, generating resistance, thereby absorbing and dissipating energy and reducing vibration and impact. By adjusting the size or number of small holes on the piston, the flow resistance of the damping oil can be changed, thus adjusting the damping coefficient.

[0108] In other embodiments, the damper may also be a viscous damper or a pneumatic damper. This embodiment does not impose any restrictions on this and can make an adaptive selection according to actual needs.

[0109] In this embodiment, the second detection element is a load sensor, used to monitor the load changes on the fabric disc 20 in real time. When the metal alloy distribution on the fabric disc 20 is uneven or the falling speed is inconsistent, the load sensor can detect the load changes on the fabric disc 20 and transmit them to the controller in real time. When the load changes on the fabric disc 20 exceed a third threshold, the controller can adjust the damping coefficient of the damper.

[0110] For example, when the fabric distribution tray 20 is in operation, a large amount of metal alloy suddenly falls, causing a sharp increase in the load on the tray 20. At this time, if the load change detected by the second sensor exceeds a third threshold, the controller will determine that the fabric distribution tray 20 may be facing a large impact force, and then send a signal to the damper to increase the damping coefficient. By increasing the damping force, the damper absorbs and dissipates more energy, reducing the vibration and impact of the fabric distribution tray 20, and ensuring the smooth operation of the fabric distribution equipment 100.

[0111] When the damper is a hydraulic damper, the controller can control the solenoid valve to adjust the opening of the small orifice on the piston of the hydraulic damper, thereby adjusting the damping coefficient of the hydraulic damper.

[0112] Please refer to Figures 1 to 3 In some embodiments, the fabric feeding device 100 further includes a robotic arm 90, which is located at the crushing position 213 and has a breaker hammer at one end facing the crushing position 213. The robotic arm 90 is configured to crush the alloy to be crushed. 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 breaker hammer on the fabric feeding disc 20 and the crushing frequency are both adjustable.

[0113] Please refer to Figures 1 to 3Specifically, in this embodiment, the robotic arm 90 is installed at the crushing position 213, and a crushing hammer is provided at one end of the robotic arm 90. Thus, by setting up the robotic arm 90, manual hammering can be replaced, which can greatly improve the crushing efficiency of metal alloys.

[0114] The hydraulic breaker can be made of high-strength materials so that it can withstand greater impact forces and facilitate the crushing of the alloy to be crushed.

[0115] Specifically, in this embodiment, the movement of the robotic arm 90 is controlled by a controller. The controller can adaptively adjust the impact force and crushing frequency of the robotic arm 90 according to the rotation speed of the material feeding 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 crushing efficiency and reducing the labor intensity of the operator.

[0116] For example, when the size of the alloy to be crushed on the feed disc 20 is large, the impact force and crushing frequency of the breaker can be increased to ensure that the alloy to be crushed can be fully crushed; while when the size of the alloy to be crushed is small, the impact force and crushing frequency of the breaker can be appropriately reduced to avoid over-crushing and unnecessary damage to the feed disc 20.

[0117] In some embodiments, the fabric feeding device 100 further includes a vision recognition module 200, which is mounted on the side of the fabric tray 20 facing away from the support 10. The vision recognition module 200 is configured to take pictures of the metal alloy on the fabric tray 20 and identify whether the metal alloy on the fabric tray 20 is the alloy to be crushed.

[0118] Specifically, the visual recognition module 200 can take pictures of the metal alloy on the feeding disc 20 and identify whether the metal alloy on the feeding disc 20 is the alloy to be crushed, thereby achieving precise crushing of the alloy to be crushed, avoiding ineffective crushing and over-crushing, and improving the operating efficiency and crushing quality of the feeding equipment 100.

[0119] The visual recognition module 200 can take real-time photos of the metal alloy on the fabric tray 20 using a camera, capturing the size, shape, and distribution of the metal alloy. Based on the captured size of the 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 broken. 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 an alloy to be broken and send the coordinate information of the alloy to be broken to the controller so that the robotic arm 90 can accurately locate and break the alloy.

[0120] Meanwhile, during the crushing process, the vision 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 vision recognition module 200 can continue to send signals to the controller to adjust the impact force of the breaker or the crushing frequency until the alloy to be crushed reaches the preset size.

[0121] Please refer to Figures 1 to 3 In some embodiments, the fabric tray 20 includes a fabric tray body 21 and a plurality of abrasion-resistant plates 22, the fabric tray body 21 being rotatably mounted on the support 10. The plurality of abrasion-resistant plates 22 are disposed on the side of the fabric tray body 21 away from the support 10, and there is a gap between adjacent abrasion-resistant plates 22.

[0122] Specifically, the wear plate 22 is made of wear-resistant materials, such as cemented carbide, to ensure that the wear plate 22 can maintain a long service life under high-wear conditions.

[0123] When the metal alloy enters the feeding area 211 of the feeding disc 20, it slides and rolls between the wear-resistant plates 22 under the rotation of the disc 20. During this process, the metal alloys rub and collide with each other, causing larger metal alloy blocks to be initially broken into smaller particles through interaction, thus achieving preliminary crushing. This preliminary crushing reduces the workload of subsequent crushing operations, making the robotic arm 90 or operator more efficient when crushing metal alloys.

[0124] The number and spacing of the wear-resistant plates 22 can be adapted to actual needs, and this embodiment does not impose any restrictions on this.

[0125] Figure 4 A schematic diagram of the fabric shredding system provided in the embodiments of this application. Figure 1 , Figure 5 A schematic diagram of the fabric shredding system provided in the embodiments of this application. Figure 2 .

[0126] Please refer to Figure 1 , Figure 2 , Figure 4 and Figure 5 Secondly, this embodiment also provides a fabric crushing system, including a fabric crushing device 100, a robotic arm 90, and a vision recognition module 200.

[0127] The fabric-making equipment 100, the robotic arm 90, and the visual recognition module 200 have been described in the above embodiments and will not be repeated here.

[0128] The fabric crushing system provided in this embodiment realizes the automated flow and unloading of metal alloys through the fabric feeding device 100, eliminating the need for operators to transfer materials. The vision recognition module 200 takes pictures of the metal alloys on the fabric feeding tray 20 and identifies whether the metal alloys on the fabric feeding tray 20 are the alloys to be crushed, thereby achieving precise crushing of the alloys to be crushed, avoiding ineffective crushing and over-crushing, improving the operating efficiency and crushing quality of the fabric feeding device 100, and crushing the alloys to be crushed through the robotic arm 90, realizing the automated flow and crushing of metal alloys, greatly improving crushing efficiency, and facilitating large-scale production.

[0129] Figure 6 A schematic diagram of the fabric shredding system provided in the embodiments of this application. Figure 3 .

[0130] Please refer to Figure 1 , Figure 4 , Figure 5 and Figure 6 In some embodiments, the fabric crushing system further includes an information processing module 300 and a control module 500. The information processing module 300 is configured to establish a polar coordinate system for the fabric disc 20, determine the polar coordinates of the alloy to be crushed based on the photograph, and mark and position the alloy to be crushed.

[0131] Specifically, the information processing module 300 is also configured to determine the crushing path according to the order in which the alloys to be crushed enter the working area 91 of the robotic arm 90 when there are multiple alloys to be crushed. This allows the optimal crushing path to be given based on the order in which the alloys to be crushed enter the working area 91 of the robotic arm 90 and the position of the alloys to be crushed in the polar coordinate system, thereby reducing the ineffective movement of the robotic arm 90 and improving the crushing efficiency.

[0132] Please refer to Figure 4 and Figure 5 In some embodiments, the crushing path of the fabric crushing system is "S"-shaped to reduce the ineffective movement of the robotic arm 90. That is, for the alloys to be crushed on the same polar axis, the alloy closest to the robotic arm 90 can be used as the starting point, and the crushing can be gradually moved towards the center of the fabric disc 20. Then, the alloys on adjacent polar axes along the rotation direction of the fabric disc 20 are crushed in sequence to achieve "S"-shaped path planning.

[0133] In other embodiments, for alloys to be crushed on the same polar axis, the crushing can start from the alloy to be crushed located at the center of the cloth disc 20 and gradually move towards the alloy to be crushed closer to the robotic arm 90. Then, the alloys to be crushed on adjacent polar axes along the rotation direction of the cloth disc 20 can be crushed in sequence. This embodiment does not impose any restrictions on this.

[0134] Please refer to Figure 1, Figure 4 , Figure 5 and Figure 6 The control module 500 is configured to control the hydraulic breaker to crush each alloy piece individually according to the crushing path after the alloy to be crushed enters the working area 91 of the robotic arm 90. Once the alloy enters the working area 91, the control module 500 precisely controls the movement of the hydraulic breaker according to the crushing path, enabling the hydraulic breaker to crush each alloy piece individually and systematically. The control module 500 can adjust the impact force and crushing frequency of the hydraulic breaker in real time based on information such as the size and hardness of the alloy to be crushed, ensuring crushing effectiveness while avoiding over-crushing and wear and tear on the material crushing system.

[0135] Through the coordinated operation of the information processing module 300 and the control module 500, the fabric crushing system can achieve automated control from metal alloy positioning and path planning to crushing operation, which improves crushing efficiency, reduces manual intervention, and improves the stability of crushing quality.

[0136] Please refer to Figure 1 , Figure 4 , Figure 5 and Figure 6 In some embodiments, the control module 500 is configured to determine whether the alloy to be crushed has entered the working area 91 based on the rotational speed of the cloth disc 20 and the polar coordinates of the alloy to be crushed.

[0137] Specifically, the rotational speed of the feeding disc 20 directly affects the position of the alloy to be crushed on the feeding disc 20. The control module 500 can capture the rotational speed information of the feeding disc 20 in real time. At the same time, the information processing module 300 can determine the polar coordinate position of the alloy to be crushed on the feeding disc 20 through the photo captured by the visual recognition module 200. The control module 500 can combine the real-time rotational speed of the feeding disc 20 and the polar coordinates of the alloy to be crushed to obtain the real-time position of the alloy to be crushed during the rotation of the feeding disc 20, so as to determine whether the alloy to be crushed has entered the working area 91 of the robotic arm 90. By obtaining the position of the alloy to be crushed, the control module 500 can ensure that the breaker crushes the alloy to be crushed at the appropriate time and position, avoiding ineffective operations or missing the crushing opportunity.

[0138] Furthermore, in this embodiment, the control module 500 has a 5G edge computing module inside. The 5G edge computing module can control the crushing path and transmission device of the robotic arm 90, and indirectly control the rotation speed of the material feeding disc 20 by controlling the transmission device, so that the crushing path of the robotic arm 90 and the rotation speed of the material feeding disc 20 can be synchronized in real time.

[0139] In this embodiment, the rotational speed error between the crushing path of the robotic arm 90 and the material distribution plate 20 is less than or equal to 1 mm. When the rotational speed error between the robotic arm 90 and the material distribution plate 20 exceeds 1 mm, the control module 500 can dynamically adjust the movement path of the robotic arm 90 and the rotational speed of the material distribution plate 20 based on real-time data to ensure synchronization between the robotic arm 90 and the material distribution plate 20.

[0140] Specifically, the 5G edge computing module uses 5G edge computing technology. The 5G edge computing module is an existing module, and the 5G edge computing technology is an existing algorithm, which will not be elaborated here.

[0141] By adopting a 5G edge computing module, the control commands transmitted by the control module 500 can be transmitted and executed in real time, reducing synchronization errors caused by communication delays and ensuring that the communication delay is less than 10ms. This ensures that the entire fabric crushing system can operate efficiently and stably.

[0142] Please refer to Figure 1 , Figure 4 , Figure 5 and Figure 6 In some embodiments, the fabric crushing system further includes a judgment module 400, and the vision recognition module 200 is configured to take photos of the same alloy to be crushed before and after being crushed by the robotic arm 90. The judgment module 400 is configured to determine whether the size of the crushed alloy is larger than a preset size based on the photo taken by the vision recognition module 200 of the crushed alloy. The crushing frequency of the breaker hammer on the fabric disc 20 is adjustable, and the control module 500 is configured to increase the crushing frequency of the breaker hammer and / or decrease the rotational speed of the fabric disc 20 when the size of the crushed alloy is larger than the preset size.

[0143] Specifically, the visual recognition module 200 can not only take pictures of the alloy to be crushed on the fabric disc 20, but also take pictures of the same alloy before and after crushing by the robotic arm 90. This allows the fabric crushing system to monitor the crushing effect in real time, ensuring that the alloy to be crushed is crushed to the required size.

[0144] The judgment module 400 determines whether the size of the crushed alloy is larger than a preset size based on the size information of the crushed alloy provided by the vision recognition module 200. If the size of the crushed alloy is still larger than the preset size, it means that the crushing effect has not met the requirements and further crushing is needed. At this time, the control module 500 will adjust the crushing frequency of the breaker hammer and / or the rotation speed of the feeding disc 20 based on the feedback from the judgment module 400.

[0145] Specifically, the control module 500 can increase the number of strikes by the breaker, enabling the breaker to perform more crushing operations on the alloy per unit time, thereby more effectively reducing the size of the alloy. At the same time, the control module 500 can also reduce the rotational speed of the feeding disc 20, allowing the alloy to be crushed to remain on the feeding disc 20 for a longer time, thus providing the breaker with more time and opportunities to perform crushing operations.

[0146] Through the coordinated action of the visual recognition module 200 and the judgment module 400, the fabric crushing system can be dynamically adjusted. The crushing parameters can be flexibly adjusted according to the actual crushing situation, which improves the crushing efficiency, reduces the subsequent processing problems caused by incomplete crushing, and improves the automation level and reliability of the entire fabric crushing system.

[0147] Please refer to Figure 1 , Figure 4 , Figure 5 and Figure 6 In some embodiments, the fabric crushing system further includes a feeding conveyor 600, the discharge end of which is connected to the feeding area 211. The feeding conveyor 600 is configured to convey a metal alloy to the feeding area 211 through the discharge end, so as to continuously and stably convey the metal alloy to the feeding area 211 through the discharge end, providing the fabric crushing system with the alloy to be crushed.

[0148] The visual recognition module 200 is also configured to take photos of multiple alloys to be crushed within its working area 91 of the robotic arm 90 before and after crushing, thereby monitoring the quantity and status of the alloys within the working area 91 of the robotic arm 90 in real time and providing information for subsequent crushing operations. The judgment module 400 is configured to determine, based on the photos of the alloys to be crushed in the working area 91 taken by the visual recognition module 200 before and after crushing, whether the quantity of alloys to be crushed in the working area 91 exceeds a preset value range. If the photos before and after crushing show that the quantity of alloys to be crushed in the working area 91 exceeds the preset value range, it means that the feeding speed is too fast or the crushing efficiency is insufficient, resulting in the accumulation of alloys to be crushed.

[0149] The control module 500 is configured such that when the number of alloys to be crushed in the working area 91 exceeds a preset value range and remains so for a first time, the control module 500 can reduce the rotation speed of the feeding disc 20 or the feeding conveyor 600 so that the rotation speed of the feeding disc 20 or the feeding conveyor 600 matches the number of alloys to be crushed in the working area 91. This improves the crushing effect, and by setting the first time, it can prevent the rotation speed of the feeding disc 20 or the feeding conveyor 600 from being adjusted too frequently.

[0150] The crushing frequency of the hydraulic breaker on the feeding disc 20 is adjustable. The control module 500 is configured such that, after a second period of time, the number of alloys to be crushed in the working area 91 does not exceed a preset value range, the control module 500 can increase the rotational speed of the feeding disc 20 or the feeding conveyor 600, or decrease the crushing frequency of the robotic arm 90. This setting also ensures that the rotational speed of the feeding disc 20 or the feeding conveyor 600 matches the number of alloys to be crushed in the working area 91, thereby improving the crushing effect. Furthermore, the second period setting prevents the rotational speed of the feeding disc 20, the rotational speed of the feeding conveyor 600, and the crushing frequency of the robotic arm 90 from being adjusted too frequently.

[0151] Both the first time and the second time can be a single time value or a time interval; this application does not limit this in its embodiments.

[0152] Please refer to Figure 1 , Figure 4 , Figure 5 and Figure 6 Specifically, the control module 500 adjusts the operating parameters of the fabric crushing system in real time by receiving feedback information from the judgment module 400. When the amount of alloy to be crushed in the working area 91 exceeds the preset value range and remains there for a certain period of time, the control module 500 can reduce the rotation speed of the feeding disc 20 to prevent the feeding disc 20 from continuously conveying the alloy to be crushed to the working area 91 of the robotic arm 90, causing further accumulation of the alloy to be crushed. This allows the robotic arm 90 sufficient time to crush the alloy to be crushed. At the same time, the control module 500 can also reduce the rotation speed of the feeding conveyor 600 to reduce the feeding speed of the metal alloy, ensuring that the metal alloy supply and crushing operation of the entire fabric crushing system can be coordinated. In addition, the control module 500 can also increase the crushing frequency of the robotic arm 90, enabling the breaker hammer to perform more crushing operations on the alloy per unit time, thereby improving crushing efficiency.

[0153] Conversely, when the quantity of alloy to be crushed within the working area 91 does not exceed the preset value range and remains so for a second period of time, the control module 500 can increase the rotational speed of the feeding disc 20 or the feeding conveyor 600, thereby increasing the feeding speed of the metal alloy. This ensures that the metal alloy supply and crushing operation of the entire feeding and crushing system can be coordinated, and also provides the robotic arm 90 with more time to process each alloy to be crushed, thus improving the crushing quality. Simultaneously, the control module 500 can also reduce the crushing frequency of the robotic arm 90, thereby reducing the energy consumption of the feeding and crushing system.

[0154] Please refer to Figure 1 , Figure 4 and Figure 5In some embodiments, there are multiple robotic arms 90, and a crushing position 213 is provided on the circumference of the feeding disk 20 at the position corresponding to each robotic arm 90, and the working areas 91 of adjacent robotic arms 90 on the feeding disk 20 have overlapping areas. The robotic arms 90 that have not yet performed crushing operations are configured to crush the alloy to be crushed in the overlapping area.

[0155] Specifically, in this embodiment, there are three robotic arms 90: a first robotic arm 90a, a second robotic arm 90b, and a third robotic arm 90c. Correspondingly, there are three crushing positions 213. The working areas 91 of the first robotic arm 90a and the second robotic arm 90b overlap, as do the working areas 91 of the second robotic arm 90b and the third robotic arm 90c. This allows some of the alloy to be crushed to be within the working range of two robotic arms 90 simultaneously. When the first robotic arm 90a is crushing a particular alloy, the second robotic arm 90b can utilize the overlapping areas within its working area 91 to crush other alloys, thereby improving crushing efficiency and reducing the idle time of the robotic arms 90, enabling the entire fabric crushing system to operate more efficiently.

[0156] It should be noted that the number of robotic arms 90 can be adapted to actual needs, and this embodiment does not impose any restrictions on this.

[0157] In this embodiment, the robotic arm 90 can be a four-axis collaborative robotic arm. A high-frequency hydraulic breaker is installed at one end of the robotic arm 90 near the material distribution plate 20, ensuring the flexibility and precision of the robotic arm 90. It can quickly locate the alloy to be crushed on the material distribution plate 20 and perform precise crushing operations. The high-frequency hydraulic breaker has strong crushing capacity, and its impact force can be adaptively adjusted to crush the alloy to the required size in a short time, further improving the crushing efficiency of the material distribution crushing system.

[0158] In other embodiments, the structure of the robotic arm 90 and the breaker hammer can also be adapted to meet actual needs, and this embodiment does not impose any restrictions on this.

[0159] In addition, in some embodiments, a feedback unit is provided on the robotic arm 90. The feedback unit can sense and measure the magnitude and direction of the force on the robotic arm 90 during the crushing process, thereby preventing damage to the robotic arm 90 or components such as the material feeding disc 20 by detecting the reaction force on the robotic arm 90 and the breaker hammer in real time.

[0160] 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, thereby preventing damage to components such as the robotic arm 90 or the material feeding disc 20.

[0161] In this embodiment, the sensitivity of the feedback unit is between -5 and 5N 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 can be adaptively selected; this embodiment does not impose any limitations on this.

[0162] Please refer to Figure 1 , Figure 4 , Figure 5 and Figure 6 Thirdly, this embodiment provides a fabric crushing system method, applied to the fabric crushing system described in any embodiment of the second aspect. The fabric crushing system method includes the following steps:

[0163] 1) Establish a polar coordinate system for the fabric disc 20 in the fabric crushing system.

[0164] First, a polar coordinate system is established for the feeding disc 20 in the feeding disc crushing system. The origin of the polar coordinate system is set at the center of the feeding disc 20. The coordinate information of the metal alloy at each position on the feeding disc 20 can be accurately determined through the polar coordinate system, so as to facilitate the determination of the position of the metal alloy on the feeding disc 20 and provide an accurate positioning basis for subsequent crushing operations.

[0165] 2) The visual recognition module 200 in the fabric crushing system takes pictures of the metal alloy on the fabric disc 20 and identifies whether the metal alloy on the fabric disc 20 is the alloy to be crushed. Metal alloys with a size greater than or equal to the preset size are the alloys to be crushed.

[0166] The visual recognition module 200 can take real-time photos of the metal alloy on the fabric tray 20 using a camera, capturing the size, shape, and distribution of the metal alloy. Based on the captured size of the metal alloy, the visual recognition module 200 can compare the captured size with a preset size to determine whether it needs to be crushed. If the size of the metal alloy is greater than or equal to the preset size, the visual recognition module 200 will mark it as an alloy to be crushed. Through the settings of the visual recognition module 200, alloys to be crushed can be accurately screened, providing a clear target for subsequent crushing operations.

[0167] 3) Determine the polar coordinates of the alloy to be broken based on the photograph, and mark and locate the alloy to be broken.

[0168] 4) Control the breaker hammer in the robotic arm 90 located at the crushing position 213 to crush the alloy to be crushed.

[0169] Specifically, once the polar coordinate system is established and the alloy to be crushed is determined, the position of each alloy to be crushed on the feeding disc 20 can be precisely marked and positioned. This allows the robotic arm 90 to be precisely positioned and crushed, avoiding unnecessary movement of the robotic arm 90 and improving crushing efficiency.

[0170] Please refer to Figure 1 , Figure 4 , Figure 5 and Figure 6 In some embodiments, step 4) controlling the breaker hammer in the robotic arm 90 located at the crushing position 213 to crush the alloy to be crushed includes:

[0171] 41) When there are multiple alloys to be crushed, the crushing path is determined according to the order in which the alloys enter the working area 91 of the robotic arm 90.

[0172] Specifically, when there are multiple alloys to be crushed, the crushing path can be determined according to the order in which the alloys enter the working area 91 of the robotic arm 90. Thus, the optimal crushing path can be obtained by combining the order in which the alloys enter the working area 91 of the robotic arm 90 with the position of the alloys in the polar coordinate system, thereby reducing the ineffective movement of the robotic arm 90 and improving the crushing efficiency.

[0173] When multiple alloys to be crushed are located on the same polar axis of the feeding disk 20, the path can be planned from the alloy closest to the robotic arm 90 to the alloy closest to the center of the feeding disk 20, or from the alloy closest to the center of the feeding disk 20 to the alloy closest to the robotic arm 90. This embodiment does not impose any restrictions on this.

[0174] 42) When the alloy to be crushed enters the working area 91, control the breaker hammer to crush the metal alloy one by one according to the crushing path.

[0175] Once the alloy to be crushed enters the working area 91, the action of the breaker hammer can be precisely controlled according to the crushing path, so that the breaker hammer can crush each alloy to be crushed one by one in an orderly manner.

[0176] This system allows for real-time adjustment of the breaker's impact force and crushing frequency based on information such as the size and hardness of the alloy to be crushed. This ensures effective crushing while avoiding over-crushing and wear on the material handling system, thus achieving automated control from path planning to crushing operation. This improves crushing efficiency, reduces manual intervention, and enhances the stability of crushing quality. For example, when the alloy to be crushed is large and hard, the breaker's impact force and crushing frequency can be increased.

[0177] Please refer to Figure 1 , Figure 4 , Figure 5 and Figure 6 In some embodiments, step 2) involves taking photographs of the metal alloy on the fabric disc 20 using the visual recognition module 200 in the fabric shredding system, including:

[0178] 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.

[0179] The fabric shredding system also includes the following shredding methods:

[0180] 5) Based on the photos taken by the visual recognition module 200 of the alloy to be crushed after crushing, determine whether the size of the alloy to be crushed after crushing is larger than the preset size.

[0181] 6) When the size of the alloy to be crushed after crushing is larger than the preset size, increase the crushing frequency of the breaker and / or decrease the rotation speed of the feed disc 20.

[0182] This allows the fabric crushing system to monitor the crushing effect in real time, ensuring that the alloy to be crushed is crushed to the required size.

[0183] 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 is larger than the preset size. If the size of the crushed alloy is still larger than the preset size, it indicates that the crushing effect has not met the requirements and further crushing is needed. At this time, the crushing frequency of the breaker hammer and / or the rotation speed of the feeding disc 20 can be further adjusted.

[0184] Specifically, the number of strikes by the hydraulic breaker can be increased, allowing it to perform more crushing operations on the alloy per unit time, thereby more effectively reducing the size of the alloy. Simultaneously, the rotational speed of the feeding disc 20 can be reduced, allowing the alloy to remain on the feeding disc 20 for a longer period, thus providing the hydraulic breaker with more time and opportunities for crushing operations.

[0185] 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 them with preset dimensions. 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 feeding disc 20 is decreased. This allows for dynamic adjustment of the feeding crushing system, flexibly adjusting the crushing parameters according to the actual crushing situation, improving crushing efficiency, reducing subsequent processing problems caused by incomplete crushing, and improving the automation and reliability of the entire feeding crushing system.

[0186] Please refer to Figure 1 , Figure 4 , Figure 5 and Figure 6In some embodiments, step 2) of taking photographs of the metal alloy on the fabric disc 20 using the visual recognition module 200 in the fabric shredding system further includes:

[0187] 22) The vision recognition module 200 controls the robotic arm 90 to take photos of multiple alloys to be crushed within its own working area 91 before and after crushing.

[0188] Crushing methods also include:

[0189] 7) Based on the photos taken by the visual recognition module 200 of the alloy to be crushed in the working area 91 before and after crushing, determine whether the number of alloys to be crushed in the working area 91 exceeds the preset value range.

[0190] If the amount of alloy to be crushed exceeds the preset value range and remains so for a period of time, reduce the rotation speed of the material distribution disc 20 or the feeding conveyor 600.

[0191] If the amount of alloy to be crushed does not exceed the preset value range and is maintained for a second time, then increase the rotation speed of the feeding disc 20 or the feeding conveyor 600, or decrease the crushing frequency of the robotic arm 90.

[0192] Specifically, when the amount of alloy to be crushed in the working area 91 exceeds a preset value range and remains there for a certain period, the rotation speed of the feeding disc 20 can be reduced. This prevents the feeding disc 20 from continuously conveying the alloy to be crushed to the working area 91 of the robotic arm 90, causing further accumulation of the alloy. This allows the robotic arm 90 sufficient time to crush the alloy. Simultaneously, the rotation speed of the feeding conveyor 600 can be reduced, lowering the feeding speed of the metal alloy and ensuring coordinated metal alloy supply and crushing operations throughout the entire feeding and crushing system. Furthermore, the crushing frequency of the robotic arm 90 can be increased, allowing the breaker hammer to perform more crushing operations on the alloy per unit time, thereby improving crushing efficiency.

[0193] Conversely, when the quantity of alloy to be crushed within the working area 91 does not exceed the preset value range and remains so for a second period of time, the control module 500 can increase the rotational speed of the feeding disc 20 or the feeding conveyor 600, thereby increasing the feeding speed of the metal alloy. This ensures that the metal alloy supply and crushing operation of the entire feeding and crushing system can be coordinated, and also provides the robotic arm 90 with more time to process each alloy to be crushed, thus improving the crushing quality. Simultaneously, the control module 500 can also reduce the crushing frequency of the robotic arm 90, thereby reducing the energy consumption of the feeding and crushing system.

[0194] Please refer to Figure 1 , Figure 4 and Figure 5In some embodiments, there are multiple robotic arms 90, and a crushing position 213 is provided in the circumference of the material feeding disk 20 at the position corresponding to each robotic arm 90, and the working areas 91 of adjacent robotic arms 90 on the material feeding disk 20 have overlapping areas.

[0195] Step 4) Controlling the breaker hammer in the robotic arm 90 located at the crushing position 213 to crush the alloy to be crushed, including:

[0196] 43) The robotic arm 90, which has not yet performed the crushing operation, crushes the alloy to be crushed within the overlapping area.

[0197] Specifically, in this embodiment, there are three robotic arms 90, and correspondingly, three crushing stations 213. The working areas 91 of the first robotic arm 90a and the second robotic arm 90b overlap, and the working areas 91 of the second robotic arm 90b and the third robotic arm 90c overlap. This allows some of the alloy to be crushed to be within the working range of two robotic arms 90 simultaneously. When the first robotic arm 90a is crushing a certain alloy, the second robotic arm 90b can utilize the overlapping portion within its working area 91 to crush other alloys, thereby improving crushing efficiency and reducing the idle time of the robotic arms 90, enabling the entire fabric crushing system to operate more efficiently.

[0198] It should be noted that the number of robotic arms 90 can be adapted to actual needs, and this embodiment does not impose any restrictions on this.

[0199] Figure 7 A schematic diagram of the fabric shredding system provided in the embodiments of this application. Figure 4 .

[0200] Please refer to Figure 7 In some embodiments, the fabric shredding system includes at least one processor 700 and a memory 800.

[0201] The memory 800 stores computer-executable instructions. At least one processor 700 executes the computer-executable instructions stored in the memory 800, causing the at least one processor 700 to perform the breaking method as described in any of the third aspects.

[0202] Alternatively, the memory 800 can be either standalone or integrated with the processor 700.

[0203] The implementation principle and technical effects of the fabric shredding system provided in this embodiment can be found in the foregoing embodiments, and will not be repeated here.

[0204] Fifthly, this embodiment also provides a computer-readable storage medium storing computer-executable instructions, which, when executed by the processor 700, implement the crushing method as described in any of the foregoing embodiments.

[0205] 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), magnetic tape, a floppy disk, and an optical data storage device, etc.

[0206] Please refer to Figure 7 Sixthly, this embodiment also provides a program product including an executable computer program stored in a readable storage medium. At least one processor 700 of the fabric shredding system can read the computer program from the readable storage medium, and the at least one processor 700 executes the computer program to cause the fabric shredding system to implement the shredding method of the fabric shredding system provided in the various embodiments described above.

[0207] In the several embodiments provided in this disclosure, it should be understood that the disclosed devices and methods can be implemented in other ways. For example, the device embodiments described above are merely illustrative; for instance, the division of modules is only a logical functional division, and in actual implementation, there may be other division methods. For example, multiple modules may be combined or integrated into another system, or some features may be ignored or not executed. Furthermore, the coupling or direct coupling or communication connection shown or discussed may be indirect coupling or communication connection through some interfaces, devices, or modules, and may be electrical, mechanical, or other forms.

[0208] The modules described as separate components may or may not be physically separate. The components shown as modules may or may not be physical units; that is, they may be located in one place or distributed across multiple network units. Some or all of the modules can be selected to achieve the purpose of this embodiment according to actual needs.

[0209] Furthermore, the functional modules in the various embodiments of this disclosure can be integrated into one processing unit, or each module can exist physically separately, or two or more modules can be integrated into one unit. The aforementioned modular unit can be implemented in hardware or in a combination of hardware and software functional units.

[0210] The integrated modules described above, implemented as software functional modules, can be stored in a computer-readable storage medium. These software functional modules, stored in a storage medium, include several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) or processor to execute some steps of the methods of the various embodiments of this disclosure.

[0211] It should be understood that the processor 700 described above can be a Central Processing Unit (CPU), or other general-purpose processors, digital signal processors (DSPs), application-specific integrated circuits (ASICs), etc. The general-purpose processor can be a microprocessor or any conventional processor. The steps of the method disclosed in this application can be directly manifested as being executed by a hardware processor, or executed by a combination of hardware and software modules within the processor.

[0212] The memory 800 may include high-speed RAM memory, and may also include non-volatile memory NVM, such as at least one disk storage device, and may also be a USB flash drive, portable hard drive, read-only memory, disk or optical disc, etc.

[0213] Bus 900 can be an Industry Standard Architecture (ISA) bus, a Peripheral Component Interconnect (PCI) bus, or an Extended Industry Standard Architecture (EISA) bus, etc. Buses can be categorized as address buses, data buses, control buses, etc. For ease of illustration, the bus 900 in the accompanying drawings of this disclosure is not limited to only one bus or one type of bus.

[0214] The aforementioned storage media can be implemented from any type of volatile or non-volatile storage device 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 media can be any available medium accessible to general-purpose or special-purpose computers.

[0215] An exemplary storage medium is coupled to a processor 700, enabling the processor 700 to read information from and write information to the storage medium. Alternatively, the storage medium can be an integral part of the processor 700. The processor 700 and the storage medium can reside within an ASIC. Alternatively, the processor 700 and the storage medium can exist as discrete components in an electronic device or a host device.

[0216] Those skilled in the art will understand that all or part of the steps of the above-described method embodiments can be implemented by hardware related to program instructions. The aforementioned program can be stored in a computer-readable storage medium. When executed, the program performs the steps of the above-described method embodiments; and the aforementioned storage medium includes various media capable of storing program code, such as ROM, RAM, magnetic disks, or optical disks.

[0217] The embodiments or implementation methods in this application are described in a progressive manner. Each embodiment focuses on the differences from other embodiments, and the same or similar parts between the embodiments can be referred to each other.

[0218] In the description of this application, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, and are only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this application.

[0219] In the description of this application, it should be understood that the terms “comprising” and “having” as used herein, and any variations thereof, are intended to cover non-exclusive inclusion, for example, a process, method, display structure, product, or device that includes a series of steps or units is not necessarily limited to those steps or units that are expressly listed, but may include other steps or units that are not expressly listed or that are inherent to such process, method, product, or device.

[0220] The term "and / or" used in this application is merely a description of the relationship between related objects, indicating that three relationships can exist. For example, A and / or B can represent: A existing alone, A and B existing simultaneously, or B existing alone. Additionally, the character " / " in this document generally indicates that the preceding and following related objects have an "or" relationship.

[0221] Unless otherwise expressly specified and limited, the terms "installation," "connection," "linking," "fixing," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components. Those skilled in the art can understand the specific meaning of the above terms in this application according to the specific circumstances. Furthermore, the terms "first," "second," etc., are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated.

[0222] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of this application, and are not intended to limit them. Although this application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some or all of the technical features therein. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of this application.

Claims

1. A fabric-laying device for metal alloys, characterized in that, include: support; A fabric tray is rotatably mounted on the support, and the fabric tray is used to support the metal alloy; The feeding disc has a feeding area and a discharging area in its circumferential direction. The feeding area is used to allow the metal alloy to enter the feeding disc. The feeding disc is configured to be opposite the crushing position on its circumferential side. Along the rotation direction of the feeding disc, the crushing position is located between the feeding area and the discharging area. A discharge device is mounted on the support and located on the circumferential side of the material distribution plate; the discharge device has an inlet and an outlet, the inlet being opposite to the discharge area, the inlet being used to receive the crushed metal alloy that flows to the discharge area; the outlet is connected to the inlet and is configured to be located at the top of the conveying equipment; The feeding component has a feeding section located on the side of the feeding disc away from the support, and at least a portion of the feeding section is located in the discharge area, and the feeding section is configured to guide the metal alloy that has been crushed and transferred to the discharge area to the feed inlet; A visual recognition module is mounted on the side of the fabric tray facing away from the support; the visual recognition module is configured to take pictures of the metal alloy on the fabric tray and identify whether the metal alloy on the fabric tray is an alloy to be crushed. A robotic arm is positioned at the crushing location, and the robotic arm has a crushing hammer at one end facing the crushing location. The robotic arm is configured to crush the alloy to be crushed one by one according to the crushing path during the rotation of the feeding disc. The crushing path of the robotic arm and the rotation speed of the feeding disc are synchronized in real time. The impact force of the crushing hammer on the feeding disc and the crushing frequency can be adjusted according to the size of the alloy to be crushed. The alloy to be crushed is the metal alloy with a size greater than or equal to a preset size. When the size of the crushed metal alloy is larger than the preset size, the breaker continues to crush the crushed metal alloy, and the crushing time of the breaker is extended by reducing the rotation speed of the feeding disc.

2. The fabric-laying equipment according to claim 1, characterized in that, One end of the feeding section is located on the side of the feeding disc adjacent to the crushing position, and the other end is inclined towards the feeding port in the discharge area.

3. The fabric-laying equipment according to claim 1, characterized in that, It also includes a transmission device, which includes a motor, a first transmission component and a second transmission component. The motor is mounted on the bracket, and the output shaft of the motor is connected to the first transmission component to drive the first transmission component to rotate. The first transmission member meshes with the second transmission member, and the first transmission member is configured to drive the second transmission member to rotate when rotating; the second transmission member is disposed on the bracket, and the second transmission member is connected to and fixed relative to the fabric tray.

4. The fabric-laying equipment according to claim 3, characterized in that, It also includes a control box, the motor is a variable frequency motor, the variable frequency motor is configured to be connected to the control box, and 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.

5. The fabric-laying equipment according to claim 4, characterized in that, It also includes a first detection element and an alarm, wherein the first detection element is configured to monitor the rotational resistance of the fabric disc in real time; The control box is communicatively connected to the first detection element, and the control box is configured to control the alarm to sound when the rotational resistance detected by the first detection element exceeds a first threshold; the control box is also configured to control the fabric disc to stop rotating when the rotational resistance detected by the first detection element is greater than or equal to a second threshold, wherein the second threshold is greater than the first threshold.

6. The fabric-laying equipment according to claim 3, characterized in that, It also includes a buffer element, which is sandwiched between the second transmission element and the fabric tray.

7. The fabric-laying equipment according to claim 6, characterized in that, The buffer element includes a buffer pad or a damper; When the buffer is the damper, the fabric feeding device further includes a second detection element and a controller, wherein the second detection element is configured to monitor load changes on the fabric feeding disc in real time; The controller is communicatively connected to the second detection element and the damper, respectively, and the controller is configured to adjust the damping coefficient of the damper when the load change detected by the second detection element exceeds a third threshold.

8. The fabric-laying equipment according to any one of claims 1-7, characterized in that, The fabric tray includes a fabric tray body and multiple wear-resistant plates, and the fabric tray body is rotatably mounted on the bracket; The plurality of wear-resistant plates are disposed on the side of the fabric tray body away from the support, and there is a gap between adjacent wear-resistant plates.

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