An automatic material conveying system

Abstract

The application discloses an automatic material conveying system, and belongs to the field of material transportation. The automatic material conveying system comprises an automatic walking mobile chassis, an automatic feeding system arranged on the automatic walking mobile chassis, a navigation system for path planning and real-time correction, a stock bin monitoring system for monitoring residual materials in stock bins, and a dynamic business scheduling system for coordinating operation of various modules based on manufacturing execution system instructions. The application has the effects of improving feeding precision, improving work efficiency, and realizing intelligent feeding.

Description

Technical Field

[0001] This application relates to the field of material handling technology, and in particular to an automated material conveying system. Background Technology

[0002] In the new energy sector, the automated addition process of powdered materials is extremely critical, serving as a core element in ensuring production precision, efficiency, and product consistency. This process is primarily concentrated in four sub-sectors: power batteries, photovoltaics, hydrogen energy, and energy storage materials. The development of these sub-sectors has promoted progress in high-precision production and stable product quality across the entire new energy industry. As the industry continues to develop, the requirements for the precision and process stability of powdered material addition are becoming increasingly stringent.

[0003] In the field of power batteries, vacuum feeders are mainly used to add powder during the slurry preparation stage of positive and negative electrode materials. This equipment uses a vacuum pump to draw air, so that the system is in a certain vacuum state, allowing the powder to be drawn into the feed nozzle along with the outside air, forming a material flow and being sent to the hopper, thus realizing the closed feeding of powder. Some also have nitrogen protection function to prevent material oxidation.

[0004] In the photovoltaic field, the addition of powder blends in photovoltaic module production adopts a multi-channel reduction process. First, various powders are combined into a homogeneous mixture, then the mixture is divided into multiple homogeneous parts by a rotary divider, and finally mixed with the matrix powder.

[0005] In the field of hydrogen energy, the process of producing hydrogen by supercritical water-aluminum powder hydrolysis uses an inert gas-driven method to add aluminum powder. First, the residual water vapor in the feed hopper is removed, and then the aluminum powder is allowed to fall into the reactor by gravity and inert gas.

[0006] In the field of energy storage materials, all-solid-state batteries are prepared by adding electrolytes and other powder materials through powder spraying. The mixed powder is placed in a feeder and sprayed onto the current collector or electrode by powder spraying equipment, and then melted and hot rolled into shape.

[0007] However, current methods require extensive manual assistance in practice and demand a high level of skill from workers. Manual operation cannot achieve the same precise automatic feeding based on the actual quantity requirements of the production process as intelligent equipment. Manual feeding is prone to overfeeding or underfeeding, which affects product quality and reduces work efficiency. Summary of the Invention

[0008] In order to improve the accuracy of material feeding, thereby increasing operational efficiency and realizing intelligent material feeding, this application provides an automatic material conveying system.

[0009] The automatic material conveying system provided in this application adopts the following technical solution: An automated material conveying system includes an automated mobile chassis, an automated loading system mounted on the automated mobile chassis, a navigation system for path planning and real-time correction, a silo monitoring system for monitoring remaining material in the silo, and a dynamic business scheduling system that coordinates the operation of each module based on manufacturing execution system instructions.

[0010] By adopting the above technical solutions, the automatic walking mobile chassis equipped with an automatic feeding system can automatically transport granular materials; the navigation system can perform path planning and real-time correction; the silo residual material monitoring system can monitor the weight and height of the residual material in the silo; the business scheduling system coordinates the actions of each module based on the manufacturing execution system instructions. This system can adapt to more complex ground conditions and has functions such as cross-workshop movement, intelligent pathfinding, automatic material preparation, automatic feeding, wireless communication, and manual emergency stop, thereby realizing intelligent, high-precision, and high-compatibility feeding operations, and thus improving work efficiency and feeding accuracy.

[0011] Preferably, the automatic walking mobile chassis adopts a replaceable composite walking structure, including a wheeled chassis and a tracked chassis. The wheeled chassis and the tracked chassis are respectively connected to the automatic feeding system through positioning mechanisms. The business scheduling system includes an automatic mobile chassis replacement subsystem.

[0012] By adopting the above technical solution, the automated mobile chassis can switch between wheeled and tracked chassis via an automatic chassis changing subsystem. The wheeled and tracked chassis are connected to the automatic feeding system via positioning mechanisms that engage with positioning holes in the positioning system. The automated mobile chassis automatically changes chassis according to actual production needs, expanding the operating range of the material conveying system. For example, wheeled chassis are suitable for flat, hardened surfaces, applicable to material transport within the same workshop, requiring no cross-workshop movement, short distances, and low-complexity path operations; tracked chassis are suitable for complex, uneven surfaces, including slopes, ditches, and protrusions, as well as unhardened surfaces, and are suitable for cross-workshop operations.

[0013] Preferably, the positioning mechanism is a guide positioning pin disposed at the four corners of the automatic walking mobile chassis, and the positioning hole mechanism is a positioning hole corresponding to the four corners of the bottom of the automatic feeding system, wherein the guide positioning pin is inserted into the positioning hole.

[0014] By adopting the above technical solution, the guide positioning pin of the automatic walking mobile chassis is inserted and matched with the positioning hole at the bottom of the automatic feeding system, realizing the accurate connection between the wheeled chassis and the tracked chassis and the automatic feeding system. This allows different automatic walking mobile chassis to be replaced automatically, accurately and efficiently, expanding the operating range of the material conveying system and adapting to more complex ground conditions.

[0015] Preferably, the navigation system integrates a combination of multi-source heterogeneous sensors, including lidar, auxiliary positioning sensors, environmental perception supplementary sensors, and safety redundancy sensors. The sensor combination forms a closed-loop control link of environmental perception - map building - target positioning - path planning - motion control - real-time correction.

[0016] By adopting the above technical solutions, the navigation system integrates a combination of multi-source heterogeneous sensors, which can form a closed-loop control link of environmental perception, map building, target positioning, path planning, motion control and real-time correction. This enables precise planning and real-time correction of the path of the automatic material conveying system, allowing the system to accurately plan the path and adjust it in real time according to environmental conditions, ensuring the smooth progress of the conveying process.

[0017] Preferably, the automatic feeding system includes a housing, a support frame disposed within the housing, and a storage bin disposed within the support frame. The housing is provided with a feeding port for replenishing material into the storage bin, and a discharging port for feeding material into the equipment feeding port is provided on one side wall of the housing. The automatic feeding system further includes a conveying mechanism for transporting material from the storage bin to the discharging port and a correction module for correcting the position of the discharging port.

[0018] By adopting the above technical solution, the material enters the storage silo from the feeding pipe. Then, the machine casing moves to the feeding port of the equipment that needs to be fed under the transportation of the automatic walking chassis. The correction mechanism can adjust the position of the discharge pipe according to the position of the feeding port, thereby achieving precise docking and avoiding problems such as material spillage and feeding misalignment. Then, the material in the storage silo is transported to the feeding port by the conveying mechanism, completing the material feeding and constructing a complete process of "storage-conveying-feeding", reducing manual intervention.

[0019] Preferably, the conveying mechanism includes a first conveying pipe, a second conveying pipe, a first connecting pipe, and a second connecting pipe. The first connecting pipe is connected to the bottom of the storage silo, the first conveying pipe is connected to the first connecting pipe, the end of the first conveying pipe away from the first connecting pipe is connected to the second connecting pipe, the second connecting pipe is connected to the second conveying pipe, and the discharge port is connected to the side wall of one end of the second conveying pipe. Both the first and second conveying pipes are rotatably connected to a screw rod for conveying materials, and a drive motor for driving the screw rod to rotate is installed inside the housing.

[0020] By adopting the above technical solution, a material conveying channel is constructed by setting up first and second conveying pipes and first and second connecting pipes. The discharge port is connected to the side wall of the second conveying pipe to achieve material discharge. At the same time, a drive motor is used to drive the screw rod inside the conveying pipe to rotate and convey the material. A complete and reasonable material conveying path is constructed, which can convey the material in the storage bin to the discharge port through multiple sections of conveying pipes. Moreover, by conveying the material through the rotation of the screw rod, the material can be conveyed from a low position to a high position, which can ensure the stability and continuity of the conveying process and improve the material conveying efficiency.

[0021] Preferably, the correction module includes an automatic feeding detection mechanism and an adjustment mechanism for adjusting the position of the discharge port. The automatic feeding detection mechanism includes a QR code recognition CCD, a depth detection sensor, and a height detection sensor. A sliding groove is provided on the side wall of the housing. A fixed box is fixedly installed outside the second conveying pipe. One end of the fixed box extends out of the sliding groove. The discharge port is located at the end of the fixed box that extends out of the housing. The discharge port extends out of the fixed box. The QR code recognition CCD is installed on the side wall of the housing near the fixed box. A QR code is affixed to the feeding port. The CCD is used to take pictures and identify the position of the feeding port. The depth detection sensor is installed on the end face of the fixed box that extends out of the housing. The depth detection sensor is used to detect the distance in the horizontal direction of the feeding port and adjust the horizontal position of the discharge port by adjusting the adjustment component. Four height detection sensors are provided and installed around the discharge port to detect the longitudinal distance from the feeding port and to detect the material height in real time during the feeding process.

[0022] By adopting the above technical solution, when the machine casing moves to the feeding port position, the CCD carried by it takes a picture of the QR code that is pre-stamped on the feeding port in real time, and transmits the picture information to the computing system for aggressive position calculation. The position deviation information is then fed back to the automatic walking mobile chassis control system, and the automatic walking mobile chassis controls the moving drive wheel based on the deviation information to achieve a precise correction function.

[0023] After the precise positional correction of the machine's movement direction is completed, the horizontal distance between the fixed box and the feeding port is monitored by the depth detection sensor, and the obtained distance information is fed back to the machine's business scheduling system. The horizontal extension degree of the fixed box is adjusted by the adjustment mechanism to achieve the precise horizontal correction function between the discharge port and the feeding port.

[0024] The height detection sensor detects the vertical distance between the discharge port and the feeding port in real time and feeds the detection information back to the business scheduling system. The business scheduling system adjusts the height of the discharge port vertically through the adjustment mechanism to complete the precise docking and prepare for automatic feeding.

[0025] Preferably, the adjustment mechanism includes a longitudinal adjustment component and a lateral adjustment component. The longitudinal adjustment component includes a first drive block, a first lead screw, a first motor, and a support plate. A first fixing block is fixedly connected to the inner wall of the bottom of the housing. The bottom end of the first lead screw is rotatably connected to the first fixing block. The first motor is fixedly connected to the top end of the first lead screw. The first drive block is threadedly connected to the first lead screw. The first drive block is fixedly connected to the support plate. The fixing box slides on the support plate. The second connecting pipe is a telescopic pipe. A support plate is fixedly connected inside the housing. The first motor is installed on the support plate. First slide rails are fixedly provided on both sides of the support plate. A first slider is slidably connected on the first slide rail. The first slider is fixedly connected to the side wall of the support plate.

[0026] By adopting the above technical solution, in the longitudinal adjustment assembly, the first motor drives the first lead screw to rotate, and the first drive block is threadedly connected to the first lead screw, which can convert the rotational motion into linear motion, driving the support plate to move precisely along the direction of the first lead screw, thereby realizing the precise adjustment of the second conveying pipe in the longitudinal position. At the same time, the first slide rails at both ends of the support plate cooperate with the first slider to provide guidance and support for the movement of the support plate, ensuring the stability of the movement process and preventing deviation; the second telescopic tube extends and retracts accordingly when the height of the second conveying pipe is adjusted.

[0027] Preferably, the lateral adjustment assembly includes a second motor, a second lead screw, and a second drive block. The second motor is mounted on the support plate, and a second fixing block is fixedly connected to the end of the support plate away from the second motor. One end of the second lead screw is rotatably connected to the second fixing block, and the end of the second lead screw away from the second fixing block is fixedly connected to the second motor. The second drive block is threadedly connected to the second lead screw. A connector is fixedly connected to the lower end face of the fixed box. A second slide rail is fixedly connected to both sides of the second lead screw on the support plate. A second slider is slidably connected to the second slide rail. The second slider is fixedly connected to the connector. The second drive block is fixedly connected to the connector. The upper end face of the fixing box is provided with a first waist hole, and the second conveying pipe is provided with a second waist hole corresponding to the position of the first waist hole. A third slide rail is fixedly installed on the fixing box at both sides of the first waist hole. A third slider is slidably connected to the third slide rail. A slide plate is fixedly sleeved on the second connecting pipe. The slide plate is fixedly connected to the third slider. The second connecting pipe passes through one end of the first waist hole and is fixedly connected to an arc-shaped cover. The arc-shaped cover slides on the outer wall of the second conveying pipe, and the bottom end of the second connecting pipe is connected to the second waist hole.

[0028] By adopting the above technical solution, the second motor drives the second lead screw to rotate, and the second drive block is threadedly connected to the second lead screw, converting the rotational motion into linear motion, which drives the connecting parts and the fixed box to move laterally along the second slide rail. Due to the high precision characteristics of the lead screw drive, the second conveying pipe can be precisely adjusted in the lateral position. The second slide rails on both sides of the second lead screw on the support plate cooperate with the second slider to provide guidance and support for the lateral movement of the fixed box, effectively preventing problems such as offset and shaking during movement, ensuring the stability and reliability of adjustment, and ensuring that the second conveying pipe can accurately reach the predetermined lateral position. The design of the first and second waist holes allows for a certain degree of flexibility and adjustability in the connection between the second connecting pipe and the second conveying pipe when the second conveying pipe moves laterally. When the second conveying pipe is adjusted laterally, it can adapt to position changes, ensuring the smooth flow of material conveying channels and avoiding problems such as jamming and leakage at the connection points due to adjustment. The arc-shaped cover design can cover the waist hole position next to the material conveying point of the second connecting pipe, which can improve the accuracy of material conveying and prevent material leakage from the waist hole.

[0029] Preferably, the silo monitoring system includes a weighing sensor group evenly distributed around the circumference of the silo and a material level detection sensor group rectangularly arranged on the inner wall of the top of the casing. The weighing sensor group and the material level detection sensor group form a dual verification mechanism for the remaining material in the silo by comparing data. The business scheduling system also includes an automatic replenishment module.

[0030] By adopting the above technical solution, the weighing sensor group evenly distributed around the circumference of the storage bin and the material level detection sensor group arranged in a rectangle at the top of the storage bin opening can monitor the weight of the remaining material and the material level in the bin in real time. The two form a dual verification mechanism for the remaining material quantity through data comparison, which can avoid inaccurate calculation of the remaining material due to the malfunction of a single sensor, improve the accuracy of the remaining material quantity detection, and enable the system to make more accurate decisions on whether to replenish the material. When it is necessary to replenish the storage bin, the automatic replenishment module is activated to replenish the material.

[0031] In summary, this application includes at least one of the following beneficial technical effects: The automated mobile chassis is equipped with an automatic feeding system for the automatic conveying of granular materials; the navigation system can perform path planning and real-time correction; the silo residual material monitoring system can monitor the weight and height of the residual material in the silo; the business scheduling system coordinates the actions of each module based on the manufacturing execution system instructions. This system can adapt to more complex ground conditions and has functions such as cross-workshop movement, intelligent pathfinding, automatic material preparation, automatic feeding, wireless communication, and manual emergency stop, thereby achieving intelligent, high-precision, and high-compatibility feeding operations, and thus improving work efficiency and feeding accuracy. Material enters the storage silo through the feeding pipe. Then, the machine casing moves to the feeding port of the equipment that needs to be fed under the transportation of the automatic walking chassis. The correction mechanism can adjust the position of the discharge pipe according to the position of the feeding port, thereby achieving precise docking and avoiding problems such as material spillage and feeding misalignment. Then, the material in the storage silo is transported to the feeding port through the discharge pipe by the conveying mechanism, completing the material feeding and building a complete process of "storage-conveying-feeding" to reduce manual intervention. The weighing sensor group evenly distributed around the circumference of the storage bin and the material level detection sensor group arranged in a rectangle at the top of the storage bin opening can monitor the weight of the remaining material and the material level in the bin in real time. The two form a dual verification mechanism for the remaining material quantity through data comparison, which can avoid inaccurate calculation of the remaining material due to the failure of a single sensor, improve the accuracy of the remaining material quantity detection, and enable the system to make more accurate decisions on whether to replenish the material. When it is necessary to replenish the storage bin, the automatic replenishment module is activated to replenish the material. Attached Figure Description

[0032] Figure 1 This is a schematic diagram of the overall structure of an automated material conveying system.

[0033] Figure 2 This is a schematic diagram of the structure of the feeding pipe protruding in the embodiment of this application.

[0034] Figure 3 This is a schematic diagram of the structure of the prominent silo monitoring system in the embodiments of this application.

[0035] Figure 4 This is a schematic diagram of the prominent conveying mechanism in the embodiments of this application.

[0036] Figure 5 This is a schematic diagram of the structure of the longitudinal adjustment component highlighted in the embodiment of this application.

[0037] Figure 6 This application embodiment highlights the structural diagram of the lateral adjustment component.

[0038] Figure label: 1. Automatic walking mobile chassis; 2. Automatic feeding system; 3. Hopper monitoring system; 4. Wheeled chassis; 5. Tracked chassis; 6. Guide positioning pin; 7. LiDAR; 8. Housing; 9. Support frame; 10. Storage hopper; 11. Feeding port; 12. Cover plate; 13. Electric actuator; 14. Discharge port; 15. Conveying mechanism; 16. Chute; 17. Bellows-style dust cover; 18. First conveying pipe; 19. Second conveying pipe; 20. First connecting pipe; 21. Second connecting pipe; 22. Screw rod; 23. Drive motor; 24. Automatic feeding detection mechanism; 25. Adjustment mechanism; 26. CCD; 27. Depth detection sensor; 28. Height detection sensor; 29. ​​Longitudinal... Adjustment assembly; 30. Lateral adjustment assembly; 31. First drive block; 32. First lead screw; 33. First motor; 34. Support plate; 35. First fixing block; 36. Support plate; 37. First slide rail; 38. First slider; 39. Second motor; 40. Second lead screw; 41. Second drive block; 42. Second fixing block; 43. Connector; 44. Second slide rail; 45. Second slider; 46. First waist hole; 47. Second waist hole; 48. Third slide rail; 49. Third slider; 50. Slide plate; 51. Arc-shaped cover; 52. Weighing sensor; 53. Material surface height detection sensor; 54. Fixing box; 55. Lifting mechanism; 56. Drive unit one; 57. Drive unit two. Detailed Implementation

[0039] The following is in conjunction with the appendix Figures 1-6 This application will be described in further detail.

[0040] This application discloses an automatic material conveying system, such as... Figure 1 and Figure 2 As shown, and in combination Figure 3 As shown, it includes an automatic walking mobile chassis 1, an automatic feeding system 2 set on the automatic walking mobile chassis 1, a navigation system for path planning and real-time correction, a silo monitoring system 3 for monitoring the remaining material in the silo, and a dynamic business scheduling system that coordinates the operation of each module based on manufacturing execution system instructions. It realizes automatic material conveying, precise feeding, and adaptability to complex working conditions, thereby improving production efficiency and automation.

[0041] like Figure 1 and Figure 2 As shown, the automatic walking mobile chassis 1 includes a wheeled automatic walking mobile chassis 1 and a tracked automatic walking mobile chassis 1. The wheeled automatic walking mobile chassis 1 and the tracked automatic walking mobile chassis 1 can be interchanged to provide two walking modes to adapt to different ground surfaces and movement paths.

[0042] like Figure 2 and Figure 3The automatic feeding system 2 includes a housing 8, a material conveying mechanism 15 installed within the housing 8, and a feeding position correction module. The business scheduling system includes a manufacturing execution system (MES), a data acquisition and monitoring control system (SCADA), a robot scheduling control system (RCS), and a robot operating system (ROS), used to realize command issuance, equipment scheduling, and motion control.

[0043] like Figure 1 and Figure 2 As shown, the automatic walking mobile chassis 1 can be interchangeably used with a wheeled chassis 4 and a tracked chassis 5. The wheeled chassis 4 and the tracked chassis 5 are respectively connected to the positioning hole mechanism of the automatic feeding system 2 through a positioning mechanism. The positioning mechanism consists of guide positioning pins 6 located at the four corners of the automatic walking mobile chassis 1. The guide positioning pins 6 are generally cylindrical and can be made of high-strength metals, such as stainless steel, to ensure their strength and wear resistance. Positioning holes are correspondingly provided at the four corners of the bottom of the housing 8. The guide positioning pins 6 are inserted into the positioning holes to complete the connection between the automatic feeding system 2 and the automatic walking mobile chassis 1. The movement of the automatic walking mobile chassis 1 drives the movement of the automatic feeding system 2.

[0044] like Figure 2 As shown, the automatic material conveying system in the automatic feeding system 2 can automatically change the automatic mobile chassis 1 according to the needs of cross-workshop operations. The business scheduling system includes an automatic chassis changing subsystem. The subsystem includes four sets of lifting mechanisms 55 set on the ground. Each lifting mechanism 55 includes a horizontally moving drive unit 56 and a longitudinally moving drive unit 57. The horizontally moving drive unit 56 and the longitudinally lifting drive unit 57 of the four sets of lifting mechanisms 55 work together to lift the automatic feeding system 2 and separate it from the original chassis, and then accurately align and connect it with the chassis to be replaced, realizing the automatic replacement of the mobile chassis.

[0045] like Figure 1 As shown, the choice between wheeled chassis 4 and tracked chassis 5 depends on the road surface. Wheeled chassis 4 is suitable for flat, hardened surfaces, and is suitable for material transport within the same workshop, without needing to cross workshops, for short distances, and for low-complexity path operations. Tracked chassis 5 is suitable for complex, uneven surfaces, including areas with slopes, ditches, and protrusions, as well as unhardened surfaces, and is suitable for cross-workshop operations. The automatic mobile chassis 1 automatically changes chassis according to actual production task requirements, expanding the operating range of the material conveying system and improving the system's adaptability to different ground conditions.

[0046] The navigation system integrates a multi-source heterogeneous sensor combination, including a LiDAR 7, auxiliary positioning sensors, environmental perception supplementary sensors, and safety redundancy sensors. Multiple LiDAR 7 sensors are installed at the four corners of the autonomous mobile chassis 1. The LiDAR 7 can scan the surrounding environment in real time, acquiring 3D environmental information to provide basic data for path planning. The auxiliary positioning sensors assist the LiDAR 7 in positioning, improving accuracy. The environmental perception supplementary sensors can sense other environmental information, such as temperature and humidity, providing more references for system operation. The safety redundancy sensors provide backup safety in case other sensors fail.

[0047] These sensors can form a closed-loop control link of environmental perception, map building, target positioning, path planning, motion control, and real-time correction, enabling precise planning and real-time correction of the path of the automatic material conveying system. This allows the system to accurately plan the path and adjust it in real time according to environmental conditions, ensuring the smooth operation of the conveying process.

[0048] The business scheduling system integrates an intelligent pathfinding algorithm, which can automatically select either a wheeled chassis 4 or a tracked chassis 5 based on cross-workshop operation requirements, and dynamically generate obstacle avoidance paths through the navigation system's SLAM technology. When operations need to be carried out in different workshops, the business scheduling system will determine whether to change the mobile chassis based on preset road condition information. If there are complex situations such as steep slopes, ditches, or bumps during the movement from the current location to the required workshop location, it is necessary to switch to the tracked chassis 5 in advance; if the road conditions are good, the wheeled chassis 4 can be used. At the same time, the navigation system's SLAM technology can build a map in real time and dynamically generate obstacle avoidance paths based on map information and target location, ensuring that the entire machine can safely and accurately reach the target location.

[0049] like Figure 2 and Figure 3 As shown, a feeding port 11 is provided on the upper end face of the housing 8. A cover plate 12 for closing the feeding port 11 and an electric push rod 13 for driving the cover plate 12 to move are slidably provided on the upper end face of the housing 8. A support frame 9 and a storage bin 10 are fixedly connected inside the housing 8. The upper perimeter of the storage bin 10 is supported on the upper perimeter walls of the support frame 9. The bin monitoring system 3 includes a set of 52 weighing sensors evenly distributed along the circumference of the storage bin 10 and a set of 5328 material level detection sensors rectangularly arranged on the inner top wall of the housing 8. The set of 52 weighing sensors includes four weighing sensors 52, with two sets of four weighing sensors on one side. Two weighing sensors 52 on one side are distributed at both ends of the storage bin 10. The weighing sensors 52 are installed between the storage bin 10 and the support frame 9 and can detect the weight of the storage bin 10.

[0050] like Figure 2 and Figure 3As shown, the material level detection sensor group 5328 includes four material level detection sensors 5328. These sensors are installed on the inner top wall of the housing 8, directly opposite the upper end of the storage hopper 10, and can detect the position of the material level inside the storage hopper 10. A dual verification mechanism for the remaining material quantity in the storage hopper 10 is formed by comparing the data from the weighing sensor 52 and the material level detection sensors. This accurately obtains the remaining material quantity in the storage hopper 10, avoiding inaccurate calculations due to a single sensor malfunction, improving the accuracy of remaining material quantity detection, and enabling the system to more accurately decide whether replenishment is needed. When replenishment of the storage hopper 10 is required, the automatic replenishment module is activated.

[0051] The automatic replenishment module adopts a closed-loop control system that automatically detects residual material in the hopper, automatically calculates and decides whether replenishment is needed, automatically travels to the replenishment position, automatically opens the replenishment port cover 12, and automatically calculates the replenishment weight and detects the material level during the replenishment process. This enables the machine to automatically replenish during idle periods.

[0052] like Figure 3 As shown, the residual material monitoring system in the storage silo 10 monitors the residual material amount in real time through the weighing sensor 52 and the material level detection sensor 5328. When the residual material amount is lower than the preset threshold and it is during a non-working period, the business scheduling system starts the replenishment process: the ROS-controlled automatic walking mobile chassis 1 plans the replenishment path based on SLAM technology, actively avoids obstacles along the way, and after reaching the replenishment position, the electric actuator 13 drives the cover plate 12 to move, opens the feeding pipe 11, and sends a ready signal to the workshop replenishment control system; during the replenishment process, the weighing sensor 52 and the material level detection sensor 5328 monitor the residual material amount in real time. When the material reaches the preset maximum threshold, a full material signal is sent back, the workshop replenishment control system stops replenishment, the electric actuator 13 drives the cover plate 12 to close the feeding pipe 11, and the whole machine returns to the working position or waiting position.

[0053] like Figure 3 and Figure 4As shown, a slide groove 16 is provided on the side wall of the housing 8, and an accordion-style dust cover 17 is provided at the opening of the slide groove 16. A support plate 36 is fixedly installed inside the housing 8 near the slide groove 16. The conveying mechanism 15 includes a first conveying pipe 18, a second conveying pipe 19, a first connecting pipe 20, and a second connecting pipe 21. A screw rod 22 for conveying materials is rotatably connected inside both the first conveying pipe 18 and the second conveying pipe 19. A drive motor 23 for driving the screw rod 22 to rotate is installed inside the housing 8. The drive motor 23 drives the screw rod 22 to rotate inside the first conveying pipe 18 and the second conveying pipe 19, thereby enabling the material to be conveyed from one end to the other end. The first connecting pipe 20 is connected to the bottom of the storage bin 10. The inner wall of the bottom of the storage bin 10 is shaped like a bucket. One end of the first conveying pipe 18 is connected to the lower end of the first connecting pipe 20, and the other end is inclined upward and abuts against the upper end of the support plate 36. The second connecting pipe 21 is located on the side of the support plate 36 away from the storage bin 10 and is connected to the first conveying pipe 18. The second connecting pipe 21 is vertically oriented and has telescopic properties. The second conveying pipe 19 is horizontally oriented and connected to the second connecting pipe 21. A fixed box 54 is provided outside the second conveying pipe 19. The fixed box 54 is rectangular, and the second conveying pipe 19 is fixedly installed inside the fixed box 54 along its length. One end of the fixed box 54 extends out of the slide groove 16 and out of the machine housing 8. Accordion-style dust covers 17 are respectively located between the upper and lower parts of the fixed box 54 and the upper and lower parts of the slide groove 16. One end of the second conveying pipe 19 is connected to a discharge port 14, which is located at the end of the fixed box 54 that extends out of the machine housing 8 and passes through the fixed box 54.

[0054] like Figure 3 and Figure 4 As shown, a material conveying channel is constructed by setting the first and second conveying pipes 19 and the first and second connecting pipes, thus creating a complete and reasonable material conveying path. The discharge port 14 is connected to the side wall of the second conveying pipe 19 to realize material discharge. At the same time, the drive motor 23 drives the spiral rod 22 inside the conveying pipe to rotate and convey the material, which can convey the material from the low end to the high end of the first output pipe, providing power for material conveying. The material in the storage bin 10 can be conveyed to the discharge port 14 through multiple sections of conveying pipes, which can ensure the stability and continuity of the conveying process and improve the material conveying efficiency.

[0055] like Figure 3As shown, the correction module includes an automatic feeding detection mechanism 24 and an adjustment mechanism 25 for adjusting the position of the discharge port 14. The automatic feeding detection mechanism 24 includes a QR code recognition CCD 26, a depth detection sensor 27, and a height detection sensor 28. The QR code recognition CCD 26 is installed on the side wall of the housing 8 near the slide 16. A QR code is affixed to the feeding port, and the CCD 26 is used to take pictures to identify the position of the feeding port. When the housing 8 moves to the feeding port position, the CCD 26 takes pictures of the pre-affixed QR code on the feeding port in real time and transmits the picture information to the computing system for aggressive position calculation. The position deviation information is then fed back to the control system of the automatic walking mobile chassis 1. The automatic walking mobile chassis 1 controls the moving drive wheels based on the deviation information to achieve a precise correction function.

[0056] like Figure 4 As shown, the depth detection sensor 27 is installed on the end face of the fixed box 54 extending out of the housing 8. The depth detection sensor 27 is used to detect the horizontal distance between the fixed box 54 and the feeding port and adjust the horizontal position of the discharge port 14 by adjusting the adjustment component. After the position is accurately corrected in the direction of movement of the whole machine, the depth detection sensor 27 monitors the horizontal distance between the end face of the fixed box 54 and the feeding port and feeds the obtained distance information back to the business scheduling system of the whole machine. The adjustment mechanism 25 adjusts the accumulation of the fixed box 54 extending horizontally out of the housing 8 to realize the accurate correction function of the discharge port 14 in the horizontal direction.

[0057] like Figure 4 As shown, four height detection sensors 28 are installed on the lower end face of the fixing box 54 and around the discharge port 14 to detect the longitudinal distance between the discharge port 14 and the feeding port. The height detection sensors 28 detect the longitudinal distance between the discharge port 14 and the feeding port in real time and feed the information back to the business scheduling system. The business scheduling system adjusts the height of the discharge port longitudinally through the adjustment mechanism 25 to achieve precise alignment and prepare for automatic feeding. During the feeding process, the height detection sensors can detect the material height in real time and perform real-time control based on the monitoring information to avoid inaccurate feeding, material waste, and other abnormal situations.

[0058] like Figure 5As shown, the adjustment mechanism 25 includes a longitudinal adjustment component 29 for longitudinal adjustment of the fixing box 54 and a lateral adjustment component 30 for horizontal adjustment. The longitudinal adjustment component 29 is located on the side of the support plate 36 away from the storage bin 10. The longitudinal adjustment component 29 includes a first drive block 31, a first lead screw 32, a first motor 33, and a support plate 34. The support plate 34 is L-shaped and includes a horizontal plate and a vertical plate. The horizontal plate is parallel to the inner wall of the bottom of the housing 8, and the vertical plate is parallel to the support plate 36 and is located between the horizontal plate and the support plate 36. A first fixing block 35 is fixedly welded to the inner wall of the bottom of the housing 8. The first fixing block 35 is cuboid in shape and is located between the support plate 36 and the support plate 34.

[0059] like Figure 5 As shown, the first lead screw 32 is rotatably mounted in the vertical direction, and its bottom end is rotatably connected to the first fixed block 35. The first motor 33 is fixedly connected to the top end of the first lead screw 32. The first drive block 31 is threadedly connected to the first lead screw 32 and is fixedly welded to the vertical side wall of the support plate 34. The fixed box 54 is slidably mounted on the horizontal plate of the support plate 34. At both ends of the support plate 36 near the vertical side wall of the support plate 34, first slide rails 37 are fixedly welded in the vertical direction. A first slider 38 is slidably connected to the first slide rail 37 in the vertical direction and is fixedly welded to the vertical side wall of the support plate 34.

[0060] like Figure 5 As shown, when the height detection sensor 28 detects the longitudinal difference between the discharge port 14 and the feeding port, the first motor 33 drives the first lead screw 32 to rotate, and the first drive block 31 moves vertically. The movement of the first drive block 31 drives the support plate 34 to move longitudinally, thereby achieving precise adjustment of the fixed box 54 and the discharge port 14 in the longitudinal position. When the fixed box 54 and the second conveying pipe 19 inside it move longitudinally, the expansion and contraction of the second telescopic pipe can be adjusted accordingly without affecting the material conveying. At the same time, the first slide rails 37 at both ends of the support plate 36 cooperate with the first slider 38 to provide guidance and support for the movement of the support plate 34, ensuring the stability of the movement process and preventing deviation.

[0061] like Figure 4 and Figure 6 As shown, the lateral adjustment assembly 30 is disposed on the horizontal plate of the support plate 34. The lateral adjustment assembly 30 includes a second motor 39, a second lead screw 40, and a second drive block 41. The second motor 39 is mounted on the end of the support plate 34 away from the slide groove 16. A second fixing block 42 is fixedly welded to the end of the horizontal plate of the support plate 34 away from the second motor 39. The second lead screw 40 is horizontally disposed, with one end rotatably connected to the second fixing block 42 and the other end fixedly connected to the second motor 39. The second drive block 41 is threadedly connected to the second lead screw 40.

[0062] like Figure 6 As shown, a connector 43 is fixedly welded to the lower end face of the fixed box 54, and the connector 43 is fixedly welded to the upper end face of the second drive block 41. Second slide rails 44 are fixedly welded to both sides of the second lead screw 40 along the axial direction of the second lead screw 40 on the horizontal plate of the support plate 34. Second sliders 45 are slidably connected to the second slide rails 44, and the upper end face of the second slider 45 is fixedly connected to the lower end face of the connector 43.

[0063] like Figure 4 and Figure 6 As shown, the upper end face of the fixing box 54 has a first waist-shaped hole 46 along its length direction, and the second conveying pipe 19 has a second waist-shaped hole 47 corresponding to the position of the first waist-shaped hole 46 along its axial direction on its upper side wall. The second connecting pipe 21 passes through the first waist-shaped hole vertically, and an arc-shaped cover 51 is fixedly fitted at the bottom end of the second connecting pipe 21. The arc-shaped cover 51 is slidably connected to the outer side wall of the second conveying pipe 19 along its axial direction. The upper end face of the fixing box 54 is fixedly welded to the positions on both sides of the first waist-shaped hole 46 along its length direction. A third slider 49 is slidably connected to the third slide rail 48. A sliding plate 50 is fixedly fitted on the second connecting pipe 21, and the lower end face of the sliding plate 50 is fixedly welded to the upper end face of the third slider 49.

[0064] like Figure 6 As shown, when the position of the discharge port 14 needs to be adjusted horizontally based on the detection data of the depth sensor 27, the second motor 39 drives the second lead screw 40 to rotate. The second drive block 41 is threadedly connected to the second lead screw 40, converting the rotational motion into linear motion, which drives the connecting piece 43 and the fixing box 54 to move horizontally along the length of the second slide rail 44. The second slide rail 44 and the second slider 45 are provided on both sides of the second lead screw 40 on the support plate 34 to provide guidance and support for the lateral movement of the fixing box 54, effectively preventing problems such as offset and shaking during the movement, and ensuring the stability and reliability of the adjustment. When the fixed box 54 moves horizontally, the fixed box 54 and the second conveying pipe 19 also move horizontally relative to the second connecting pipe 21. The design of the first waist hole 46 and the second waist hole 47 allows the connection between the second connecting pipe 21 and the second conveying pipe 19 to have a certain degree of flexibility and adjustability when the second conveying pipe 19 moves laterally. This can adapt to the positional changes of the second conveying pipe 19, ensure the smooth flow of the material conveying channel, and avoid problems such as jamming or leakage at the connection point due to adjustment. The design of the arc-shaped cover 51 can cover the waist hole position next to the material conveying point of the second connecting pipe 21, which can improve the accuracy of material conveying and prevent material from leaking from the waist hole.

[0065] The implementation principle of this application embodiment is as follows: the automatic walking mobile chassis 1 is responsible for movement, the automatic feeding system 2 is responsible for material conveying and feeding, the navigation system ensures accurate arrival at the target position, the material silo remaining material monitoring system ensures sufficient material, and the business scheduling system coordinates the actions of each module, so that the entire system can operate efficiently and stably, realizing automatic material conveying, precise feeding and adaptability to complex working conditions, improving production efficiency and automation, reducing manual intervention, and improving work efficiency and accuracy.

[0066] The above are all preferred embodiments of this application, and are not intended to limit the scope of protection of this application. Therefore, all equivalent changes made in accordance with the structure, shape and principle of this application should be covered within the scope of protection of this application.

Claims

1. An automatic material conveying system, characterized in that: It includes an automatic walking mobile chassis (1), an automatic feeding system (2) installed on the automatic walking mobile chassis (1), a navigation system for path planning and real-time correction, a silo monitoring system (3) for monitoring the remaining material in the silo, and a dynamic business scheduling system that coordinates the operation of each module based on manufacturing execution system instructions.

2. The automatic material conveying system according to claim 1, characterized in that: The automatic walking mobile chassis (1) adopts a replaceable composite walking structure, including a wheeled chassis (4) and a tracked chassis (5). The wheeled chassis (4) and the tracked chassis (5) are respectively connected to the automatic feeding system (2) through a positioning mechanism. The business scheduling system includes an automatic chassis replacement subsystem.

3. The automatic material conveying system according to claim 2, characterized in that: The positioning mechanism is a guide positioning pin (6) set at the four corners of the automatic walking mobile chassis (1), and the positioning hole mechanism is a positioning hole corresponding to the four corners of the bottom of the automatic feeding system (2). The guide positioning pin (6) is inserted into the positioning hole.

4. The automatic material conveying system according to claim 1, characterized in that: The navigation system integrates a combination of multi-source heterogeneous sensors, including a lidar (7), an auxiliary positioning sensor, an environmental perception supplementary sensor, and a safety redundancy sensor. The sensor combination forms a closed-loop control link of environmental perception-map building-target positioning-path planning-motion control-real-time correction.

5. The automatic material conveying system according to claim 1, characterized in that: The automatic feeding system (2) includes a housing (8), a support frame (9) disposed in the housing (8), and a storage bin (10) disposed in the support frame (9). The housing (8) is provided with a feeding port (11) for replenishing the storage bin (10). The side wall of one end of the housing (8) is provided with a discharging port (14) for feeding the equipment into the feeding port. The automatic feeding system (2) also includes a conveying mechanism (15) for conveying the material from the storage bin (10) to the discharging port (14) and a correction module for correcting the position of the discharging port (14).

6. The automatic material conveying system according to claim 5, characterized in that: The conveying mechanism (15) includes a first conveying pipe (18), a second conveying pipe (19), a first connecting pipe (20), and a second connecting pipe (21). The first connecting pipe (20) is connected to the bottom of the storage bin (10). The first conveying pipe (18) is connected to the first connecting pipe (20). The end of the first conveying pipe (18) away from the first connecting pipe (20) is connected to the second connecting pipe (21). The second connecting pipe (21) is connected to the second conveying pipe (19). The discharge port (14) is connected to the side wall of one end of the second conveying pipe (19). Both the first conveying pipe (18) and the second conveying pipe (19) are rotatably connected to a screw rod (22) for conveying materials, and a drive motor (23) for driving the screw rod (22) to rotate is installed in the housing (8).

7. The automatic material conveying system according to claim 6, characterized in that: The correction module includes an automatic feeding detection mechanism (24) and an adjustment mechanism (25) for adjusting the position of the discharge port (14). The automatic feeding detection mechanism (24) includes a QR code recognition CCD (26), a depth detection sensor (27), and a height detection sensor (28). A sliding groove (16) is provided on the side wall of the housing (8). A fixed box (54) is fixedly installed outside the second conveying pipe (19). One end of the fixed box (54) extends out of the sliding groove (16). The discharge port (14) is located at the end of the fixed box (54) that extends out of the housing (8). The discharge port (14) extends out of the fixed box (54). The QR code recognition CCD (26) is installed on the side wall of the housing (8) near the fixed box (54). A QR code is pasted on the feeding port. The CCD (26) is used to take pictures to identify the position of the feeding port. The depth detection sensor (27) is installed on the end face of the fixed box (54) extending out of the housing (8). The depth detection sensor (27) is used to detect the distance in the horizontal direction of the feeding port and adjust the horizontal position of the discharge port (14) by adjusting the adjustment component. Four height detection sensors (28) are provided and are installed around the discharge port (14) respectively. They are used to detect the longitudinal distance from the feeding port and to detect the material height in real time during the feeding process.

8. The automatic material conveying system according to claim 7, characterized in that: The adjustment mechanism (25) includes a longitudinal adjustment component (29) and a transverse adjustment component (30). The longitudinal adjustment component (29) includes a first drive block (31), a first lead screw (32), a first motor (33), and a support plate (34). A first fixing block (35) is fixedly connected to the inner wall of the bottom of the housing (8). The bottom end of the first lead screw (32) is rotatably connected to the first fixing block (35). The first motor (33) is fixedly connected to the top end of the first lead screw (32). The first drive block (31) is threadedly connected to the first lead screw (32). The first drive block (31) is fixedly connected to the support plate (34). The fixing box (54) slides on the support plate (34). The second connecting pipe (21) is a telescopic pipe. A support plate (36) is fixedly connected inside the housing (8). The first motor (33) is installed on the support plate (36). A first slide rail (37) is fixedly provided on both sides of the support plate (36). A first slider (38) is slidably connected on the first slide rail (37). The first slider (38) is fixedly connected to the side wall of the support plate (34).

9. The automatic material conveying system according to claim 8, characterized in that: The lateral adjustment assembly (30) includes a second motor (39), a second lead screw (40), and a second drive block (41). The second motor (39) is mounted on the support plate (34). A second fixing block (42) is fixedly connected to the end of the support plate (34) away from the second motor (39). One end of the second lead screw (40) is rotatably connected to the second fixing block (42). The end of the second lead screw (40) away from the second fixing block (42) is fixedly connected to the second motor (39). The second drive block (41) is threadedly connected to the second lead screw (40). A connector (43) is fixedly connected to the lower end face of the fixed box (54). A second slide rail (44) is fixedly connected to both sides of the second lead screw (40) on the support plate (34). A second slider (45) is slidably connected to the second slide rail (44). The second slider (45) is fixedly connected to the connector (43). The second drive block (41) is fixedly connected to the connector (43). The upper end face of the fixed box (54) is provided with a first waist hole (46), and the second conveying pipe (19) is provided with a second waist hole (47) corresponding to the position of the first waist hole (46). The fixed box (54) is fixedly installed with a third slide rail (48) on both sides of the first waist hole (46). The third slide rail (48) is slidably connected with a third slider (49). The second connecting pipe (21) is fixedly fitted with a slide plate (50), and the slide plate (50) is fixedly connected to the third slider (49). The second connecting pipe (21) passes through the first waist hole (46) and is fixedly connected to one end with an arc-shaped cover (51). The arc-shaped cover (51) slides on the outer wall of the second conveying pipe (19). The bottom end of the second connecting pipe (21) is connected to the second waist hole (47).

10. The automatic material conveying system according to claim 5, characterized in that: The silo monitoring system (3) includes a set of weighing sensors (52) evenly distributed around the circumference of the storage silo (10) and a set of material level detection sensors (53)(28) arranged rectangularly on the top inner wall of the casing (8). The set of weighing sensors (52) and the set of material level detection sensors (53)(28) form a dual verification mechanism for the remaining material in the storage silo (10) through data comparison. The business scheduling system also includes an automatic replenishment module.

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