Feeding device, feeding method and sorting machine

Abstract

The application discloses a feeding device, a feeding method and a sorting machine. The feeding device comprises a feeding mechanism for feeding workpieces; a receiving mechanism arranged downstream of the feeding mechanism and used for receiving the workpieces and arranging the workpieces in a workpiece belt in a straight line; and a picking mechanism arranged above the receiving mechanism and used for picking the workpieces, wherein the picking mechanism comprises a plurality of picking heads arranged at intervals, the plurality of picking heads are synchronously lifted, and the plurality of picking heads synchronously pick a plurality of workpieces of the workpiece belt at a time. The application can effectively improve the feeding efficiency, reduce the cost, and has high workpiece picking stability.

Description

Technical Field

[0001] This invention relates to the field of component feeding technology, and more particularly to feeding devices, feeding methods and sorting machines. Background Technology

[0002] The feeding device primarily organizes and supplies components to the equipment. For example, during the processing or testing of semiconductors and electronic components, these components need to be supplied to the corresponding sorting machines via the feeding device. The sorting machine uses a main motor to drive a rotary table to rotate, and the control system drives the picking mechanism to lift and lower, picking up components through a suction nozzle and accurately delivering them to the testing position for performance testing. Existing sorting machines typically have only one suction nozzle, picking up only one component per pass, resulting in low feeding efficiency. Further attempts to improve feeding efficiency have involved using two feeding devices with two suction nozzles, but this is costly and makes nozzle control difficult. Summary of the Invention

[0003] One objective of this invention is to solve the problems of the prior art by providing a feeding device that can solve the problems of low feeding efficiency and high cost.

[0004] Another objective of this invention is to provide a feeding method that solves the problem of rapid material conveying and picking.

[0005] Another objective of this invention is to provide a sorting machine that solves the problem of material feeding efficiency in sorting machines.

[0006] To achieve the objectives of this invention, the following technical solution is adopted:

[0007] The feeding device includes:

[0008] A feeding mechanism is used to supply materials;

[0009] The receiving mechanism, located downstream of the feeding mechanism, is used to receive materials and arrange several materials continuously in a straight line to form a material belt.

[0010] The picking mechanism is vertically mounted above the receiving mechanism to pick up materials. The picking mechanism includes several picking heads arranged at intervals. The picking heads move up and down synchronously, and each time the picking heads pick up multiple materials along with the material.

[0011] In some embodiments, the receiving mechanism includes a receiving channel, with adjacent parts arranged close together in the receiving channel. When the picking mechanism is in the feeding position, the arrangement direction of the plurality of picking heads is consistent with that of the material belt.

[0012] In some embodiments, one end of the receiving channel is a feeding end and the other end is a closed end, with the material strip arranged between the feeding end and the closed end.

[0013] In some embodiments, each pickup head corresponds to a part, and a plurality of pickup heads pick up parts at intervals.

[0014] In some embodiments, there are two picking heads, which correspond to the positions of the first and last two parts of the receiving channel, and pick up the first and last two parts of the material belt respectively during picking.

[0015] In some embodiments, the receiving mechanism includes a drive component that drives the receiving channel to reciprocate between the feeding structure and the picking mechanism.

[0016] In some embodiments, the receiving mechanism includes a pushing cavity for providing thrust to the material, and the receiving channel of the receiving mechanism passes through the pushing cavity.

[0017] In some embodiments, the receiving mechanism includes a first fluid channel communicating with a pushing chamber to provide fluid-driven material.

[0018] In some embodiments, the receiving channel is at least partially covered by the pushing cavity, and the receiving channel has a front feeding section and a rear feeding section at both ends, with the front and rear feeding sections located outside the pushing cavity respectively.

[0019] In some embodiments, a first sensor and a second sensor are respectively provided at both ends of the receiving channel. The first sensor detects the material at the feeding end of the receiving channel, and the second sensor detects the material at the closed end of the receiving channel.

[0020] A feeding method, comprising:

[0021] The feeding mechanism supplies materials to the receiving mechanism, which receives the materials and provides auxiliary thrust to continuously arrange the materials into a material belt.

[0022] When the picking mechanism moves above the receiving mechanism and the receiving mechanism is in the feeding position, the picking mechanism descends and picks up multiple parts of the material conveyor belt through several picking heads, and then resets.

[0023] In some embodiments, when receiving material, the receiving channel of the receiving mechanism moves towards the receiving position in the direction of the feeding mechanism, and after receiving the material, it moves towards the loading position in the direction of the picking mechanism.

[0024] In some embodiments, when the receiving mechanism is in the receiving position, the feeding mechanism supplies the material to the receiving channel one piece at a time. When the material is unable to move within the receiving channel due to insufficient power, the material is driven to the closed end of the receiving channel by the auxiliary airflow of the first fluid channel.

[0025] In some embodiments, a first sensor and a second sensor are respectively provided at both ends of the receiving channel. After the first sensor senses the material, the auxiliary airflow is activated. After both the first sensor and the second sensor detect the material, the receiving channel moves to the upward material position.

[0026] In some embodiments, after the second sensor detects the material, the auxiliary airflow is turned off. After both the first and second sensors detect the material, a negative pressure is generated through the second fluid channel to adsorb the last material.

[0027] In some embodiments, when the receiving mechanism moves to the feeding position, the second fluid channel switches from negative pressure to positive pressure, which facilitates the picking mechanism to pick up the material.

[0028] A sorting machine, wherein the feeding device has multiple sets of picking mechanisms, which are rotatably arranged along a circular ring.

[0029] In some embodiments, the plurality of pickup heads are arranged radially along a circular ring, the rotation paths of the plurality of pickup heads are concentric circles, and the receiving channels of the receiving mechanism are arranged radially along a circular ring.

[0030] A sorting machine configured with the aforementioned feeding method.

[0031] The present invention has the following main advantages:

[0032] (1) The feeding device picks up materials through multiple picking heads, improving feeding efficiency; (2) The material is supplied through a receiving channel, and multiple picking heads cooperate with a material belt to pick up materials, which can continuously supply materials with high picking efficiency, simplify the feeding structure, and reduce costs; (3) It can meet the requirements of the sorting machine to pick up multiple materials by rotating to the feeding position through multiple picking mechanisms, effectively improving the efficiency of the sorting machine. Other advantages are further explained in conjunction with specific embodiments. Attached Figure Description

[0033] To more clearly illustrate the technical solutions in the embodiments of the present invention, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0034] Figure 1 This is a perspective view of the receiving mechanism provided in Embodiment 1 of the present invention.

[0035] Figure 2 This is a schematic diagram of the airflow in the push chamber provided in Embodiment 1 of the present invention.

[0036] Figure 3 This is another perspective view of the receiving mechanism provided in Embodiment 1 of the present invention.

[0037] Figure 4 This is a front view of the receiving fixture provided in Embodiment 1 of the present invention.

[0038] Figure 5 This is a schematic diagram of the arrangement of materials in the receiving channel according to Embodiment 1 of the present invention.

[0039] Figure 6 This is a schematic diagram of the material arrangement relative to the cover plate provided in Embodiment 1 of the present invention.

[0040] Figure 7 This is a schematic diagram of the cover plate of the receiving mechanism provided in Embodiment 2 of the present invention.

[0041] Figure 8 This is a partial exploded view of the receiving mechanism provided in Embodiment 3 of the present invention.

[0042] Figure 9 This is another partially exploded view of the receiving mechanism provided in Embodiment 3 of the present invention.

[0043] Figure 10 This is a schematic diagram of the back of the receiving fixture provided in Embodiment 3 of the present invention.

[0044] Figure 11 This is a schematic diagram of the cover plate provided in Embodiment 3 of the present invention.

[0045] Figure 12 This is a schematic diagram of the base provided in Embodiment 3 of the present invention.

[0046] Figure 13 This is another schematic diagram of the base provided in Embodiment 3 of the present invention.

[0047] Figure 14 This is a diagram of the airflow control framework for the first and second air vents provided in Embodiment 3 of the present invention.

[0048] Figure 15 This is a schematic diagram of the driving component provided in Embodiment 4 of the present invention.

[0049] Figure 16 This is another schematic diagram of the driving component provided in Embodiment 4 of the present invention.

[0050] Figure 17 This is a schematic diagram of the eccentric shaft provided in Embodiment 4 of the present invention.

[0051] Figure 18 This is a flowchart of the receiving method provided in Embodiment 5 of the present invention.

[0052] Figure 19 This is a schematic diagram of the feeding device provided in Embodiment Six of the present invention.

[0053] Figure 20This is a schematic diagram of the picking mechanism provided in Embodiment 7 of the present invention.

[0054] Figure 21 This is a schematic diagram of the feeding method provided in Embodiment 7 of the present invention.

[0055] Figure 22 This is a schematic diagram of the sorting machine provided in Embodiment 8 of the present invention.

[0056] In the attached image:

[0057] 10. Material; 20. Material belt; 100. Receiving mechanism; 110. Receiving channel; 111. Front loading section; 112. Rear loading section; 113. Feeding end; 114. Closed end; 115. First sensor; 116. Second sensor; 120. Pushing chamber; 121'. Through hole; 130. Receiving fixture; 131. First outlet; 132. Second outlet; 133. Slot; 134. Guide groove; 140. Cover plate; 141. Flow guide groove; 142. First inlet; 143. Second; 144. Air inlet; 150A. Left air passage; 150B. Right air passage; 151. Air outlet; 160. Base; 161. First air hole; 162. First air outlet; 163. Mounting slot; 164. Second air vent; 165. Second air outlet; 171. Connecting port; 181. Transplanting seat; 182. Cam assembly; 183. Servo motor; 184. ; 185. Support plate; 186. Slide rail; 191. Adjusting block; 192. Horizontal adjustment component; 1821. Motor clamping block; 1822. Cam follower; 1823. Cam slider; 1824. Receiving groove; 200. Lifting adjustment assembly; 201. Mounting plate; 202. Lifting adjustment component; 203. Eccentric shaft; 204. Base plate; 300. Feeding mechanism; 310. Vibrating bowl base; 320. Vibrating bowl; 400. Picking mechanism; 410. Picking head; 420. Clamping block; 430. Mounting block; 440. Guide rod assembly. Detailed Implementation

[0058] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are some embodiments of the present invention, but not all embodiments.

[0059] In this embodiment, "several" and "more than" refer to two or more. In the description of this invention, it should be noted that the terms "center," "upper," "lower," "left," "right," "vertical," "horizontal," "inner," and "outer," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing the invention 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. Therefore, they should not be construed as limitations on the invention. Furthermore, the terms "first," "second," and "third" are used for descriptive purposes only and should not be construed as indicating or implying relative importance.

[0060] In the description of this invention, it should be noted that, unless otherwise explicitly specified and limited, the terms "installation," "connection," and "linking" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in this invention based on the specific circumstances.

[0061] In this embodiment, the feeding device includes a feeding mechanism 300, a receiving mechanism 100, and a picking mechanism 400. The feeding mechanism 300 is used to supply materials, and can be a vibratory feeder, a feed tube, or other feeding mechanism, responsible for supplying a large number of scattered materials downstream. The receiving mechanism is located downstream of the feeding mechanism 300 and is used to receive materials and arrange several materials 10 continuously in a straight line to form a material belt 20. In this embodiment, the receiving mechanism is used to receive materials and arrange them in an orderly manner for supply to the downstream picking mechanism, facilitating rapid material retrieval by the picking mechanism. The materials include, but are not limited to, IC chips, electronic components, and other small-sized and small-weight materials. The picking mechanism 400 is vertically and vertically configured above the receiving mechanism 100 to pick up the materials 10. The picking mechanism 400 is driven to rise and fall by a lifting device such as a lifting cylinder. It descends when picking up materials and rises after picking up materials to transfer them to the next position. The picking mechanism 400 includes a plurality of picking heads 410 spaced apart. The plurality of picking heads 410 move up and down synchronously, and each time the plurality of picking heads 410 simultaneously pick up a batch of 20 pieces of material 10. Compared with picking up by a single picking head, picking up by a plurality of picking heads 410 simultaneously can significantly improve picking efficiency.

[0062] The above technical solution provides power to the receiving components through the receiving mechanism 100. The components 10 can move on the receiving mechanism and be arranged into a component belt 20. The components can be continuously and quickly conveyed to the picking mechanism, facilitating the picking mechanism to pick up the components. Multiple picking heads 410 simultaneously pick up multiple components on the component belt 20, achieving rapid loading of multiple components. The picking mechanism picks up components corresponding to one receiving channel, eliminating the need for multiple feeding channels and reducing costs.

[0063] <Example 1>

[0064] like Figures 1 to 3 As shown, the receiving mechanism 100 in this embodiment includes a receiving channel 110, a pushing chamber 120, and a first fluid channel. The receiving channel 110 is used to receive the material 10. The material enters the receiving channel 110 through the inlet. At least one receiving channel 110 is provided, and the specific number is modified according to the feeding and picking mechanism. The shape, structure, and size of the receiving channel can be configured according to the type, size, shape, and other parameters of the material, and are not limited here, as long as the material can move in the receiving channel. The pushing chamber 120 is disposed in the receiving channel 110, which passes through the pushing chamber 120. The pushing chamber 120 is a cavity formed in the receiving channel 110. The material 10 can enter the pushing chamber 120 through the receiving channel 110. The auxiliary power provided by the pushing chamber 120 can prevent the material 10 from stagnating on the receiving channel 110 or accelerate the movement of the material 10 on the receiving channel 110. At the same time, the confinement of the cavity on the material can prevent the material from being forced out of the receiving channel 110. The first fluid channel is connected to the pushing chamber 120. The first fluid channel is an airflow channel that introduces fluid into the pushing chamber 120 and inputs it into the receiving channel 110 to push the material to move. The first fluid channel can selectively provide positive pressure or no pressure according to the movement of the material in the receiving channel. The first fluid channel is connected to an external air source, which provides airflow. This is a conventional technical means in the art and will not be described in detail. The material components 10 are arranged sequentially in the receiving channel 110, with adjacent material components arranged close together in the receiving channel 110, that is, two adjacent material components are close to each other, so that the receiving channel 110 of a certain length can accommodate as many material components as possible.

[0065] In this embodiment, the material components 10 enter the receiving channel 110 one by one along the feeding direction X. Each component possesses a certain kinetic energy and moves forward within the receiving channel 110, with subsequent components pushing the preceding components. As the number of components in the receiving channel 110 increases, subsequent components can no longer push the preceding components. The positive pressure airflow introduced through the first fluid channel assists in pushing the components. In this embodiment, the receiving channel 110 is a straight channel, facilitating the movement of the material components 10 and avoiding increased resistance to forward movement due to channel curvature.

[0066] like Figures 1 to 3 As shown, furthermore, at least a portion of the receiving channel 110 is covered by the pushing cavity 120, and the loading portion of the receiving channel 110 is located outside the pushing cavity. The loading portion is used for the picking mechanism 400 (see...). Figure 19 The material is picked up and exposed outside the push cavity 120 to avoid interference with the material picking process and facilitate the picking mechanism. The feeding section can hold at least one material. When the picking mechanism needs to pick up two or more materials at a time, the feeding section can be configured to hold multiple materials. The number of materials in the feeding section must be equal to or greater than the number of materials that the picking mechanism needs to pick up.

[0067] like Figures 1 to 4 As shown, specifically, the receiving channel 110 in this embodiment has a front loading section 111 and a rear loading section 112 at both ends, and the pushing cavity 120 is located between the front and rear loading sections. The front loading section 111 is closer to the feeding end 113 than the rear loading section 112. The front and rear loading sections are located outside the pushing cavity 120, and are divided into front and rear loading sections, which can increase the spacing between the parts. When the part size is small (e.g., IC chips), the spacing between the parts is small, and the size limit of the picking head of the picking mechanism cannot meet the requirement of multiple picking heads picking up adjacent parts. Therefore, by increasing the distance between the loading parts, multiple picking heads can pick up the parts. For example, if the chip size is a few millimeters, the length of two adjacent chips close together is less than the spacing between the two picking heads of the picking mechanism. Therefore, the picking head cannot pick up two chips at the same time. By loading with the front and rear loading sections, the parts can be picked up at intervals.

[0068] like Figure 1 , Figure 2 and Figure 5 As shown, the receiving channel 110 has a feeding end 113 at one end and a closed end 114 at the other. The material enters through the feeding end 113 and moves towards the closed end 114, thus arranging itself within the receiving channel 110. The closed end 114 is closed, meaning the material cannot continue forward through it. The closed end 114 can be closed using structures such as fixed blocks. Those skilled in the art will understand that the closed end 114 does not necessarily have to be the end of the receiving channel 110. The closed end 114 can be a stopping end created by a detachable block or a retractable stop; it is sufficient that the material stops at the closed end 114. Several material pieces 10 sequentially enter the front loading section 111 through the feeding end 113 and pass through the pushing cavity 120 to the rear loading section 112, thereby forming a material belt 20 between the closed end 114 and the feeding end 113. After the picking mechanism takes away the material 10 from the material belt 20, the subsequent material entering the receiving channel 110 continues to push the remaining material forward and arrange it into a material belt, so that when the picking mechanism picks up the material, there are materials available at the loading position.

[0069] like Figure 5 As shown, further, the front loading section 111 is provided with a second fluid channel. The second fluid channel can adsorb or release the material 10 in the front loading section 111. The negative pressure generated by the second fluid channel can adsorb the material 10 in the receiving channel 110, making it unable to move. This positions the material belt between the closed end 114 and the adsorbed material, preventing the material from falling off when the receiving channel 110 moves. The second fluid channel can be designed to adsorb one or more material pieces, depending on the material handling method, the number of material pieces, etc. As one embodiment, the position of the second fluid channel corresponds to the last material piece in the front loading section 111, so that the first and last material pieces in the material belt 20 can be limited, preventing the material pieces in the material belt 20 from moving and falling off when the receiving channel 110 moves. Specifically, the receiving channel 110 receives the material 10 and forms the material belt 20, which includes material pieces T1 to T2. n There are n parts in total. Part T1 enters from the feed end and moves to the closed end 114. n It enters through the feed end, but cannot proceed further because the space ahead is already occupied by other materials. The second fluid channel allows material T to be moved... n Adsorption and positioning prevent the material from falling; furthermore, during material pickup by the picking mechanism, the second fluid channel provides positive pressure to break the vacuum, facilitating the pickup mechanism's picking up of the material. In other words, the second fluid channel can switch between negative pressure, no pressure, and positive pressure. Those skilled in the art will understand that if there are multiple materials outside the pushing chamber, the materials can also be... n and T n-1 The number and structure of the second fluid channel are not limited here, and can be improved according to the actual structure of the receiving mechanism without departing from the overall concept of this embodiment.

[0070] like Figure 1 and Figure 2As shown, furthermore, a first sensor 115 and a second sensor 116 are respectively provided at both ends of the receiving channel 110. The first sensor 115 detects the material at the feeding end 113 of the receiving channel 110, and the second sensor 116 detects the material at the closed end 114 of the receiving channel 110. The presence of material 10 at the corresponding position is determined by the first and second sensors. The first and second sensors are electrically connected to the control module. Existing sensors such as infrared sensors can be used. In this embodiment, a through-beam fiber optic sensor is used, that is, the first sensor includes a set of through-beam fiber optic sensors, and the second sensor includes a set of through-beam sensors. The through-beam fiber optic sensors are arranged opposite each other on both sides of the receiving channel 110. After component T1 enters the receiving channel 110 from the feeding end, the first sensor 115 detects its entry. The control module can preset the positive pressure activation of the first fluid channel after component T1 enters the receiving channel 110. For example, if two components enter the receiving channel 110, subsequent components will be unable to push the preceding component forward. Therefore, when the first sensor 115 detects two components entering, the control module activates the positive pressure of the first fluid channel. At this time, the first component T1 enters the pushing chamber 120 and can continue to move forward under positive pressure. When component T1 moves to the closed end 114, the second sensor 116 detects component T1. Until the last component Tn enters the receiving channel and cannot move forward, the first and second sensors continuously detect components, indicating that both ends of the component belt 20 have completed receiving.

[0071] The receiving principle of the receiving mechanism 100 in this embodiment will be further explained below, taking the simultaneous feeding of two material parts 10 as an example.

[0072] like Figures 1 to 5As shown, the receiving channel 110 has n consecutive material positions, each corresponding to one material, meaning the receiving channel 110 can accommodate n materials. The position closest to the infeed end 113 is the first material position, the position closest to the closed end 114 is the nth material position, and the second and (n-1)th material positions are located within the pushing cavity 120. This means that the materials 10 at the first and nth material positions can be simultaneously acquired. The materials 10 are transported one by one onto the receiving channel 110. When a material 10 is transported to the receiving channel 110, it has initial kinetic energy. After two materials 10 are loaded, the initial kinetic energy of subsequent materials cannot propel the preceding materials forward. The positive pressure airflow in the pushing cavity 120 assists in moving the materials forward until all n material positions are occupied. The materials then abut against each other to form a material belt 20, thus completing one receiving cycle. At this time, the two picking heads of the picking mechanism can simultaneously pick up parts 10 at the first and nth parts positions. After removing two parts, the material belt 20 becomes empty. It continues to pick up materials, allowing subsequent parts to move forward, filling the empty spaces, and filling all parts positions again. The picking mechanism can then continue picking up materials at the first and nth parts positions. Those skilled in the art will understand that the number of parts in the material belt 20 and the selection of which parts to pick up can be improved according to the picking mechanism and picking requirements, without departing from the concept of this embodiment.

[0073] <Example 2>

[0074] In this embodiment, the parts that are the same as in Embodiment 1 are given the same reference numerals, and the same text descriptions are omitted.

[0075] like Figure 7 As shown, compared to Embodiment 1, the receiving mechanism provided in this embodiment has the following structural design differences:

[0076] The receiving mechanism of this embodiment is used to simultaneously feed three parts. The pushing cavity 120' of this embodiment is provided with a through hole 121' communicating with the receiving channel 110. The through hole 121' is located above the receiving channel 110. The size and shape of the through hole 121' can be designed according to the type of part and the structure of the picking mechanism. The part 10 moves along the receiving channel 110 and can pass through the through hole 121'. The picking mechanism can pick up the part through the through hole 121'. Because 121' is located between the front feeding part and the rear feeding part, the picking mechanism can simultaneously pick up the parts 10 at the front, middle and rear positions.

[0077] Understandably, if four parts need to be taken at the same time, it can be done by setting two through holes 121'.

[0078] This embodiment enables the simultaneous picking of three or more materials, further improving the efficiency of material picking.

[0079] <Example 3>

[0080] In this embodiment, the parts that are the same as in Embodiments 1 and 2 are given the same reference numerals, and the same text descriptions are omitted.

[0081] like Figure 1 , Figures 8 to 14 As shown, compared to the above embodiments, the receiving mechanism provided in this embodiment has the following structural design:

[0082] In this embodiment, the receiving channel 110 is disposed on the receiving fixture 130. Specifically, the receiving channel 110 is a straight groove opened on the receiving fixture 130, and the material moves in a straight line within the straight groove. The receiving fixture 130 is provided with a cover plate 140, which covers the receiving channel 110, thereby partially covering the receiving channel 110, while the feeding positions at both ends of the receiving channel 110 are exposed for easy feeding. The pushing cavity 120 is located between the cover plate 140 and the receiving fixture 130. The pushing cavity 120 can be formed by the close fitting assembly of the cover plate 140 and the receiving fixture 130, which facilitates processing and assembly. The cover plate 140 has a guide groove 141, which is located above the receiving channel 110 and extends a certain length along the extending direction of the receiving channel 110 (i.e., the feeding direction X). The size and position of the guide groove 141 correspond to the receiving channel 110. The receiving channel 110 and the guide groove 141 form a chamber, thereby allowing the material 10 to move smoothly. At the same time, airflow can enter the receiving channel 110 through the guide groove 141 to assist the movement of the material. The guide groove 141 is provided with an exhaust hole 144, through which airflow can be discharged to avoid excessive pressure in the pushing chamber 120 due to the inability of positive pressure airflow to escape.

[0083] like Figure 2 As shown, the first fluid channel further includes a left air duct 150A and a right air duct 150B respectively disposed on both sides of the receiving channel 110. Specifically, the left and right air ducts are air grooves formed on the cover plate 140 and are symmetrically arranged about the guide groove 141. The left and right air ducts are connected to the receiving channel 110 through air outlets 151. The airflow is output through the air outlets 151. By blowing air through both sides of the receiving channel 110, the movement of the material 10 in the receiving channel 110 can be made smoother. Multiple air outlets 151 can be provided on each side of the receiving channel 110. The multiple air outlets 151 are arranged at intervals along the extension direction of the receiving channel 110, so that the airflow is output at multiple positions, providing auxiliary thrust to the material 10 at different positions.

[0084] like Figure 2 , Figure 4 , Figures 8 to 9As shown, the left air passage 150A and the right air passage 150B are respectively connected to the first inlet 142 and the second inlet 143 of the cover plate 140. The first and second inlets correspond to the first outlet 131 and the second outlet 132 on the front of the receiving fixture 130, respectively. The first and second outlets are connected through the slot 133 on the back of the receiving fixture 130, so that the first and second outlets can be connected in series through the slot 133. The airflow entering the slot 133 can be supplied to the first and second outlets respectively, and then supplied to the left and right air passages respectively.

[0085] like Figure 3 , Figures 7 to 12 As shown, the receiving fixture 130 is mounted on the base 160, facilitating the processing of the first and second fluid channels. The base 160 has a first air hole 161 and a first air outlet 162 communicating with the first air hole 161. The first air hole 161 is connected to an air source, and the first air outlet 162 is connected to the slot 133. The airflow of the first fluid channel enters through the first air hole 161 on the side of the base and exits through the first air outlet 162 on the front of the base, thereby changing the airflow direction. Accessories such as air pipe connectors can be installed on the first air hole 161 to facilitate pipe connection. The receiving fixture 130 is positioned in the mounting slot 163 of the base 160. After installation, the slot 133 corresponds to the first air outlet 162, allowing the airflow from the first air outlet 162 to enter the slot 133 and then enter the receiving channel 110 through the left and right air passages, thus dispersing one intake airflow into two airflows entering the receiving channel 110.

[0086] like Figure 4 , Figures 8 to 13 As shown, the receiving channel 110 is further connected to the second fluid channel. The second fluid channel includes a connecting port 171 located on the front of the receiving fixture. The connecting port 171 is connected to a guide groove 134 on the back of the receiving fixture 130. The guide groove 134 is a strip-shaped groove of a certain length, which can change the airflow path. The receiving fixture 130 is mounted on the base 160. The base 160 has a second air hole 164 and a second air outlet 165 connected to the second air hole 164. The second air outlet 165 is located on the front of the base 160 and is connected to an air source. The second air hole 164 is located on the side of the base 160, and the guide groove 134 is connected to the second air outlet 165. When the receiving fixture 130 is mounted on the base 160, the second air outlet 165 is connected to the guide groove 134, and the airflow of the second fluid channel enters and exits through the second air hole 164.

[0087] The first fluid channel and the second fluid channel are interconnected through multiple holes of various types on the base 160, the receiving fixture 130 and the cover plate 140, which can ensure air passage connection while maintaining the compact structure of the base 160, the receiving fixture 130 and the cover plate 140.

[0088] like Figure 14 As shown, as an example, the pressure control of the first and second fluid channels can be achieved through solenoid valves, which, in conjunction with the control module, control the movement of the material receiving mechanism. A first air vent 161 and a second air vent 164 are provided on the side of the base 160. The second air vent 164 is controlled by a two-position four-way solenoid valve and a two-position two-way solenoid valve, enabling switching between positive / negative pressure, negative pressure, and no pressure states. The two-position two-way solenoid valve controls the overall on / off flow of gas into the base 160, while the two-position four-way solenoid valve switches between positive and negative pressure states. The three states can be switched through the combined use of these two solenoid valves. The first fluid channel can be controlled by a two-position two-way solenoid valve to open and close the air passage.

[0089] <Example 4>

[0090] In this embodiment, the parts that are the same as in Embodiments 1, 2 and 3 are given the same reference numerals, and the same text descriptions are omitted.

[0091] like Figures 15 to 17 As shown, compared to the above embodiments, the receiving mechanism provided in this embodiment has the following structural design differences:

[0092] In this embodiment, the receiving channel 110 of the receiving mechanism is disposed in the driving component 180. The driving component 180 can drive the receiving channel 110 to move, so that the material belt on the receiving channel 110 can move quickly to the required position as a whole, realizing rapid feeding. In this embodiment, the driving component 110 can make the receiving channel reciprocate between the receiving position and the feeding position. Specifically, the receiving position is the position close to the feeding mechanism, and the feeding position is the position where the picking mechanism picks up the material. That is, the driving component drives the receiving channel to reciprocate between the feeding structure and the picking mechanism. When the receiving channel 110 is in the receiving position, the material enters the receiving channel; when the receiving channel is in the feeding position, the picking mechanism picks up the material. The specific structure of the driving component 180 can be implemented by a cylinder, belt drive, cam mechanism, or other driving mechanism. Those skilled in the art can realize structural transformation to achieve the movement of the receiving channel without creative effort.

[0093] like Figure 15 and Figure 16As shown, further, as an example, the drive assembly 180 includes a transplanting seat 181, a cam assembly 182, and a servo motor 183. The servo motor 183 is connected to the transplanting seat 181 via the cam assembly 182, and the receiving channel 110 is disposed on the transplanting seat 181. Through the transmission via the cam assembly 182, the overall structure of the drive assembly is compact, occupies little space, and exhibits smooth and high-precision movement. The cam assembly 182 includes a motor clamping block 1821, a cam follower 1822, and a cam slider 1823. The motor clamping block 1821 is disposed on the motor shaft of the servo motor 183. The cam follower 1822 is eccentrically disposed on the motor clamping block 1821 and located within the receiving groove 1824 of the cam slider 1823. The cam slider 1823 is connected to the transplanting seat 181. The rotation of the motor shaft of the servo motor 183 drives the motor clamping block 1821 to rotate, which in turn drives the cam follower 1822 to rotate. Because the cam follower 1822 is eccentrically positioned relative to the motor shaft, it can generate cam motion, causing the cam slider 1823 to oscillate. The transplanting seat 181 is further mounted on the slide rail 186 for smoother movement. Furthermore, a limiting block 184 is provided on the side of the transplanting seat 181.

[0094] Furthermore, the drive assembly 180 is connected to the horizontal adjustment assembly 190 and the lifting adjustment assembly 200. The horizontal adjustment assembly 190 pushes the drive assembly 180 to move horizontally, specifically along the Y direction in the figure. The Y direction is perpendicular to the material movement direction in the receiving channel, allowing the receiving channel 110 to be finely adjusted left and right. The lifting adjustment assembly 200 pushes the drive assembly 180 vertically, specifically along the Z direction in the figure. The receiving channel 110 moves synchronously with the drive assembly 180, thereby allowing the height of the receiving channel to be adjusted according to different picking mechanisms. Through the above technical solution, the applicability of the receiving mechanism to different materials, picking mechanisms, and feeding needs can be further improved, expanding the application range.

[0095] Furthermore, the horizontal adjustment assembly 190 includes an adjustment block 191, which has a horizontal adjustment element 192. The horizontal adjustment element 192 is correspondingly disposed with the support plate 185 of the drive assembly 180. The horizontal adjustment element 192 pushes the support plate 185 to move. The horizontal adjustment element 192 can be a screw, pin, etc. In this embodiment, a screw is used. The screw is threadedly connected to the adjustment block 191 and faces the support plate 185. The support plate 185 is pushed by rotating the screw. The horizontal adjustment assembly 190 is disposed on both sides of the support plate 185, so that it can be adjusted from both sides. The lifting adjustment assembly 200 includes a mounting plate 201, and the support plate 185 is disposed on the mounting plate 201. The mounting plate 201 is provided with a lifting adjustment element 202. One end of the lifting adjustment element 202 is provided with an eccentric shaft 203 connected to the mounting plate 201. Rotating the lifting adjustment element 202 drives the mounting plate 201 to rise and fall. The lifting adjustment component 202 is a shaft-shaped component mounted on the base plate 204. Rotating the lifting adjustment component 202 drives the eccentric shaft 203 to rotate, and the eccentric shaft 203 swings vertically, thereby causing the mounting plate 201 to rise or fall. This method allows users to easily adjust the height of the receiving channel 110.

[0096] <Example 5>

[0097] In this embodiment, the parts that are the same as in embodiments one to four are given the same reference numerals, and the same text descriptions are omitted.

[0098] like Figures 1 to 6 and Figure 18 As shown, compared to the aforementioned embodiments, this embodiment provides a receiving method for receiving and organizing small, lightweight components such as chips and electronic components. The receiving method of this embodiment can be implemented using the receiving mechanism of the aforementioned embodiments, and includes the following steps:

[0099] S100: Several parts 10 are received sequentially through the receiving channel 110. The parts enter through the feed end 113 at one end of the receiving channel 110 and move towards the closed end 114. The parts 10 enter the receiving channel one by one until n parts fill the receiving channel 110, forming a material belt of n parts.

[0100] S200: When component 10 enters the pushing chamber 120, it is propelled by the airflow from the first fluid channel and moves along the conveying direction X of the receiving channel. After entering the receiving channel 110, component 10 first slides within the receiving channel 110 using its own kinetic energy and enters the pushing chamber 120. Due to the frictional resistance of the receiving channel, component 10 gradually decelerates. Components entering the receiving channel 110 later collide and push with components in front. As the number of components in front increases, the kinetic energy of the components in rear is insufficient to push the components in front, causing them to be unable to move forward. Therefore, after component 10 enters the pushing chamber 120, a positive pressure airflow is supplied to the pushing chamber through the first fluid channel, propelling component 10 to continue moving forward and preventing it from losing power and becoming stuck in the receiving channel.

[0101] S300: The components are arranged sequentially in the receiving channel until the receiving channel 110 is full, forming a component belt. The components in the receiving channel 110 are arranged in a straight line. The first component T1 is blocked and stopped by the closed end 114. The second component T2 is blocked and stopped by the first component. After the last component Tn enters the receiving channel 110, there is no space to move forward, and there is no space behind for the next component to enter the receiving channel. At this time, the components fill the receiving channel. At this time, components T1 to Tn are arranged in a straight line between the feeding end 113 and the closed end 114, forming a component belt 20.

[0102] The above-mentioned material receiving method enables the materials to move smoothly and be arranged neatly in sequence after entering the material receiving channel, which facilitates the subsequent picking mechanism to pick up the materials; at the same time, forming a material belt also facilitates the overall movement of multiple materials.

[0103] In step S100, the material 10 enters through the feed end 113 of the receiving channel 110 and is arranged sequentially from the closed end 114 of the receiving channel 110 toward the feed end to form a material belt 20. When the material in the material belt 20 is removed, the material 10 continues to enter the receiving channel 110 from the feed end 113 until the empty position of the material belt 20 where the material was removed is refilled with material, thereby ensuring that the material can be quickly replenished after it is continuously removed.

[0104] Following step S300, the receiving channel 110 further moves between the receiving position and the loading position. Before moving, the receiving channel 110 uses a second fluid channel to provide negative pressure to position the material on the material belt 20. The receiving position is where the receiving channel 110 receives the material; at this position, the material can be supplied by a feeding mechanism such as a vibratory feeder. The loading position is where the receiving channel 110 supplies material; a robotic arm, nozzle, gripper, or other picking mechanism picks up the material from the receiving channel 110 at the loading position. The movement of the receiving channel 110 allows for rapid switching between different positions; the negative pressure provided by the second fluid channel to position the material prevents it from falling out of the receiving channel during movement. The second fluid channel is connected to an air source.

[0105] Furthermore, the feeding end 113 and the closed end 114 of the receiving channel 110 are respectively equipped with a first sensor 115 and a second sensor 116. When the first sensor 115 detects a material, airflow is output through the first fluid channel; when the first sensor 115 and the second sensor 116 simultaneously detect a material, the second fluid channel switches from a pressureless state to a negative pressure state, and the receiving channel 110 moves from the receiving position to the feeding position. During feeding, the second fluid channel of the receiving channel 110 is in a pressureless state, that is, no negative or positive pressure is formed, so the material is not subject to the suction force of the second fluid channel, which facilitates its movement. When the last material Tn enters the receiving channel, the second fluid channel switches to a negative pressure state, and the resulting suction force holds the material. Optionally, the second fluid channel can adsorb at least one or more materials. Preferably, when the receiving channel limits the two sides of the material, it adsorbs the last material, so that the two sides and the beginning and end of the material belt can be limited, thereby preventing the material from falling off. At the same time, compared with adsorbing multiple materials, a simpler structure can be used to achieve this. When the receiving channel moves to the loading position, the second fluid channel switches to positive pressure, making it easier for the material to be removed.

[0106] The feeding method in this embodiment adopts a piece-by-piece feeding method with airflow assistance, which can prevent the material from stagnating after entering the receiving channel, and allow several materials to be arranged sequentially in the receiving channel to form a material belt for easy retrieval. At the same time, the material belt can move as a whole, which is convenient for moving between the receiving position and the feeding position; the second fluid channel can position and release the materials to prevent them from falling during the movement.

[0107] <Example 6>

[0108] In this embodiment, the parts that are the same as in embodiments one to five are given the same reference numerals, and the same text descriptions are omitted.

[0109] like Figures 1 to 6 and Figure 19As shown, compared to the aforementioned embodiments, this embodiment provides a feeding device for supplying small, lightweight components such as chips and electronic components. The feeding device includes the aforementioned receiving mechanism 100 and a feeding mechanism 300 disposed on one side of the receiving mechanism 100. The feeding mechanism 300 is used to convey the component 10 to the receiving mechanism 100. The feeding mechanism 300 can be an existing feeding mechanism such as a disc feeder or a tubular feeder. In this embodiment, the feeding mechanism 300 includes a vibrating bowl base 310 and a vibrating bowl 320 disposed on the vibrating bowl base 310. The vibrating bowl 320 vibrates, causing the component to enter the feeding channel 330 and move towards the receiving mechanism and be fed into the receiving channel 110 of the receiving mechanism 100. The receiving channel 110 is in a state of almost close contact with but not connected to the straight rail end of the vibrating bowl 1 during receiving, allowing lightweight components to enter the receiving channel, but the vibration of the straight rail end is not transmitted to the receiving channel, improving the stability of component picking. After the equipment is started, the vibrating bowl begins to work, the material is transported to the straight rail end, and the chips are delivered one by one to the receiving channel.

[0110] like Figure 19 As shown, the receiving channel 110 is further spaced apart from the feeding channel 330 of the feeding mechanism 300. The receiving channel 110 moves closer to or further away from the feeding mechanism 300 via the drive assembly 180. The separation of the receiving channel 110 and the feeding channel 330 prevents the feeding channel 330 from transmitting vibrations to the receiving channel when the feeding mechanism 300 vibrates, thus avoiding vibrations that could affect the feeding accuracy. When the receiving channel 110 is in the feeding position, the material in the feeding channel 330 passes through the gap between the receiving channel and the feeding channel and enters the receiving channel through the feed end. After the receiving channel 110 is full, it moves to the feeding position below the picking mechanism 400, and the picking mechanism 400 descends to pick up the material. In this embodiment, the picking mechanism 400 uses several suction nozzles to pick up the material.

[0111] <Example 7>

[0112] In this embodiment, the parts that are the same as in embodiments one through six are given the same reference numerals, and the same text descriptions are omitted.

[0113] like Figures 19 to 20As shown, this embodiment provides a picking mechanism 400, which is vertically and vertically configured above the receiving mechanism 100 to pick up materials. The picking mechanism 400 includes a plurality of picking heads 410 spaced apart. The picking heads move up and down synchronously, and each time they simultaneously pick up multiple materials 10 from the material belt. The number of picking heads 410 can be two or more, arranged in a straight line and spaced apart. When the picking mechanism is in the loading position, the arrangement direction of the picking heads is consistent with the material belt. Specifically, the picking heads are arranged along the direction of the material belt 20. From a top view, the picking heads and the material belt are on the same straight line, thereby ensuring that the picking heads can smoothly grab multiple materials 10 on the material belt 20.

[0114] Furthermore, each pickup head 410 corresponds to one component 10. Several pickup heads 410 pick up components 10 at intervals. When the component is a small element such as an IC chip, the size of the pickup head 410 is relatively large, and the distance between adjacent pickup heads 410 is greater than the size of two adjacent components 10, making it difficult to pick up adjacent components 10. By picking up components at intervals, two adjacent pickup heads can simultaneously pick up the first and fifth components, as long as the distance between the first to fifth components meets the distance between the two pickup heads. Simultaneously, by continuously acquiring components and pushing them forward through the receiving mechanism, the vacant positions after pickup can be quickly filled. In this embodiment, two pickup heads 410 are provided, corresponding to the positions of the first and last components in the receiving channel 110. The positions of the first and last components are a front upper position and a rear upper position outside the pushing cavity, respectively. During pickup, they pick up the first and last components 10 of the component belt.

[0115] like Figure 20 As shown, in this embodiment, the pickup head 410 is a suction nozzle, which adsorbs and releases materials through negative pressure. Two suction nozzles 410 are mounted on the clamping block 420, which is mounted on the guide rod assembly 440 of the mounting block 430.

[0116] like Figure 21 As shown, this embodiment also provides a feeding method applied to a feeding device, including:

[0117] S10: The feeding mechanism 300 supplies material to the receiving mechanism 100, and the receiving mechanism 100 receives the material 10 and arranges the material 10 continuously in a straight line to form a material belt 20;

[0118] S200: The picking mechanism 400 moves above the receiving mechanism 100. When the receiving mechanism 100 is in the feeding position, the picking mechanism 400 descends and picks up multiple parts 10 of the material belt 20 through several picking heads of the picking mechanism. Then it resets and rises to the position before descending.

[0119] Using the above method, the material 10 can be continuously fed to the receiving mechanism 100. After the picking head picks up multiple material parts, the empty positions of the material belt 20 are filled by subsequent material parts, reforming the material belt 20 for the next pickup by the picking head. The receiving channel 110 of the receiving mechanism 100 moves towards the feeding mechanism 300 to the receiving position when receiving material, and moves towards the picking mechanism 400 to the loading position after receiving. That is, step S10 is executed at the receiving position, and after step S20 is completed, one cycle is finished. By repeatedly moving the receiving channel 110 between the two positions, the above cycle is continuously executed, and the material belt 20 can be transported to the loading position as a whole. After each pickup by the picking mechanism, the receiving channel 110 moves to the loading position to replenish the material; for example, if two are picked up each time, two are replenished each time.

[0120] Furthermore, in step S10, when the receiving mechanism 100 is in the receiving position, the feeding mechanism 300 supplies the parts one by one to the receiving channel 110. When the parts are too weak to move within the receiving channel 110, the auxiliary airflow of the first fluid channel drives the parts to move to the closed end of the receiving channel. This prevents the parts from stagnating in the receiving channel and failing to form a material belt, thus preventing the picking mechanism from picking up the parts.

[0121] Furthermore, a first sensor 115 and a second sensor 116 are respectively installed at both ends of the receiving channel 110. After the first sensor 115 senses the material, the auxiliary airflow is activated. After both the first sensor 115 and the second sensor 116 detect the material, the receiving channel moves to the feeding position. By identifying and judging the material through the first and second sensors, it is possible to determine whether a material strip 20 has formed on the receiving channel 110, thereby controlling the timing of the receiving channel's movement. After the second sensor 116 detects the material 10, the auxiliary airflow is turned off. After both the first and second sensors detect the material 10, a negative pressure is generated through the second fluid channel to adsorb the last material, thus limiting the beginning and end of the material strip and preventing it from falling off during movement. When the receiving mechanism moves to the feeding position, the second fluid channel switches from negative pressure to positive pressure, facilitating the picking mechanism 400 to pick up the material.

[0122] <Example 8>

[0123] In this embodiment, the parts that are the same as those in Embodiments 1 to 7 are given the same reference numerals, and the same text descriptions are omitted.

[0124] like Figure 22As shown, this embodiment provides a sorting machine, which is used for sorting and testing materials and is commonly used in the semiconductor field. The sorting machine employs the feeding device or method described in the above embodiment. Multiple sets of picking mechanisms 400 are rotatably arranged along a circular ring. These picking mechanisms 400 are driven to rotate by a rotating device, which can be a servo motor, etc. Numerous examples of this have been disclosed in the art and will not be elaborated further. Each time a picking mechanism rotates a certain angle, when it reaches the feeding position, it descends to pick up the material, then rises to reset. The rotating device drives the picking mechanism to rotate, and the next set of picking mechanisms reaches the feeding position to continue picking up materials, thus enabling continuous material picking. The pickup heads 410 on the pickup mechanism 400 are arranged radially along the ring, and the rotation paths of the pickup heads are concentric circles. The receiving channel 110 of the receiving mechanism 100 is arranged radially along the ring. Compared with the receiving channel 110 being arranged tangentially relative to the ring, the arrangement in this embodiment can reduce the space occupied at the feeding position twice, so that detection devices can be arranged at the workstations on both sides of the feeding position.

[0125] Furthermore, in this embodiment, each pickup mechanism is provided with two pickup heads, which rotate along paths C1 and C2 respectively. C1 and C2 are concentric circles. It can be understood that three or more pickup heads can also be provided, arranged in the concentric circles.

[0126] In the above embodiments one to eight, during the working process, depending on the different working environments, some of the technical implementation methods of embodiments one to eight can be combined or replaced.

[0127] The technical principles of the present invention have been described above in conjunction with specific embodiments. However, it should be noted that these descriptions are merely for explaining the principles of the present invention and should not be construed as limiting the scope of protection of the present invention in any way. Based on this explanation, those skilled in the art can conceive of other specific embodiments or equivalent substitutions of the present invention without creative effort, and all such embodiments will fall within the scope of protection of the present invention.

Claims

1. A feeding device, characterized in that, include: A feeding mechanism is used to supply materials; The receiving mechanism, located downstream of the feeding mechanism, is used to receive materials and arrange several materials continuously in a straight line to form a material belt. The picking mechanism is vertically mounted above the receiving mechanism to pick up materials. The picking mechanism includes several picking heads arranged at intervals. The picking heads move up and down synchronously, and each time the picking heads pick up multiple materials along with the material.

2. The feeding device according to claim 1, characterized in that, The receiving mechanism includes a receiving channel, in which adjacent parts are arranged close together. When the picking mechanism is in the feeding position, the arrangement direction of the plurality of picking heads is consistent with that of the material belt.

3. The feeding device according to claim 2, characterized in that, One end of the receiving channel is the feeding end, and the other end is the closed end, with the material strip arranged between the feeding end and the closed end.

4. The feeding device according to claim 3, characterized in that, Each pickup head corresponds to one part, and several pickup heads pick up parts at intervals.

5. The feeding device according to claim 4, characterized in that, There are two pickup heads, which correspond to the positions of the first and last material parts in the receiving channel. During pickup, the first and last material parts of the material belt are picked up respectively.

6. The feeding device according to claim 2, characterized in that, The receiving mechanism includes a drive component, which drives the receiving channel to reciprocate between the feeding structure and the picking mechanism.

7. The feeding device according to any one of claims 1 to 6, characterized in that, The receiving mechanism includes a pushing cavity for providing thrust to the material, and the receiving channel of the receiving mechanism passes through the pushing cavity.

8. The feeding device according to claim 7, characterized in that, The receiving mechanism includes a first fluid channel, which is connected to the pushing chamber to provide fluid to push the material.

9. The feeding device according to claim 8, characterized in that, The receiving channel is at least partially covered by the pushing cavity, and the two ends of the receiving channel are respectively provided with a front feeding section and a rear feeding section, which are located outside the pushing cavity.

10. The feeding device according to claim 9, characterized in that, The receiving channel is equipped with a first sensor and a second sensor at its two ends. The first sensor detects the material at the feeding end of the receiving channel, and the second sensor detects the material at the closed end of the receiving channel.

11. A feeding method, characterized in that, include: The feeding mechanism supplies materials to the receiving mechanism, which receives the materials and provides auxiliary thrust to continuously arrange the materials into a material belt. When the picking mechanism moves above the receiving mechanism and the receiving mechanism is in the feeding position, the picking mechanism descends and picks up multiple parts of the material conveyor belt through several picking heads, and then resets.

12. The feeding method according to claim 11, characterized in that, When receiving materials, the receiving channel of the receiving mechanism moves towards the receiving position in the direction of the feeding mechanism, and after receiving the materials, it moves towards the loading position in the direction of the picking mechanism.

13. The feeding method according to claim 12, characterized in that, When the receiving mechanism is in the receiving position, the feeding mechanism supplies the material to the receiving channel one piece at a time. When the material is unable to move within the receiving channel due to insufficient power, the material is driven to the closed end of the receiving channel by the auxiliary airflow of the first fluid channel.

14. The feeding method according to claim 13, characterized in that, A first sensor and a second sensor are respectively installed at both ends of the receiving channel. After the first sensor detects the material, the auxiliary airflow is activated. After both the first sensor and the second sensor detect the material, the receiving channel moves to the upward material position.

15. The feeding method according to claim 14, characterized in that, After the second sensor detects the material, the auxiliary airflow is turned off. After both the first and second sensors detect the material, a negative pressure is generated through the second fluid channel to adsorb the last material.

16. The feeding method according to claim 15, characterized in that, When the receiving mechanism moves to the feeding position, the second fluid channel switches from negative pressure to positive pressure, which facilitates the picking mechanism to pick up the material.

17. A sorting machine, characterized in that, The feeding device includes any one of claims 1 to 10, wherein there are multiple sets of picking mechanisms, and the multiple sets of picking mechanisms are rotatably arranged along a circular ring.

18. The sorting machine according to claim 17, characterized in that, The plurality of pickup heads are arranged radially along the ring, and the rotation paths of the plurality of pickup heads are concentric circles. The receiving channel of the receiving mechanism is arranged radially along the ring.

19. A sorting machine, characterized in that, Configured to perform the feeding method as described in any one of claims 11 to 16.

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