A double-hopper reversible position type semi-solid material quantitative feeding device and method

Abstract

The application discloses a kind of double hopper reversible position type semi-solid material quantitative feeding device and method, it is related to packaging machinery technical field.The method obtains the residual material data of current feeding hopper and to be enabled feeding hopper and the working position and working state of three quantitative cavities, when meeting the feeding hopper switching condition, determine the rotation sequence that rotary table first rotates a graduation position along current feeding hopper normal feeding direction, then rotates a graduation position along opposite direction, and control to be enabled feeding hopper feeding, so that the first material formed enters discharge station.The device includes two feeding hoppers, feeding mechanism, rotary table, three quantitative cavities, residual material detection piece and controller, and can improve the continuity and reliability of quantitative feeding in the process of feeding hopper switching.

Description

Technical Field

[0001] This invention relates to the field of packaging machinery technology, specifically to a dual-hopper reversible semi-solid material quantitative feeding device and method. Background Technology

[0002] Semi-solid materials have characteristics such as high viscosity, unstable flowability and easy adhesion. In the packaging production of meat fillings, sauces and pastes, continuous quantitative feeding is completed by feeding, forming quantitative materials in the quantitative cavity, transposition and ejection.

[0003] In the prior art, CN214931052U discloses a chili sauce quantitative filling machine, which is used to quantitatively fill chili oil and chili flakes, and is equipped with a positioning turntable and a quantitative injection device.

[0004] The quantitative feeding device includes a storage tank, a dispensing turntable, multiple quantitative dispensing cylinders, a cylinder, and a discharge port. The storage tank supplies material to the quantitative dispensing cylinders that rotate intermittently with the dispensing turntable. After the quantitative dispensing cylinders rotate to the discharge position, the cylinders push the material out through the discharge port.

[0005] However, in scenarios where two feeding hoppers share three metering chambers and need to continuously switch feeding, when the remaining material in the current feeding hopper is close to insufficient, the existing solution has difficulty in determining the corresponding turntable rotation sequence based on the remaining material data of the two feeding hoppers and the working position and working status of the three metering chambers. This can easily cause metering chambers that have not completed feeding or whose status is uncertain to enter the discharge station, resulting in feeding interruption or abnormal feeding amount.

[0006] Therefore, it is still necessary to provide a dual-hopper reversible semi-solid material quantitative feeding device and method to improve the continuity and reliability of semi-solid material quantitative feeding during the switching process of the feeding hopper. Summary of the Invention

[0007] To overcome the aforementioned deficiencies of the prior art, embodiments of the present invention provide a dual-hopper reversible semi-solid material quantitative feeding device and method. By acquiring the remaining material data of the two feeding hoppers and the working positions and states of the three quantitative chambers, the rotation sequence of the turntable during feeding hopper switching is determined, and the feeding of the feeding hopper to be activated and the reversible rotation of the turntable are controlled, thereby solving the problems mentioned in the background art.

[0008] To achieve the above objectives, the present invention provides the following technical solution: A method for quantitative feeding of semi-solid materials using a dual-hopper reversible displacement system, the method comprising: acquiring remaining material data of the current feeding hopper and the feeding hopper to be activated in two feeding hoppers, as well as the working positions and working states of three metering chambers; when it is determined based on the remaining material data of the current feeding hopper that the feeding hopper switching conditions are met, determining the turntable rotation sequence during feeding hopper switching based on the working positions and working states of the three metering chambers; controlling the feeding hopper to be activated to feed material, and controlling the turntable to rotate according to the turntable rotation sequence, so that the material formed in the feeding hopper to be activated enters the discharge station.

[0009] In a preferred embodiment, satisfying the hopper switching conditions includes: the remaining material data of both the current hopper and the hopper to be activated are valid; the remaining material mass of the current hopper is less than or equal to the hopper switching threshold corresponding to the current hopper; the remaining material mass of the hopper to be activated is greater than or equal to the sum of the average reduction in hopper mass, unusable residual mass, and reserved mass corresponding to the hopper to be activated; the current feeding cycle corresponding to the current hopper has ended; the working state of the metering cavity at the feeding station corresponding to the current hopper is empty, the working state of the metering cavity at the feeding station corresponding to the hopper to be activated is empty, and the working state of the metering cavity at the discharging station is either completed feeding or waiting for discharging.

[0010] In a preferred embodiment, determining the turntable rotation sequence during hopper switching based on the working positions and states of the three metering cavities includes: identifying the metering cavity at the feeding station corresponding to the current feeding hopper and in an empty state as the first target metering cavity; identifying the metering cavity at the discharging station, in a state of completed feeding or waiting for discharging, and capable of rotating with the turntable to the feeding station corresponding to the feeding hopper to be activated after discharging as the second target metering cavity; and determining the turntable rotation sequence by first rotating the turntable one division position along the rotation direction used when the current feeding hopper is normally feeding, and then rotating it one division position in the opposite direction.

[0011] In a preferred embodiment, controlling the turntable to rotate one indexing position along the rotation direction used when the current feeding hopper is normally feeding includes: while the turntable is locked at the work position, controlling the current feeding hopper to complete the last feeding to the first target metering cavity, and controlling the vertical piston assembly corresponding to the discharge station to make the second target metering cavity complete the discharge; after the first target metering cavity completes the last feeding and records the working status as completed feeding, the second target metering cavity completes the discharge and records the working status as empty, both feeding mechanisms and both pneumatic conveyors stop, and the vertical pistons in the three vertical piston assemblies respectively corresponding to the two loading stations and the discharge station are all withdrawn to their positions, the work position lock is released; controlling the turntable to rotate one indexing position along the rotation direction used when the current feeding hopper is normally feeding, so that the first target metering cavity enters the discharge station, and the second target metering cavity enters the loading station corresponding to the feeding hopper to be activated; after the turntable reaches the target indexing position and the current position is valid, controlling the turntable to complete the work position lock.

[0012] In a preferred embodiment, controlling the turntable to rotate another indexing position in the opposite direction to the rotation direction includes: while the turntable remains locked at the work position, controlling the vertical piston assembly corresponding to the discharge work position to discharge the last portion of material formed by the current feeding hopper from the first target metering cavity, and controlling the feeding mechanism and pneumatic conveyor corresponding to the feed hopper to be activated to complete the first feeding to the second target metering cavity; confirming that the first target metering cavity has completed discharging and recording the working status as empty cavity, confirming that the second target metering cavity has completed the first feeding and recording the working status as completed feeding, and the feed hopper to be activated after the first feeding... The remaining material data is valid, and the mass reduction corresponding to the first feeding is within the allowable range for feeding completion; when both feeding mechanisms and both pneumatic conveyors have stopped, the vertical pistons in the three vertical piston assemblies have all retracted into position, the current position of the turntable is valid, and the station lock status is locked, the station lock is released; the turntable is controlled to rotate one indexing position in the opposite direction to the rotation direction used when the current feeding hopper is normally feeding, so that the second target quantitative cavity enters the discharge station; after the turntable reaches the target indexing position and the current position is valid, the turntable is controlled to complete the station lock, and the feeding hopper to be used is determined as the current feeding hopper.

[0013] In a preferred embodiment, determining whether the current feeding hopper has completed its last feeding or the feeding hopper to be activated has completed its first feeding includes: obtaining the remaining material mass of the feeding hopper before feeding; after the corresponding feeding mechanism and pneumatic conveyor stop, and after a stabilization waiting time for the remaining material detection value to reach a stable condition, obtaining the remaining material mass of the feeding hopper after feeding; confirming that the remaining material data corresponding to the remaining material mass before feeding and the remaining material mass after feeding are both valid, and determining the current feeding based on the remaining material mass before feeding and the remaining material mass after feeding. The amount of mass reduction corresponding to the feeding; if the amount of mass reduction is within the allowable range of feeding completion corresponding to the material in the feeding hopper and the current feeding specification, and the corresponding feeding mechanism completes one feeding action and the corresponding pneumatic conveyor completes the suction and pushing actions, the working status of the corresponding metering chamber is recorded as feeding completed; if the amount of mass reduction is not within the allowable range of feeding completion, or the corresponding feeding mechanism has not completed one feeding action, or the corresponding pneumatic conveyor has not completed the suction and pushing actions, the working status of the corresponding metering chamber is recorded as uncertain, the workstation is locked and the feeding hopper switching is stopped.

[0014] In a preferred embodiment, the process of determining the switching threshold of the feeding hopper corresponding to any feeding hopper includes: determining a feeding cycle that meets the following conditions as an effective feeding cycle: the remaining material data before and after feeding are both valid, the feeding mechanism completes one feeding action, the pneumatic conveyor completes the suction and pushing actions, the current position of the turntable is valid and the station lock state is locked when the feeding action is performed and the remaining material mass before and after feeding is obtained, the working state of the corresponding metering chamber can be determined, and no replenishment, cleaning, emergency stop, or manual intervention occurs; based on the remaining material mass before and after feeding in multiple effective feeding cycles, determining the average reduction in the feeding hopper mass when forming a material that meets the current feeding specification; based on the feeding hopper running until it can no longer complete a feeding that meets the current feeding specification, the feeding hopper, the The unusable residual mass corresponding to the feeding hopper is determined by the mass of the remaining material at the feeding outlet of the feeding hopper and the mass of the remaining material in the pneumatic conveyor corresponding to the feeding hopper. The reserved mass corresponding to the feeding hopper is determined based on the residual material detection error, the range of mass reduction in multiple effective feeding cycles, the mass reduction corresponding to one feeding cycle that may occur between two adjacent feeding hopper switching conditions, and the mass reduction corresponding to at least one normal feeding cycle after the feeding hopper switching is completed. The number of material portions that the current feeding hopper still needs to form before the feeding hopper switching is completed is determined as one portion based on the working position and working state of the three metering chambers at the start of the feeding hopper switching. The feeding hopper switching threshold corresponding to the feeding hopper is determined based on the number of material portions, the average mass reduction of the feeding hopper, the unusable residual mass, and the reserved mass.

[0015] A dual-hopper reversible semi-solid material quantitative feeding device includes two feeding hoppers, two feeding mechanisms corresponding to the two feeding hoppers, a turntable, a turntable drive mechanism for driving the turntable to rotate, three quantitative chambers disposed on the turntable, two residual material detection elements for detecting residual material in the two feeding hoppers, and a controller; the turntable has two loading stations and one discharging station corresponding to the two feeding hoppers on its circumference; the turntable drive mechanism drives the turntable to rotate in two opposite directions, so that the three quantitative chambers are in the two loading stations... The controller is used to switch between the current feeding hopper and the discharge station; it is used to acquire the remaining material data of the current feeding hopper and the feeding hopper to be activated in the two feeding hoppers, as well as the working position and working status of the three metering chambers. When it is determined that the feeding hopper switching conditions are met based on the remaining material data of the current feeding hopper, the controller determines the turntable rotation sequence when switching the feeding hopper based on the working position and working status of the three metering chambers, and controls the feeding mechanism corresponding to the feeding hopper to be activated to feed material and controls the turntable to rotate according to the turntable rotation sequence, so that the material formed in the feeding hopper to be activated enters the discharge station.

[0016] In a preferred embodiment, the system further includes two pneumatic conveyors corresponding to the two feeding hoppers, an annular cutter assembly cooperating with the three metering cavities, three vertical piston assemblies corresponding to the two feeding stations and the discharge station, a turntable indexing position confirmation and station locking assembly, and a receiving container disposed below the discharge station. Each vertical piston assembly includes a vertical piston, a drive component for driving the vertical piston to rise and fall, and a withdrawal confirmation component for confirming that the vertical piston has withdrawn to the correct position. The turntable indexing position confirmation and station locking assembly is used to confirm the indexing position of the turntable and lock the turntable at the target indexing position. The vertical piston assembly corresponding to the discharge station is used to push the material in the metering cavity located at the discharge station. The material is discharged to the receiving container; the controller is connected to the two feeding mechanisms, the turntable drive mechanism, the two remaining material detection devices, the two pneumatic conveyors, the three vertical piston assemblies, and the turntable indexing position confirmation and station locking assembly; the controller is used to control the feeding mechanism and pneumatic conveyor corresponding to the feeding hopper to perform feeding actions when the current position of the turntable is valid and the station locking state is locked, and to control the vertical piston assembly corresponding to the station performing feeding or discharging to perform lifting actions; the controller is also used to control the turntable drive mechanism to drive the turntable to rotate when the vertical pistons in the three vertical piston assemblies are all out of position, the two feeding mechanisms and the two pneumatic conveyors are all stopped, and the station locking state is released.

[0017] In a preferred embodiment, the system further includes two cleaning nozzles, two solenoid valves respectively disposed on the liquid supply lines of the two cleaning nozzles, and a water tank; the two cleaning nozzles are each disposed below the annular cutter assembly and are radially spaced along the annular cutter assembly, with each cleaning nozzle facing a different radial region of the lower surface of the annular cutter assembly; the water tank is disposed below the annular cutter assembly and the two cleaning nozzles, and is used to collect the cleaning liquid sprayed from the two cleaning nozzles and residual material detached from the lower surface of the annular cutter assembly; the controller is connected to the two solenoid valves respectively, for... When the current feeding cycle ends, both feeding mechanisms and both pneumatic conveyors stop, the vertical pistons in the three vertical piston assemblies retract into position, the current position of the turntable is valid, and the station lock state is locked, the controller controls one of the two solenoid valves to open, or controls both solenoid valves to open simultaneously, according to the cleaning command, so that the corresponding cleaning nozzle cleans the corresponding radial area on the lower surface of the annular cutter assembly; the controller is also used to allow the next feeding cycle to be executed after a preset drainage waiting time after outputting a closing command to one or two of the solenoid valves that are open during cleaning.

[0018] The present invention has the following beneficial effects: This invention obtains the remaining material data of two feeding hoppers and the working position and working status of three quantitative cavities. When the current feeding hopper meets the switching conditions, it determines the rotation sequence of the turntable, so that the material formed by the feeding hopper to be activated can enter the discharge station according to the predetermined station relationship, reducing the probability of empty cavity discharge, abnormal feeding status or interruption of material connection during the feeding hopper switching process.

[0019] This invention controls the turntable to rotate one indexing position along the normal feeding direction of the current hopper, and then rotates one indexing position in the opposite direction, so that the last batch of material formed in the current hopper is discharged, and the first batch of material formed in the hopper to be used enters the discharge station in a predetermined station sequence, thereby improving the feeding continuity during the switching process of the two hoppers.

[0020] This invention also interlocks and constrains the feeding, discharging, and turntable indexing actions through residual material detection, feeding completion confirmation, turntable position confirmation, workstation locking, and vertical piston withdrawal confirmation. Furthermore, it completes the cleaning of corresponding areas through two independently controlled cleaning nozzles, which helps to improve the reliability and operational safety of the semi-solid material quantitative dispensing process. Attached Figure Description

[0021] Figure 1 This is a schematic diagram of the overall structure of the device of the present invention.

[0022] Figure 2This is a schematic diagram of the two cleaning nozzles and the solenoid valve structure of the present invention.

[0023] Figure 3 This is a schematic diagram showing the relationship between the turntable, three quantitative chambers, and three workstations of the present invention.

[0024] Figure 4 This is a schematic diagram of the normal feeding cycle process of the present invention.

[0025] Figure 5 This is a schematic diagram illustrating the calibration of the switching threshold and the determination of switching conditions for the feeding hopper in this invention.

[0026] Figure 6 This is a schematic diagram showing the change in the position of the metering chamber during the switching process of the feeding hopper in this invention.

[0027] Figure 7 This is a schematic diagram of the feeding completion confirmation and quantitative cavity status update process of the present invention.

[0028] Figure 8 This is a schematic diagram illustrating the interlocking relationship between the feeding, discharging, and turntable rotation of the present invention.

[0029] Figure 9 This is a schematic diagram of the cleaning control of the present invention.

[0030] Figure 10 This is a schematic diagram of the control state transition of the present invention.

[0031] 100. Double-hopper reversible semi-solid material quantitative feeding device; 200. First feeding hopper; 210. First residual material detection element; 220. First feeding mechanism; 230. First pneumatic conveyor; 300. Second feeding hopper; 310. Second residual material detection element; 320. Second feeding mechanism; 330. Second pneumatic conveyor; 400. Turntable; 410. Turntable drive mechanism; 420. First quantitative chamber; 430. Second quantitative chamber; 440. Third quantitative chamber; 4 50. First loading station; 460. Unloading station; 470. Second loading station; 480. Turntable indexing position confirmation and station locking assembly; 490. Circular cutter assembly; 500. Water tank; 510. Vertical piston assembly for the first loading station; 520. Vertical piston assembly for the unloading station; 530. Vertical piston assembly for the second loading station; 600. First cleaning nozzle; 610. First solenoid valve; 620. Second cleaning nozzle; 630. Second solenoid valve; 700. Receiving container. Detailed Implementation

[0032] 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 only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0033] This invention is applicable to the continuous quantitative dispensing of semi-solid materials in food, daily chemical products, and other production processes. The semi-solid materials can be meat paste, fillings, jams, thick seasonings, pastes, or mixtures containing transportable particles.

[0034] Continuous switching between two hoppers is suitable for materials with the same formula loaded in both hoppers, or materials that can be continuously fed in as confirmed by the production process. When the materials in the two hoppers cannot be directly fed in terms of formula, color, odor, allergens, or cleaning requirements, the controller prohibits continuous hopper switching. The device stops after the material that has been fed is discharged, and feeding resumes after cleaning, rinsing, and initialization are completed.

[0035] Example 1, as Figures 1 to 3 As shown, the dual-hopper reversible semi-solid material quantitative feeding device 100 includes a first feeding hopper 200, a first residual material detection element 210, a first feeding mechanism 220, a first pneumatic conveyor 230, a second feeding hopper 300, a second residual material detection element 310, a second feeding mechanism 320, a second pneumatic conveyor 330, a turntable 400, a turntable drive mechanism 410, a first quantitative chamber 420, a second quantitative chamber 430, a third quantitative chamber 440, and a first... The system includes a feeding station 450, a discharging station 460, a second feeding station 470, a turntable indexing position confirmation and station locking assembly 480, a ring cutter assembly 490, a water tank 500, a vertical piston assembly for the first feeding station 510, a vertical piston assembly for the discharging station 520, a vertical piston assembly for the second feeding station 530, a first cleaning nozzle 600, a first solenoid valve 610, a second cleaning nozzle 620, a second solenoid valve 630, a receiving container 700, and a controller.

[0036] The first feeding hopper 200 is correspondingly set with the first loading station 450. The first remaining material detection element 210 is used to detect the remaining material in the first feeding hopper 200. The first feeding mechanism 220 and the first pneumatic conveyor 230 are set between the first feeding hopper 200 and the first loading station 450, and are used to transport the semi-solid material in the first feeding hopper 200 to the metering chamber located in the first loading station 450.

[0037] The second feeding hopper 300 is correspondingly arranged with the second loading station 470. The second remaining material detection element 310 is used to detect the remaining material in the second feeding hopper 300. The second feeding mechanism 320 and the second pneumatic conveyor 330 are arranged between the second feeding hopper 300 and the second loading station 470, and are used to transport the semi-solid material in the second feeding hopper 300 to the metering chamber located in the second loading station 470.

[0038] The first metering cavity 420, the second metering cavity 430, and the third metering cavity 440 are disposed on the turntable 400 and arranged at intervals along the circumference of the turntable 400. The first loading station 450, the unloading station 460, and the second loading station 470 are arranged around the turntable 400. The turntable drive mechanism 410 can drive the turntable 400 to rotate in two opposite directions, so that the first metering cavity 420, the second metering cavity 430, and the third metering cavity 440 can switch between the first loading station 450, the unloading station 460, and the second loading station 470, respectively.

[0039] With the first quantitative cavity 420, the second quantitative cavity 430, and the third quantitative cavity 440 arranged at equal intervals, the central angle between two adjacent quantitative cavities is 120 degrees, and the rotation angle of the turntable 400 when it rotates to one indexing position is 120 degrees. The actual indexing angle of the turntable 400 is determined based on the arrangement relationship between the three quantitative cavities and the three workstations.

[0040] When the first feeding hopper 200 is feeding normally, the turntable 400 rotates in the direction that allows the metering cavity at the first feeding station 450 to enter the discharge station 460. When the second feeding hopper 300 is feeding normally, the turntable 400 rotates in the direction that allows the metering cavity at the second feeding station 470 to enter the discharge station 460. The rotation directions of the first feeding hopper 200 and the second feeding hopper 300 are opposite during normal feeding.

[0041] An annular cutter assembly 490 is positioned in the metering area of ​​the turntable 400 and engages with the metering cavity entering the corresponding station. After the semi-solid material enters the metering cavity, the annular cutter assembly 490 defines the circumferential boundary of the material. When the turntable 400 rotates in an indexing motion, the cutting edge of the annular cutter assembly 490 engages with the edge of the metering cavity, separating the material in the metering cavity from the continuous material in the feeding path. The annular cutter assembly 490 is fixedly positioned above the turntable 400, which drives the first metering cavity 420, the second metering cavity 430, and the third metering cavity 440 to rotate in an indexing motion relative to the annular cutter assembly 490. When the metering cavity leaves the corresponding feeding station, the cutting edge of the annular cutter assembly 490 moves relative to the edge of the metering cavity to separate the material in the metering cavity from the continuous material in the feeding path.

[0042] The turntable indexing position confirmation and station locking component 480 is used to confirm the indexing position of the turntable 400, and lock the turntable 400 after the first quantitative cavity 420, the second quantitative cavity 430 and the third quantitative cavity 440 are aligned with the first feeding station 450, the discharging station 460 and the second feeding station 470 respectively.

[0043] In one embodiment, the position confirmation part of the turntable indexing position confirmation and station locking assembly 480 includes a position marker that rotates with the turntable 400 and a position detection element set at a fixed position. The station locking part includes a locking drive, a locking element, and a locking engagement part corresponding to the three indexing positions.

[0044] After the turntable 400 reaches the target indexing position, the locking drive drives the locking member to enter the corresponding locking engagement part. When the locking member enters the locking position, the turntable indexing position confirmation and station locking component 480 outputs a locked result; when the locking member exits the locking position, the turntable indexing position confirmation and station locking component 480 outputs a released result.

[0045] The vertical piston assembly 510 of the first feeding station is positioned above the first feeding station 450, and the vertical piston assembly 530 of the second feeding station is positioned above the second feeding station 470. The vertical piston assembly 510 of the first feeding station and the vertical piston assembly 530 of the second feeding station respectively cooperate with the metering chamber located at the corresponding feeding station to limit the material volume.

[0046] The vertical piston assembly 520 at the discharge station is positioned above the discharge station 460, and the receiving container 700 is positioned below the discharge station 460. When the vertical piston assembly 520 at the discharge station moves downward into the metering chamber located at the discharge station 460, it pushes the semi-solid material in the metering chamber into the receiving container 700.

[0047] The vertical piston assembly 510 at the first loading station, the vertical piston assembly 520 at the unloading station, and the vertical piston assembly 530 at the second loading station all include a vertical piston, a drive component for driving the vertical piston to rise and fall, and a withdrawal confirmation component for confirming that the vertical piston has withdrawn into place.

[0048] When the vertical pistons of the first feeding station vertical piston assembly 510, the discharge station vertical piston assembly 520, and the second feeding station vertical piston assembly 530 retract into position, the lower end of the vertical piston leaves the rotation area of ​​the turntable 400 and the annular cutter assembly 490.

[0049] The first cleaning nozzle 600 and the second cleaning nozzle 620 are disposed below the annular cutter assembly 490. The first solenoid valve 610 is disposed on the liquid supply line of the first cleaning nozzle 600, and the second solenoid valve 630 is disposed on the liquid supply line of the second cleaning nozzle 620.

[0050] A water tank 500 is located below the annular cutter assembly 490, the first cleaning nozzle 600, and the second cleaning nozzle 620, and is used to collect the cleaning fluid and residual material that has detached from the lower surface of the annular cutter assembly 490.

[0051] The controller is connected to the first remaining material detection device 210, the first feeding mechanism 220, the first pneumatic conveyor 230, the second remaining material detection device 310, the second feeding mechanism 320, the second pneumatic conveyor 330, the turntable drive mechanism 410, the turntable indexing position confirmation and station locking component 480, the first loading station vertical piston assembly 510, the unloading station vertical piston assembly 520, the second loading station vertical piston assembly 530, the first solenoid valve 610, and the second solenoid valve 630.

[0052] During operation, the first feed hopper 200 and the second feed hopper 300 serve as the current feed hopper and the feed hopper to be activated, respectively. The current feed hopper is the one that is currently conveying material into the metering chamber, while the feed hopper to be activated is the one that is in a waiting state and can continue to feed material after the feed hopper is switched.

[0053] After the feeding hopper is switched, the feeding hopper to be used is determined as the new current feeding hopper, and the original current feeding hopper stops feeding and enters a waiting state or a replenishment state.

[0054] Example 2, as Figure 1 As shown, the first remaining material detection unit 210 obtains the remaining material data of the first feeding hopper 200, and the second remaining material detection unit 310 obtains the remaining material data of the second feeding hopper 300.

[0055] In this embodiment, both the first remaining material detection element 210 and the second remaining material detection element 310 adopt a weighing detection method. The controller determines the remaining material mass in the first feeding hopper 200 based on the current detected mass of the first feeding hopper 200 and the empty reference mass, and determines the remaining material mass in the second feeding hopper 300 based on the current detected mass of the second feeding hopper 300 and the empty reference mass.

[0056] Each set of remaining material data includes the hopper identifier, remaining material mass, unit of measurement, data collection time, data validity flag, over-range flag, and anomaly flag. The hopper identifier is used to distinguish between the first hopper 200 and the second hopper 300.

[0057] When the detection value of the first remaining material detector 210 or the second remaining material detector 310 exceeds the detection range, exceeds the allowed data update time without updating, fails to reach a stable condition, or does not correspond to the feeding action, the controller marks the corresponding remaining material data as invalid.

[0058] During the operation of the first feeding mechanism 220 or the first pneumatic conveyor 230, the detection value of the first remaining material detection element 210 may be affected by vibration and feeding force. During the operation of the second feeding mechanism 320 or the second pneumatic conveyor 330, the detection value of the second remaining material detection element 310 may be affected by vibration and feeding force.

[0059] The detection values ​​obtained during the feeding process are used to record the trend of change, and are not directly used to determine whether the feeding is completed or whether the feeding hopper is switched.

[0060] After the first feeding mechanism 220 and the first pneumatic conveyor 230 stop, the controller collects the output value of the first remaining material detection device 210 after a stabilization waiting period. After the second feeding mechanism 320 and the second pneumatic conveyor 330 stop, the controller collects the output value of the second remaining material detection device 310 after a stabilization waiting period.

[0061] The stabilization waiting time is calibrated based on the time required for the weighing detection value to stabilize after the first feeding mechanism 220, the first pneumatic conveyor 230, the second feeding mechanism 320, and the second pneumatic conveyor 330 have stopped.

[0062] After a stabilization waiting period, the controller continuously acquires multiple detection values ​​and determines the maximum and minimum values ​​among them. When the difference between the maximum and minimum values ​​is less than or equal to the stabilization allowable value, the controller uses the average of the multiple detection values ​​as the remaining material mass for this acquisition.

[0063] The stable allowable value is calibrated based on the detection accuracy of the first remaining material detection element 210 and the second remaining material detection element 310, the normal vibration after the feeding mechanism stops, and the operating environment of the double hopper reversible semi-solid material quantitative feeding device 100.

[0064] If the detected value cannot reach the stable condition within the allowed time for data stability, the controller outputs an unstable data result, marks the remaining material data as invalid, and prohibits the use of the data to determine whether feeding is complete or whether the feeding hopper switching conditions are met.

[0065] If the remaining material data is not updated within the allowed data update time, the controller outputs a data timeout result and marks the corresponding remaining material data as invalid. The allowed data stabilization time is determined based on the maximum normal time required for the detected value to reach a stable condition after the feeding action stops, and the allowed data update time is determined based on the normal acquisition cycle of the remaining material detector and the data communication cycle of the controller.

[0066] When the first hopper 200 or the second hopper 300 is in an unloaded state, the corresponding feeding mechanism and pneumatic conveyor stop, and the detection value reaches a stable condition, the controller can perform zero-point calibration.

[0067] The no-load status is confirmed by the operator after emptying the corresponding hopper, or by the no-load confirmation result output by the pre-set hopper emptying process.

[0068] The controller calculates the average of multiple stable detection values ​​under no-load conditions and compares the average value with a saved no-load reference value. The zero-point allowable correction range is determined based on the detection accuracy of the remaining material detector and the variation range of multiple stable no-load detection values.

[0069] When the difference between the current no-load detection value and the no-load reference value is within the zero-point allowable correction range, the controller updates the no-load reference value. When the difference exceeds the zero-point allowable correction range, the controller does not update the no-load reference value and marks the corresponding remaining material data as invalid.

[0070] If there is still material in the first hopper 200 or the second hopper 300, and the corresponding feeding mechanism or pneumatic conveyor is in operation, or if the detection value has not reached a stable condition, the controller will not perform automatic zero-point calibration.

[0071] Example 3, as Figure 3 As shown, the turntable indexing position confirmation and station locking component 480 is used to obtain the current position and station locking status of the turntable 400.

[0072] The current position of turntable 400 includes the first graduation position, the second graduation position, the third graduation position, and the unknown position. The position data of turntable 400 also includes the target graduation position, the valid position flag, and the acquisition time.

[0073] The workstation locking status includes locked, unlocked, locking in progress, unlocking in progress, and abnormal status.

[0074] The vertical piston assembly 510 at the first loading station, the vertical piston assembly 520 at the unloading station, and the vertical piston assembly 530 at the second loading station respectively output exit confirmation results: exited, not exited, or signal abnormal.

[0075] The controller records the working position and working status of the first quantitative cavity 420, the second quantitative cavity 430 and the third quantitative cavity 440 respectively.

[0076] The components of the first metering cavity 420, the second metering cavity 430 and the third metering cavity 440 remain unchanged, and their working positions change between the first loading station 450, the unloading station 460 and the second loading station 470 as the turntable 400 rotates.

[0077] The working states of the metering cavity include empty cavity, feeding in progress, feeding completed, waiting to discharge, discharging in progress, and uncertain state.

[0078] An empty cavity indicates that the corresponding metering cavity has finished discharging material, or that it has been confirmed that there is no material to be added, and the next feeding can be received according to the current feeding process.

[0079] The term "feeding" indicates that the first feeding mechanism 220 and the first pneumatic conveyor 230, or the second feeding mechanism 320 and the second pneumatic conveyor 330, are feeding materials into the corresponding metering chamber.

[0080] "Feeding Completed" indicates that the corresponding metering chamber has completed one feeding control process that conforms to the current feeding specifications.

[0081] The "Waiting to Discharge" indicator means that the metering chamber that has completed feeding leaves the corresponding feeding station with the turntable 400, but has not yet started discharging.

[0082] The discharge indicates that the vertical piston assembly 520 at the discharge station is pushing material out of the metering chamber located at the discharge station 460.

[0083] An uncertain status indicates that the controller cannot confirm whether there is material to be added in the metering chamber, or whether the metering chamber has completed the feeding or discharging process that meets the current feeding specifications.

[0084] An uncertain state is mutually exclusive with other operating states. A metering chamber in an uncertain state must not be designated as a metering chamber for forming the last batch of material in the current feed hopper, a metering chamber for receiving the first batch of material in a feed hopper to be activated, or a metering chamber for normal discharge.

[0085] When the metering chamber that has completed feeding leaves the first feeding station 450 or the second feeding station 470 with the turntable 400, and has not yet entered the discharge station 460, the controller updates its working status to waiting for discharge.

[0086] When the metering chamber, which is in a working state of completed feeding or waiting to be discharged, enters the discharge station 460 and begins to discharge, the controller updates its working state to discharge.

[0087] After the vertical piston assembly 520 at the discharge station completes its downward stroke and returns to the exit position, the controller updates the working status of the corresponding metering chamber to empty. The completion result of the downward stroke of the vertical piston is determined based on the internal position completion signal output by the corresponding drive component, the stroke completion signal, or the action completion result output by the existing control system. The exit position result is determined based on the corresponding exit position confirmation signal. This empty chamber state indicates that the corresponding metering chamber has completed the predetermined discharge action and is ready to receive the next feed, without relying on the absence of any adhering residue in the metering chamber as a judgment condition.

[0088] After being powered on, the dual-hopper reversible semi-solid material quantitative feeding device 100 enters the initialization state. The controller closes the first solenoid valve 610 and the second solenoid valve 630, stops the first feeding mechanism 220, the first pneumatic conveyor 230, the second feeding mechanism 320 and the second pneumatic conveyor 330, and controls the vertical piston assembly 510 of the first feeding station, the vertical piston assembly 520 of the discharging station and the vertical piston assembly 530 of the second feeding station to return to the exit position.

[0089] After the vertical piston assembly 510 at the first loading station, the vertical piston assembly 520 at the unloading station, and the vertical piston assembly 530 at the second loading station all output valid exit results, the controller controls the turntable drive mechanism 410 to drive the turntable 400 to find the reference indexing position.

[0090] After the turntable 400 reaches the reference indexing position, it stops, and the turntable indexing position confirmation and station locking component 480 performs station locking.

[0091] After the controller obtains a valid turntable 400 position and a locked state, it establishes the correspondence between the first metering cavity 420, the second metering cavity 430 and the third metering cavity 440 and the first feeding station 450, the discharging station 460 and the second feeding station 470.

[0092] After the initial start-up, power failure recovery, fault reset, or manual movement of the turntable 400 of the dual-hopper reversible semi-solid material quantitative feeding device 100, the controller confirms the working status of the first quantitative chamber 420, the second quantitative chamber 430, and the third quantitative chamber 440.

[0093] If the working status of the metering chamber cannot be confirmed, the material in the corresponding metering chamber is cleared, and the working status of the corresponding metering chamber is updated to empty after re-initialization.

[0094] The initialization allowable time is determined based on the maximum total normal time required for the three vertical piston assemblies to retract, the turntable 400 to find the reference indexing position, and the station to lock, with a time margin set. If the three vertical piston assemblies cannot retract, the turntable 400 to find the reference indexing position, and the station to lock after the initialization allowable time has elapsed, the controller outputs an initialization timeout result and puts the dual-hopper reversible semi-solid material quantitative feeding device 100 into a fault shutdown state.

[0095] Example 4, as Figure 4 As shown, taking the first feeding hopper 200 as the current feeding hopper as an example, when the current position of the turntable 400 is valid and the turntable indexing position is confirmed and the station locking component 480 outputs a locked state, the controller obtains the remaining material mass of the first feeding hopper 200 before feeding through the first remaining material detection component 210.

[0096] The controller controls the first feeding mechanism 220 to perform a feeding action and controls the first pneumatic conveyor 230 to perform suction and pushing actions, so as to transport the material in the first feeding hopper 200 to the quantitative cavity located at the first loading station 450.

[0097] When the feeding action begins, the controller updates the working status of the metering cavity at the first feeding station 450 from empty to feeding. The feeding mechanism completes one feeding action, determined by the stroke completion signal, position completion signal output by the corresponding drive component, or the result of the completion of a predetermined action sequence without a fault signal; the pneumatic conveyor completes the suction and pushing actions, determined by the completion results of the suction stage and the pushing stage output by its existing control system.

[0098] During the same station locking period, the vertical piston assembly 520 of the discharge station performs a discharge action on the metering cavity located at the discharge station 460, and the controller updates the working status of the metering cavity located at the discharge station 460 to discharge.

[0099] After the first feeding mechanism 220 and the first pneumatic conveyor 230 stop, the controller waits for a stable period of time, obtains the mass of the remaining material after the first feeding hopper 200 feeds through the first remaining material detection device 210, and updates the working status of the quantitative cavity located at the first loading station 450 according to the feeding completion confirmation method described in Embodiment 7.

[0100] After the vertical piston assembly 520 at the discharge station completes its downward stroke and returns to the exit position, the controller updates the working status of the metering cavity at the discharge station 460 to empty.

[0101] After both feeding and discharging are completed, the controller confirms that the vertical piston assembly 510 at the first feeding station, the vertical piston assembly 520 at the discharging station, and the vertical piston assembly 530 at the second feeding station have all exited into place, and confirms that the first feeding mechanism 220, the first pneumatic conveyor 230, the second feeding mechanism 320, and the second pneumatic conveyor 330 have all stopped.

[0102] The controller outputs a release station lock command to the turntable indexing position confirmation and station locking component 480. After the station lock status changes to released, the controller controls the turntable drive mechanism 410 to drive the turntable 400 to rotate one indexing position in the direction used when the first feeding hopper 200 is normally feeding.

[0103] After the turntable 400 reaches the target indexing position, it stops, and the turntable indexing position confirmation and station locking component 480 re-executes the station locking.

[0104] The controller updates the working position and working status of the first quantitative cavity 420, the second quantitative cavity 430 and the third quantitative cavity 440 based on the target indexing position of the turntable 400 and the actual position confirmation results output by the turntable indexing position confirmation and the station locking component 480.

[0105] Starting from the current feeding hopper, a feeding and corresponding discharging action is performed until the turntable at 400 completes one indexing position, re-locks the work position, and updates the working position and status of the three quantitative chambers, thus constituting a current feeding cycle.

[0106] When the second feeding hopper 300 is used as the current feeding hopper, the controller obtains the mass of the remaining material before and after feeding through the second remaining material detection device 310, and controls the second feeding mechanism 320 and the second pneumatic conveyor 330 to transport the material in the second feeding hopper 300 to the quantitative cavity located at the second loading station 470.

[0107] When the second feeding hopper 300 is used as the current feeding hopper, the turntable 400 rotates in the opposite direction to the normal feeding direction of the first feeding hopper 200.

[0108] Example 5, as Figure 5 As shown, the first feeding hopper 200 and the second feeding hopper 300 are respectively calibrated for the average reduction in feeding hopper mass, unusable residual mass, reserved mass, allowable range for feeding completion, and feeding hopper switching threshold.

[0109] The controller determines a feeding cycle as a valid feeding cycle when the following conditions are met simultaneously: the remaining material data before and after feeding are both valid; the corresponding feeding mechanism completes one feeding action; the corresponding pneumatic conveyor completes the suction and pushing actions; the current position of turntable 400 is valid; the station lock status is locked; the working status of the corresponding metering chamber can be determined; and no material replenishment, cleaning, emergency stop, or manual intervention occurs during feeding.

[0110] The controller determines the mass difference of the remaining material before and after feeding in multiple effective feeding cycles, and determines the average reduction in the mass of the feeding hopper when forming a batch of material that meets the current feeding specifications based on multiple mass differences.

[0111] The allowable range for material feeding completion is determined based on the range of mass reduction in multiple effective feeding cycles and the detection error of the first remaining material detection element 210 or the second remaining material detection element 310, and is stored in correspondence with the feeding hopper, material type and current feeding specification.

[0112] When it is determined that the residual mass is unusable, add the material of known mass to the first feed hopper 200 or the second feed hopper 300 and continuously feed until the corresponding feed hopper can no longer complete a feeding that meets the current feeding specifications.

[0113] At this point, the remaining material mass in the hopper, feed outlet, and corresponding pneumatic conveyor that cannot be used to form a batch of material conforming to the current feeding specifications is determined as unusable residual mass. Material that has already entered the metering chamber and completed feeding is not included in the unusable residual mass.

[0114] The unusable residual mass can be determined by weighing the residual material collected from the corresponding feed hopper, feed outlet and pneumatic conveyor after shutdown, or by subtracting the total mass of effective material formed from the mass of the initial added material.

[0115] The reserved mass is determined based on the detection error of the first remaining material detection piece 210 or the second remaining material detection piece 310, the range of mass reduction in multiple effective feeding cycles, the mass reduction corresponding to a feeding that may occur between two adjacent feeding hopper switching conditions, and the mass reduction corresponding to at least one normal feeding after the feeding hopper switching is completed.

[0116] The reserved mass is verified through continuous feeding and hopper switching tests, so that when the current hopper meets the hopper switching threshold for the first time, it can still complete the last feeding in the hopper switching process, and the hopper to be used can continue to complete at least one normal feeding after completing the first feeding.

[0117] The optimal hopper switching threshold is determined according to the following formula: ; In the formula, This represents the hopper switching threshold corresponding to the i-th hopper; This indicates the number of material portions that still need to be generated by the current feeding hopper before the feeding hopper switch is completed, which must conform to the current feeding specifications. This represents the average reduction in the mass of the i-th hopper when a material conforming to the current feeding specifications is formed. This represents the unusable residual mass corresponding to the i-th hopper; This represents the reserved mass corresponding to the i-th hopper; i is used to distinguish between the first hopper 200 and the second hopper 300.

[0118] The number of material portions that still need to be formed before the feeding hopper switch is completed is determined based on the working position and working status of the first quantitative chamber 420, the second quantitative chamber 430, and the third quantitative chamber 440 at the start of the feeding hopper switch.

[0119] In this embodiment, the feeding hopper switching condition is determined when the current feeding cycle ends and the quantitative cavity at the corresponding feeding station of the current feeding hopper is empty. The empty quantitative cavity is used to form the last batch of material in the current feeding hopper. Therefore, the number of batches of material that the current feeding hopper still needs to form before the feeding hopper switching is completed is one batch.

[0120] After the current feeding cycle ends, the controller obtains the remaining material data of the current feeding hopper and the feeding hopper to be activated, as well as the working position and working status of the first quantitative chamber 420, the second quantitative chamber 430 and the third quantitative chamber 440.

[0121] The switching conditions for feeding hoppers include: the remaining material data of both the current feeding hopper and the feeding hopper to be activated are valid; the remaining material mass of the current feeding hopper is less than or equal to the corresponding feeding hopper switching threshold; the remaining material mass of the feeding hopper to be activated is greater than or equal to the sum of the average mass reduction of the corresponding feeding hopper, the unusable residual mass, and the reserved mass; the metering cavity at the feeding station corresponding to the current feeding hopper is empty; the metering cavity at the feeding station corresponding to the feeding hopper to be activated is empty; the metering cavity at the discharge station 460 is in a state of completed feeding or waiting for discharge; and the current feeding cycle has ended.

[0122] When all the above conditions are met, the controller outputs a result indicating that the hopper switching conditions are met. Before starting the final feeding of the current hopper, the controller again acquires the remaining material data of the current hopper; if the remaining material data is invalid, or if it cannot be confirmed based on the remaining material data that the current hopper can complete the final feeding, the controller does not start the hopper switching and outputs a result indicating that the remaining material in the current hopper is insufficient. The feeding operation that has already started will not be stopped midway even if the remaining material in the current hopper reaches the hopper switching threshold.

[0123] When the remaining material data of the current hopper is invalid, the controller stops the automatic feeding of the current hopper and puts the dual-hopper reversible semi-solid material quantitative feeding device 100 into a fault shutdown state.

[0124] If the remaining material data of the feed hopper to be activated is invalid, and the remaining material quality of the current feed hopper is higher than the feed hopper switching threshold, the controller allows the current feed hopper to continue feeding normally, prohibits automatic feed hopper switching, and outputs the abnormal detection result of the feed hopper to be activated.

[0125] If the remaining material mass in the current feed hopper is less than or equal to the feed hopper switching threshold, and the remaining material data of the feed hopper to be activated is invalid, the controller will not start the feed hopper switching. The metering chamber that has been confirmed to have completed feeding will continue to discharge material, and then the dual-hopper reversible semi-solid material metering device 100 will be stopped.

[0126] Example 6, as Figure 6 As shown, the controller determines the first target quantitative cavity as the quantitative cavity that is in the feeding position corresponding to the current feeding hopper and whose working state is empty, based on the working position and working state of the first quantitative cavity 420, the second quantitative cavity 430 and the third quantitative cavity 440.

[0127] The controller identifies the metering cavity that is currently at the discharge station 460, has completed feeding or is waiting to be discharged, and can rotate with the turntable 400 to the feeding station corresponding to the feed hopper to be activated after the discharge is completed as the second target metering cavity.

[0128] Taking the first feeding hopper 200 as the current feeding hopper and the second feeding hopper 300 as the feeding hopper to be used as an example, the feeding station corresponding to the current feeding hopper is the first feeding station 450, and the feeding station corresponding to the feeding hopper to be used is the second feeding station 470.

[0129] With the turntable indexing position confirmation and station locking component 480 maintaining station locking, the controller controls the first feeding mechanism 220 and the first pneumatic conveyor 230 to complete the last feeding to the first target metering cavity, and at the same time controls the vertical piston component 520 of the discharge station to complete the discharge of the second target metering cavity.

[0130] After the first target metering chamber completes its last feeding, the controller updates the working status of the first target metering chamber to "feeding completed".

[0131] After the second target metering cavity completes discharge and the vertical piston assembly 520 of the discharge station returns to the exit position, the controller updates the working status of the second target metering cavity to empty.

[0132] After the final feeding and the discharge from the second target quantitative chamber are completed, the first feeding mechanism 220, the first pneumatic conveyor 230, the second feeding mechanism 320 and the second pneumatic conveyor 330 all stop. After the vertical piston assembly 510 of the first loading station, the vertical piston assembly 520 of the discharge station and the vertical piston assembly 530 of the second loading station are all withdrawn into place, the controller releases the station lock.

[0133] The controller controls the turntable drive mechanism 410 to drive the turntable 400 to rotate one indexing position in the direction used when the first feeding hopper 200 is normally feeding, so that the first target quantitative cavity enters the discharge station 460 and the second target quantitative cavity enters the second feeding station 470.

[0134] After the turntable 400 reaches the target indexing position, the turntable indexing position confirmation and station locking component 480 re-executes the station locking.

[0135] After the turntable 400 completes the first indexing and relocks, the controller controls the vertical piston assembly 520 at the discharge station to push the last piece of material in the first target metering chamber to the receiving container 700, and controls the second feeding mechanism 320 and the second pneumatic conveyor 330 to complete the first feeding to the second target metering chamber.

[0136] The discharge action of the last piece of material formed in the current feeding hopper and the first feeding action of the feeding hopper to be used act on different metering chambers.

[0137] When two actions can be completed simultaneously without causing either actuator to exceed the allowed action time, the controller initiates both actions simultaneously.

[0138] The controller determines whether to start simultaneously or staggered start based on the pre-calibrated simultaneous action allowance result; the simultaneous action allowance result is determined based on whether both actions can be completed within the corresponding allowable action time when executed simultaneously.

[0139] After the first target metering chamber completes its discharge, the controller updates its status to empty. After the second target metering chamber completes its first feeding, the controller updates its status to feeding completed.

[0140] After the controller confirms that all reverse indexing conditions are met, it releases the station lock through the turntable indexing position confirmation and station locking component 480, and controls the turntable drive mechanism 410 to drive the turntable 400 to rotate one indexing position in the opposite direction to the normal feeding direction of the first feeding hopper 200, so that the second target quantitative cavity enters the discharge station 460.

[0141] After the turntable 400 reaches the target indexing position, the turntable indexing position confirmation and station locking component 480 re-executes the station locking.

[0142] The controller identifies the second feed hopper 300 as the new current feed hopper and continues to feed materials according to the normal feeding direction corresponding to the second feed hopper 300.

[0143] When switching from the second feed hopper 300 to the first feed hopper 200, the same control process is executed according to the reverse station relationship.

[0144] Example 7, as Figure 7 As shown, before the current feeding hopper completes its last feeding or before the waiting feeding hopper completes its first feeding, the controller obtains the remaining material mass of the feeding hopper before feeding.

[0145] After the corresponding feeding mechanism and pneumatic conveyor stop, the controller obtains the remaining material mass of the hopper that performed the feeding operation after a stable waiting period. Both the remaining material data before and after feeding should be valid.

[0146] The controller determines the amount of mass reduction corresponding to this feeding based on the remaining material mass before feeding and the remaining material mass after feeding.

[0147] When the amount of mass reduction is within the allowable range of the material in the feeding hopper and the current feeding specification, and when the corresponding feeding mechanism completes one feeding action and the corresponding pneumatic conveyor completes the suction and pushing actions, the controller records the working status of the corresponding quantitative chamber as feeding completed.

[0148] "Feeding Completed" indicates that the quality changes and actions performed during this feeding process meet the pre-defined feeding completion conditions. The amount of mass reduction in the feeding hopper is used to determine whether the feeding process is within the normal range, but it is not the sole criterion for judging the actual mass of the material in the receiving container 700.

[0149] When the reduction in quality is less than the lower limit of the allowable range for material feeding completion, there may be insufficient remaining material, blockage of the feeding channel, material bridging, or incomplete feeding action.

[0150] When the reduction in quality exceeds the upper limit of the allowable range for material feeding completion, there may be repeated feeding, material leakage, or abnormal detection of remaining material.

[0151] If the reduction in mass is not within the allowable range for material feeding completion, or if the corresponding feeding mechanism has not completed one feeding action, or if the corresponding pneumatic conveyor has not completed the suction and pushing actions, the controller will update the working status of the corresponding quantitative chamber to uncertain, keep the work position locked, and stop the feeding hopper switching.

[0152] Before reverse indexing, the controller confirms the following conditions: the first target quantitative chamber has completed discharge and is now empty; the second target quantitative chamber has completed its first feeding and is now updated to "feeding completed"; the remaining material data after the first feeding of the feed hopper to be activated is valid; the mass reduction corresponding to the first feeding of the feed hopper to be activated is within the allowable range for feeding completion; the vertical piston assembly 510 of the first feeding station, the vertical piston assembly 520 of the discharge station, and the vertical piston assembly 530 of the second feeding station are all out of position; the first feeding mechanism 220, the first pneumatic conveyor 230, the second feeding mechanism 320, and the second pneumatic conveyor 330 are all stopped; the current position of the turntable 400 is valid; the station locking status is locked; and the dual-hopper reversible semi-solid material quantitative feeding device 100 is not in a cleaning state or a fault shutdown state.

[0153] If any of the confirmation conditions are not met, the controller keeps the station locked and prohibits the turntable from rotating at 400 degrees. Once all confirmation conditions are met, the controller releases the station lock and allows reverse indexing to be performed.

[0154] Example 8, as Figure 8As shown, when the current position of the turntable 400 is valid and the turntable indexing position confirmation and the station locking component 480 outputs a locked state, the controller allows the feeding mechanism and pneumatic conveyor corresponding to the feeding hopper to perform feeding actions, and allows the vertical piston component corresponding to the station to perform lifting actions.

[0155] When the vertical piston assembly 510 at the first feeding station, the vertical piston assembly 520 at the discharging station, and the vertical piston assembly 530 at the second feeding station are all out of position, and the first feeding mechanism 220, the first pneumatic conveyor 230, the second feeding mechanism 320, and the second pneumatic conveyor 330 are all stopped, and the output of the turntable indexing position confirmation and station locking component 480 is released, the turntable drive mechanism 410 is allowed to drive the turntable 400 to rotate.

[0156] If any vertical piston fails to retract into position or the retraction signal is abnormal, the controller will prevent the turntable 400 from rotating. If the station lock status cannot be confirmed to be released, the controller will prevent the turntable drive mechanism 410 from starting.

[0157] If the turntable 400 has not reached the target indexing position or the station lock status has not changed to locked, the controller prohibits the first feeding mechanism 220, the first pneumatic conveyor 230, the second feeding mechanism 320, the second pneumatic conveyor 330 and the three vertical piston assemblies from starting the next action.

[0158] The rotation of turntable 400 is mutually exclusive with the feeding actions performed by the first feeding mechanism 220, the first pneumatic conveyor 230, the second feeding mechanism 320, and the second pneumatic conveyor 330.

[0159] The rotation of the turntable 400 is mutually exclusive with the entry of any vertical piston into the first metering chamber 420, the second metering chamber 430, or the third metering chamber 440.

[0160] The rotation of the turntable 400 and the workstation locking action performed by the turntable indexing position confirmation and workstation locking component 480 are mutually exclusive.

[0161] The first feeding mechanism 220, the first pneumatic conveyor 230, the second feeding mechanism 320, the second pneumatic conveyor 330, the three vertical piston assemblies, the turntable drive mechanism 410, and the station locking action are each set with an allowable action time.

[0162] The allowable operating time is determined based on the maximum normal operating time of the corresponding actuator under no-load, normal load, and rated material conditions, and a time margin is set on the basis of the maximum normal operating time.

[0163] If the feeding mechanism or pneumatic conveyor fails to complete the feeding action within the corresponding allowed operating time, the controller will update the working status of the corresponding metering chamber to uncertain and keep the work position locked.

[0164] If the vertical piston assembly 510 at the first loading station, the vertical piston assembly 520 at the unloading station, or the vertical piston assembly 530 at the second loading station fails to complete its downward stroke or return to the exit position within the allowed operating time, the controller outputs a vertical piston action timeout result and keeps the station locked.

[0165] If the turntable 400 fails to reach the target indexing position within the allowed indexing time, the controller stops the turntable drive mechanism 410, updates the position of the turntable 400 to unknown, and puts the dual-hopper reversible semi-solid material quantitative feeding device 100 into a fault shutdown state.

[0166] If the turntable indexing position confirmation and station locking component 480 fails to output a locked result within the allowed locking time, the first feeding mechanism 220, the first pneumatic conveyor 230, the second feeding mechanism 320, the second pneumatic conveyor 330, and the three vertical piston assemblies shall not operate.

[0167] If the turntable indexing position confirmation and station locking component 480 fails to output a release result within the allowed release time, the turntable drive mechanism 410 shall not be started.

[0168] Each time the turntable 400 reaches the target indexing position, the controller compares the position recorded by the turntable drive mechanism 410 with the position confirmation result output by the turntable indexing position confirmation and station locking component 480.

[0169] The allowable position deviation range is determined based on the repeatability of the turntable drive mechanism 410 and the allowable alignment deviation between the vertical piston and the metering chamber. When the difference between the two is within the allowable position deviation range, the controller updates the current position of the turntable 400 using the position confirmation result.

[0170] When the difference between the two exceeds the allowable position deviation range, the controller stops feeding, discharging and subsequent rotation of turntable 400, and updates the position of turntable 400 to unknown.

[0171] After completing a predetermined number of effective indexing operations, or after each hopper switch, the controller causes the turntable 400 to pass through the reference indexing position for position verification. The predetermined number of indexing operations is determined based on the development of cumulative position deviations during continuous indexing tests.

[0172] When the position confirmation result output by the turntable indexing position confirmation and station locking component 480 is inconsistent with the position recorded by the controller, the controller stops automatic feeding and re-executes the initialization process.

[0173] Example 9, as Figure 2 and Figure 9 As shown, the first cleaning nozzle 600 and the second cleaning nozzle 620 are both disposed below the annular cutter assembly 490 and are arranged at radial intervals along the annular cutter assembly 490.

[0174] The first cleaning nozzle 600 faces the first cleaning area on the lower surface of the annular cutter assembly 490, and the second cleaning nozzle 620 faces the second cleaning area on the lower surface of the annular cutter assembly 490.

[0175] The first cleaning zone and the second cleaning zone are located at different radial positions on the lower surface of the annular cutter assembly 490, and the spray ranges of the first cleaning nozzle 600 and the second cleaning nozzle 620 complement each other.

[0176] The first solenoid valve 610 is installed on the liquid supply line of the first cleaning nozzle 600, and the second solenoid valve 630 is installed on the liquid supply line of the second cleaning nozzle 620.

[0177] The controller can open the first solenoid valve 610 or the second solenoid valve 630 individually, or it can open the first solenoid valve 610 and the second solenoid valve 630 sequentially or simultaneously.

[0178] The water tank 500 is located below the annular cutter assembly 490, the first cleaning nozzle 600 and the second cleaning nozzle 620. It is used to receive the cleaning liquid sprayed from the two cleaning nozzles and the residual material that has detached from the lower surface of the annular cutter assembly 490, and to discharge the cleaning liquid and residual material through the drain section of the water tank 500.

[0179] During normal feeding, both the first solenoid valve 610 and the second solenoid valve 630 remain closed.

[0180] After receiving the cleaning command, the controller determines whether the current feeding cycle has ended, whether the first feeding mechanism 220, the first pneumatic conveyor 230, the second feeding mechanism 320 and the second pneumatic conveyor 330 have stopped, whether the vertical piston assembly 510 of the first feeding station, the vertical piston assembly 520 of the discharging station and the vertical piston assembly 530 of the second feeding station have all exited into place, whether the current position of the turntable 400 is valid, and whether the station locking status is locked.

[0181] When all the above cleaning conditions are met, the controller determines the cleaning method according to the cleaning command.

[0182] When cleaning the first cleaning area, the controller opens the first solenoid valve 610, causing the first cleaning nozzle 600 to spray and clean the first cleaning area on the lower surface of the annular cutter assembly 490.

[0183] When cleaning the second cleaning area, the controller opens the second solenoid valve 630, causing the second cleaning nozzle 620 to spray and clean the second cleaning area on the lower surface of the annular cutter assembly 490.

[0184] When two cleaning areas need to be cleaned simultaneously, the controller simultaneously opens the first solenoid valve 610 and the second solenoid valve 630, so that the first cleaning nozzle 600 and the second cleaning nozzle 620 spray and clean at the same time.

[0185] The controller controls the first solenoid valve 610 and the second solenoid valve 630 to open simultaneously or sequentially according to a preset cleaning method. The preset cleaning method is determined in advance based on the liquid supply configuration and the cleaning effect when the two cleaning nozzles work simultaneously.

[0186] The opening time of the first solenoid valve 610 and the second solenoid valve 630 is calibrated based on the flow rate of the cleaning nozzle, the liquid supply pressure, the degree of material adhesion on the lower surface of the annular cutter assembly 490, and the cleaning requirements.

[0187] After cleaning is completed, the controller outputs a closing command to the first solenoid valve 610 and the second solenoid valve 630 that were opened during cleaning, and starts draining while waiting for the timer to finish.

[0188] The drainage waiting time is determined based on the dripping time after the first cleaning nozzle 600 and the second cleaning nozzle 620 stop supplying liquid, the drainage time of the water tank 500, and the time for residual liquid to fall off the lower surface of the annular cutter assembly 490.

[0189] Before the drainage waiting time ends, the controller prevents the first feeding mechanism 220, the first pneumatic conveyor 230, the second feeding mechanism 320, the second pneumatic conveyor 330, the turntable drive mechanism 410, and the three vertical piston assemblies from starting the next feeding cycle.

[0190] After the drainage waiting time ends, and provided that the position of the turntable 400, the station lock state, and the retraction state of the three vertical piston assemblies are all valid, the controller allows the dual-hopper reversible semi-solid material quantitative feeding device 100 to resume feeding.

[0191] When an emergency stop occurs during the cleaning process, the controller outputs a closing command to the first solenoid valve 610 and the second solenoid valve 630, and stops the first feeding mechanism 220, the first pneumatic conveyor 230, the second feeding mechanism 320, the second pneumatic conveyor 330, the turntable drive mechanism 410, and the three vertical piston assemblies.

[0192] After the emergency stop is lifted, the dual-hopper reversible semi-solid material quantitative feeding device 100 remains in a prohibited feeding state.

[0193] If the working position and status of the first metering chamber 420, the second metering chamber 430 and the third metering chamber 440 can be confirmed, feeding is allowed again after the liquid discharge waiting period is completed; if the working position or status of the three metering chambers cannot be confirmed, the controller re-executes the initialization process.

[0194] Example 10, as follows Figure 10 As shown, the control states of the dual-hopper reversible semi-solid material quantitative feeding device 100 include initialization state, first hopper feeding state, second hopper feeding state, hopper switching preparation state, hopper switching execution state, reverse indexing state, cleaning state, and fault shutdown state.

[0195] The fault shutdown state has the highest priority and is mutually exclusive with other control states. The hopper switching execution state and reverse indexing state take precedence over normal cleaning requests. The cleaning state takes precedence over normal feeding state and the hopper switching preparation state before the last feeding has begun.

[0196] The dual-hopper reversible semi-solid material quantitative feeding device 100 enters the initialization state after power-on, fault reset, power failure recovery, controller restart, or manual movement of the turntable 400.

[0197] After initialization is complete and the feeding hopper is activated, the dual-hopper reversible semi-solid material quantitative feeding device 100 enters either the first feeding hopper feeding state or the second feeding hopper feeding state.

[0198] When the first feed hopper 200 is used as the current feed hopper, the device enters the first feed hopper feeding state. When the second feed hopper 300 is used as the current feed hopper, the device enters the second feed hopper feeding state.

[0199] During the normal feeding period of the current feeding hopper, the controller executes feeding, discharging and 400-degree rotation of the turntable according to the process described in Example 4.

[0200] When the current feeding cycle ends and the hopper switching conditions are met, the dual-hopper reversible semi-solid material quantitative feeding device 100 enters the hopper switching preparation state.

[0201] In the feed hopper switching preparation state, the controller determines the rotation sequence of the first target metering cavity, the second target metering cavity, and the turntable 400 during feed hopper switching.

[0202] After the current feeding hopper begins its final feeding, the dual-hopper reversible semi-solid material quantitative feeding device 100 enters the feeding hopper switching execution state.

[0203] When switching the feed hopper to execution state, complete the last feed of the current feed hopper, the discharge of the second target quantitative cavity, the first indexing, the discharge of the last piece of material, and the first feed of the feed hopper to be used.

[0204] After the relevant actions are completed and the reverse indexing conditions are met, the dual-hopper reversible semi-solid material quantitative feeding device 100 enters the reverse indexing state.

[0205] After the reverse indexing is completed and the rotary indexing position is confirmed and the station locking component 480 outputs the locked state again, the feed hopper to be used is determined as the new current feed hopper, and the dual-hopper reversible semi-solid material quantitative feeding device 100 enters the corresponding feed hopper feeding state.

[0206] When a normal cleaning command is received in the first feeding hopper feeding state, the second feeding hopper feeding state, or the feeding hopper switching preparation state before the last feeding has started, the controller will put the dual-hopper reversible semi-solid material quantitative feeding device 100 into the cleaning state after the current feeding and discharging actions have been safely completed.

[0207] When a normal cleaning command is received in the hopper switching execution state or reverse indexing state, the controller records the cleaning request and enters the cleaning state after the hopper switching process is safely completed.

[0208] When normal cleaning is completed and the working positions and working states of the first quantitative chamber 420, the second quantitative chamber 430 and the third quantitative chamber 440 can be confirmed, the dual-hopper reversible semi-solid material quantitative feeding device 100 returns to the first feeding hopper feeding state or the second feeding hopper feeding state corresponding to the state before entering the cleaning state.

[0209] If the working position or working status of the first quantitative chamber 420, the second quantitative chamber 430 and the third quantitative chamber 440 cannot be confirmed after cleaning, the dual-hopper reversible semi-solid material quantitative feeding device 100 enters the initialization state.

[0210] When the remaining material data in the current hopper is invalid, the working status of the metering chamber is uncertain, the vertical piston action timeout occurs, the 400 position of the turntable is invalid, the station locking is abnormal, the actuator action timeout occurs, or an abnormality requiring immediate production stoppage occurs, the dual-hopper reversible semi-solid material metering device 100 enters a fault shutdown state.

[0211] In the event of a power outage, emergency stop, controller restart, or manual movement of turntable 400, the controller will update the operating status of the affected first metering chamber 420, second metering chamber 430, or third metering chamber 440 to uncertain.

[0212] After troubleshooting and resetting, the dual-hopper reversible semi-solid material quantitative feeding device 100 enters the initialization state and does not continue to perform feeding, discharging, turntable 400 indexing, or cleaning actions that were not completed before the fault occurred.

[0213] The preferred embodiments of the present invention disclosed above are merely illustrative of the invention. These preferred embodiments do not exhaustively describe all details, nor do they limit the invention to the specific implementations described. Clearly, many modifications and variations can be made based on the content of this specification. This specification selects and specifically describes these embodiments to better explain the principles and practical applications of the invention, thereby enabling those skilled in the art to better understand and utilize the invention. The invention is limited only by the claims and their full scope and equivalents.

Claims

1. A method for quantitative feeding of semi-solid materials using a dual-hopper reversible displacement mechanism, characterized in that, The method includes: Acquire the remaining material data of the current feed hopper and the feed hopper to be activated in the two feed hoppers, as well as the working position and working status of the three metering chambers; When it is determined that the feeding hopper switching conditions are met based on the remaining material data of the current feeding hopper, the turntable rotation sequence during feeding hopper switching is determined based on the working position and working state of the three metering chambers. The feed hopper to be activated is controlled to feed material, and the turntable is controlled to rotate in the order of rotation of the turntable, so that the material formed by the feed hopper to be activated enters the discharge station.

2. The method for quantitative feeding of semi-solid materials with reversible displacement in a dual-hopper configuration according to claim 1, characterized in that, The conditions for satisfying the hopper switching include: The remaining material data of both the current feed hopper and the feed hopper to be activated are valid; The remaining material mass in the current feed hopper is less than or equal to the feed hopper switching threshold corresponding to the current feed hopper; The remaining material mass of the feed hopper to be activated is greater than or equal to the sum of the average reduction in feed hopper mass, unusable residual mass, and reserved mass corresponding to the feed hopper to be activated. The current feeding cycle corresponding to the current hopper has ended; The working state of the metering cavity at the feeding station corresponding to the current feeding hopper is empty, the working state of the metering cavity at the feeding station corresponding to the feeding hopper to be activated is empty, and the working state of the metering cavity at the discharging station is either feeding completed or waiting to be discharged.

3. The method for quantitative feeding of semi-solid materials with reversible displacement in a dual-hopper configuration according to claim 2, characterized in that, The step of determining the turntable rotation sequence during hopper switching based on the working positions and states of the three metering chambers includes: The metering cavity that is located at the feeding station corresponding to the current feeding hopper and whose working state is an empty cavity is determined as the first target metering cavity; The metering cavity that is in the discharge station, in the working state of completed feeding or waiting to discharge, and can rotate with the turntable to the feeding station corresponding to the feed hopper to be used after the discharge is completed is determined as the second target metering cavity. The turntable is first rotated one division position in the direction of normal feeding from the current hopper, and then rotated one division position in the opposite direction to the current direction of rotation. This is the turntable rotation sequence.

4. The method for quantitative feeding of semi-solid materials with reversible displacement in a dual-hopper configuration according to claim 3, characterized in that, The control of the turntable to rotate one indexing position along the rotation direction used when the current feeding hopper is normally feeding includes: While the turntable remains locked at the work station, the current feeding hopper is controlled to complete the final feeding to the first target metering cavity, and the vertical piston assembly corresponding to the discharge station is controlled to complete the discharge from the second target metering cavity. After the first target quantitative cavity completes the last feeding and records the working status as feeding completed, the second target quantitative cavity completes discharging and records the working status as empty, both feeding mechanisms and both pneumatic conveyors stop, and the vertical pistons in the three vertical piston assemblies corresponding to the two feeding stations and the discharging station respectively retract into place, the station lock is released. The turntable is controlled to rotate one indexing position along the rotation direction used when the current feeding hopper is normally feeding, so that the first target metering cavity enters the discharge station and the second target metering cavity enters the feeding station corresponding to the feeding hopper to be activated; After the turntable reaches the target indexing position and the current position is valid, control the turntable to complete the workstation locking.

5. The method for quantitative feeding of semi-solid materials with a dual-hopper reversible displacement mechanism according to claim 4, characterized in that, The control of the turntable to rotate another index position in the opposite direction to the rotation direction includes: While the turntable is locked at the work station, the vertical piston assembly corresponding to the discharge work station is controlled to discharge the last piece of material formed by the current feeding hopper from the first target metering cavity, and the feeding mechanism and pneumatic conveyor corresponding to the feeding hopper to be activated are controlled to complete the first feeding to the second target metering cavity. Confirm that the first target quantitative cavity has completed discharging and record the working status as empty cavity; confirm that the second target quantitative cavity has completed the first feeding and record the working status as feeding completed; and confirm that the remaining material data after the first feeding of the feed hopper to be activated is valid and the mass reduction corresponding to the first feeding is within the allowable range for feeding completion. When both feeding mechanisms and both pneumatic conveyors have stopped, the vertical pistons in the three vertical piston assemblies have all retracted into position, the current position of the turntable is valid, and the station lock status is locked, the station lock is released. Control the turntable to rotate one indexing position in a direction opposite to the rotation direction used when the current feeding hopper is normally feeding, so that the second target metering cavity enters the discharge station; After the turntable reaches the target indexing position and the current position is valid, the turntable is controlled to complete the station locking and the feed hopper to be used is determined as the current feed hopper.

6. The method for quantitative feeding of semi-solid materials with reversible displacement in a dual-hopper configuration according to claim 5, characterized in that, The step of determining whether the current hopper has completed its last feeding or the hopper to be activated has completed its first feeding includes: Get the remaining material mass of the hopper before the current feeding is performed; After the corresponding feeding mechanism and pneumatic conveyor stop, after a stabilization waiting time for the remaining material detection value to reach a stable condition, the remaining material mass of the feeding hopper that performed this feeding is obtained after feeding. Confirm that the remaining material data corresponding to the remaining material mass before feeding and the remaining material mass after feeding are both valid, and determine the mass reduction corresponding to this feeding based on the remaining material mass before feeding and the remaining material mass after feeding. If the amount of mass reduction is within the allowable range of feeding completion corresponding to the material in the feeding hopper and the current feeding specification, and the corresponding feeding mechanism completes one feeding action and the corresponding pneumatic conveyor completes the suction and pushing actions, the working status of the corresponding quantitative chamber is recorded as feeding completed. If the amount of mass reduction is not within the allowable range of the feeding completion, or if the corresponding feeding mechanism has not completed a feeding action, or if the corresponding pneumatic conveyor has not completed the suction and pushing actions, the working state of the corresponding quantitative chamber is recorded as uncertain, the work position is locked, and the feeding hopper switching is stopped.

7. The method for quantitative feeding of semi-solid materials with reversible displacement in a dual-hopper configuration according to claim 2, characterized in that, The process of determining the hopper switching threshold corresponding to any given hopper includes: A feeding cycle that meets the following conditions is defined as a valid feeding cycle: the remaining material data before and after feeding is valid, the feeding mechanism completes one feeding action, the pneumatic conveyor completes the suction and pushing actions, the current position of the turntable is valid and the station lock status is locked when the feeding action is performed and the remaining material mass before and after feeding is obtained, the working status of the corresponding quantitative cavity can be determined, and no replenishment, cleaning, emergency stop or manual intervention occurs. Based on the remaining material mass before and after feeding in multiple effective feeding cycles, determine the average reduction in hopper mass when forming a material that conforms to the current feeding specifications. Based on the mass of the remaining material in the hopper, the hopper outlet, and the pneumatic conveyor corresponding to the hopper when the hopper can no longer complete a feeding operation that meets the current feeding specifications, the unusable residual mass corresponding to the hopper is determined. Based on the remaining material detection error, the range of mass reduction in multiple effective feeding cycles, the mass reduction corresponding to one feeding that may occur between two adjacent feeding hopper switching conditions, and the mass reduction corresponding to at least one normal feeding after the feeding hopper switching is completed, the reserved mass corresponding to the feeding hopper is determined. Based on the working position and working status of the three quantitative chambers at the start of the feeding hopper switching, the number of material portions that the current feeding hopper still needs to form before the feeding hopper switching is completed is determined as one portion; Based on the material quantity, the average reduction in hopper mass, the unusable residual mass, and the reserved mass, a hopper switching threshold corresponding to the hopper is determined.

8. A dual-hopper reversible semi-solid material quantitative feeding device, characterized in that, It includes two feeding hoppers, two feeding mechanisms respectively corresponding to the two feeding hoppers, a turntable, a turntable drive mechanism for driving the turntable to rotate, three metering chambers disposed on the turntable, two remaining material detection elements respectively for detecting the remaining material in the two feeding hoppers, and a controller; The turntable is provided with two feeding stations and one discharging station on its periphery, which are respectively corresponding to the two feeding hoppers. The turntable drive mechanism is used to drive the turntable to rotate in two opposite directions so that the three metering chambers can switch between the two feeding stations and the discharging station; The controller is used to acquire the remaining material data of the current feeding hopper and the feeding hopper to be activated in the two feeding hoppers, as well as the working position and working status of the three metering chambers. When it is determined that the feeding hopper switching conditions are met based on the remaining material data of the current feeding hopper, the controller determines the turntable rotation sequence during feeding hopper switching based on the working position and working status of the three metering chambers, and controls the feeding mechanism corresponding to the feeding hopper to be activated to feed material and controls the turntable to rotate according to the turntable rotation sequence, so that the material formed in the feeding hopper to be activated enters the discharge station.

9. A dual-hopper reversible semi-solid material quantitative feeding device according to claim 8, characterized in that, It also includes two pneumatic conveyors respectively corresponding to the two feeding hoppers, an annular cutter assembly that cooperates with the three metering cavities, three vertical piston assemblies respectively corresponding to the two feeding stations and the discharge station, a turntable indexing position confirmation and station locking assembly, and a receiving container disposed below the discharge station. Each of the vertical piston assemblies includes a vertical piston, a drive unit for driving the vertical piston up and down, and a withdrawal confirmation unit for confirming that the vertical piston has withdrawn into position. The turntable indexing position confirmation and station locking component is used to confirm the indexing position of the turntable and lock the turntable at the target indexing position. The vertical piston assembly corresponding to the discharge station is used to push the material in the metering chamber of the discharge station to the receiving container; The controller is connected to the two feeding mechanisms, the turntable drive mechanism, the two remaining material detection devices, the two pneumatic conveyors, the three vertical piston assemblies, and the turntable indexing position confirmation and station locking assembly, respectively. The controller is used to control the feeding mechanism and pneumatic conveyor corresponding to the feeding hopper to perform feeding actions when the current position of the turntable is valid and the station lock state is locked, and to control the vertical piston assembly corresponding to the station to perform lifting actions. The controller is also used to control the turntable drive mechanism to drive the turntable to rotate when the vertical pistons in the three vertical piston assemblies are all out of position, the two feeding mechanisms and the two pneumatic conveyors are all stopped, and the station lock state is released.

10. A dual-hopper reversible semi-solid material quantitative feeding device according to claim 9, characterized in that, It also includes two cleaning nozzles, two solenoid valves respectively installed on the liquid supply lines of the two cleaning nozzles, and a water tank; Both cleaning nozzles are disposed below the annular cutter assembly and are arranged at a radial distance along the annular cutter assembly. The two cleaning nozzles are respectively directed toward different radial regions of the lower surface of the annular cutter assembly. The water tank is located below the annular cutter assembly and the two cleaning nozzles, and is used to receive the cleaning liquid sprayed from the two cleaning nozzles and the residual material that detaches from the lower surface of the annular cutter assembly. The controller is connected to the two solenoid valves respectively, and is used to control one of the two solenoid valves to open or control the two solenoid valves to open simultaneously according to the cleaning command when the current feeding cycle ends, the two feeding mechanisms and the two pneumatic conveyors stop, the vertical pistons in the three vertical piston assemblies are all retracted into place, the current position of the turntable is valid and the station lock state is locked, so that the corresponding cleaning nozzle cleans the corresponding radial area on the lower surface of the annular cutter assembly; The controller is also configured to allow the next feeding cycle to be executed after a preset drainage waiting time after outputting a closing command to one or two of the solenoid valves that are opened during cleaning.

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