Automatic sorting device for ammunition belt links based on visual judgment

Abstract

The application discloses a kind of automatic sorting device of ammunition belt link based on visual judgment, realize automation sorting, improve efficiency and reduce cost.It includes rack and linear feeding, single link feeding, ammunition belt positioning and circulation module, visual detection and judgment module arranged thereon.Linear feeding module transports ammunition belt link by vibration and gravity, and the double embrace bullet mouth side clamping interface of ammunition belt link is clamped on guide rail to form axial limit and slide.Single link feeding module is vertically provided with cylinder on cylinder support, piston rod is coaxially provided with separate rod, and is controlled to stretch out and retract to block or give way to ammunition belt link.Synchronous belt mechanism of ammunition belt positioning and circulation module is provided with positioning block, and the upper surface thereof is provided with arc positioning surface and limiting edge.Limiting edge is adjacent to guide rail, and contacts double embrace bullet mouth side of ammunition belt link to make it turn over to embrace bullet mouth upward, and arc positioning surface cooperates with embrace bullet mouth back to position.Visual detection and judgment module analyzes the ammunition belt link of detection station by photographing.

Description

Technical Field

[0001] This invention relates to the field of automated sorting technology, and in particular to an automatic sorting device for spring chain links based on visual judgment. Background Technology

[0002] Ammunition belts are the primary ammunition supply for some weapons. They are manufactured as individual sections using sheet metal stamping, and a single weapon requires a large number of ammunition belts. The manufacturing process for a single ammunition belt mainly involves stamping, heat treatment, and surface treatment. During each process and heat treatment, some ammunition belts may deform. Deformed ammunition belts may become unusable or cause reliability failures. Therefore, in current production, a sorting process is required before ammunition belt packaging, currently done manually by visual inspection. Due to the large number of ammunition belts, this requires a significant investment of manpower and time, and the sorting process is extremely labor-intensive, severely impacting production efficiency and profitability. Therefore, it is necessary to design an automated sorting device that uses machine vision to replace manual visual inspection, thereby automating ammunition belt sorting, saving labor costs, and improving sorting efficiency and quality. Summary of the Invention

[0003] The purpose of this invention is to overcome the shortcomings of the prior art and provide an automatic sorting device for spring chain links based on visual judgment, so as to realize the automation of spring chain sorting, save labor costs, and improve sorting efficiency and sorting quality.

[0004] The objective of this invention is achieved as follows: An automatic sorting device for spring chain sections based on visual judgment includes a frame (28), on which a linear feeding module (21), a single-section feeding module (22), a spring chain positioning and circulation module (23), and a visual detection and judgment module (24) are provided. The linear feeding module (21) includes a vibrator support (213), a linear vibrator (212) is provided on the vibrator support (213), and a linear feeding guide (211) is inclined on the linear vibrator (212). The linear vibrator (212) is used to make the linear feeding guide (211) convey the spring chain link through vibration and gravity. The spring chain link includes a single spring opening side and a double spring opening side. A locking interface is formed between the two spring openings on the double spring opening side. The locking interface of the spring chain link is locked on the linear feeding guide (211) and forms an axial limit. The spring chain link can slide along the vibrating linear feeding guide (211). The single-section feeding module (22) includes a cylinder bracket (223), a cylinder (221) is provided on the cylinder bracket (223) in a direction perpendicular to the axial direction of the spring chain link, and a dispensing rod (222) is coaxially provided on the piston rod of the cylinder (221). The dispensing rod (222) is controlled to extend and retract by the cylinder (221). The dispensing rod (222) is used to control the state of the spring chain link on the linear feeding guide rail (211). The spring chain positioning and transfer module (23) includes a synchronous belt support (233), a synchronous belt mechanism (231) is installed on the synchronous belt support (233), and a number of positioning blocks (235) are installed on the synchronous belt mechanism (231). The upper surface of the positioning block (235) is provided with an arc-shaped positioning surface (2351) and a limiting edge (2352). The limiting edge (2352) is adjacent to the linear feeding guide rail (211). The limiting edge (2352) is used to contact the outer arc surface of the double spring-holding port side of the spring chain section and make the spring chain section flip into a posture with the spring-holding port facing upward. The arc-shaped positioning surface (2351) is used to cooperate with the back of the spring-holding port on both sides of the spring chain section for positioning. The visual inspection and judgment module (24) is located on one side of the spring chain positioning and transfer module (23) and is used to take pictures and analyze the spring chain sections transferred to the inspection station.

[0005] Preferably, the discharge end of the linear feeding guide (211) is provided with a guide slope (2111) for guiding the spring chain. The slope of the guide slope (2111) is greater than the slope of the linear feeding guide (211). The arc-shaped positioning surface (2351) and the limiting edge (2352) on the positioning block (235) are used to cooperate with the guide slope (2111) to realize the attitude adjustment and positioning of the spring chain section.

[0006] Preferably, the frame (28) is provided with a defective product separation module (25) and a qualified product receiving module (26). The non-conforming product separation module (25) is located downstream of the visual inspection and judgment module (24). The non-conforming product separation module (25) includes a separation drive cylinder (251) and a non-conforming product receiving inclined fabric channel (252). The separation drive cylinder (251) and the non-conforming product receiving inclined fabric channel (252) are located on both sides of the synchronous belt mechanism (231). The separation drive cylinder (251) is used to push the non-conforming product into the non-conforming product receiving inclined fabric channel (252). The qualified product receiving module (26) includes a qualified product receiving inclined fabric channel (261), which is located at the discharge end of the synchronous belt mechanism (231).

[0007] Preferably, the visual detection and judgment module (24) includes a camera support (247), a Z-axis rod (246) is threaded along the vertical direction on the camera support (247), a horizontally arranged R-axis rod (244) is hinged to the top of the Z-axis rod (246), the Z-axis rod (246) and the R-axis rod (244) are locked by limit nuts (245) respectively, and a visual camera (241) is installed below the end of the R-axis rod (244).

[0008] Preferably, it also includes a vibrating feeding device (1) that is separately set from the frame (28). The vibrating feeding device (1) includes a feeding tray support (12), and a vibrating feeding tray (11) is set on the feeding tray support (12). The vibrating feeding tray (11) has a channel and a discharge guide rail. Under normal conditions, the discharge guide rail is flush with the entry end of the linear feeding guide rail (211).

[0009] A screening structure is set in the channel. The spring chain links run in the channel and are acted upon by the screening structure, eventually forming a sorting queue of spring chain links with the same orientation. That is, the double-clamping spring links ride on the rectangular discharge guide rail with the clamping springs facing backward, and then enter the linear feeding guide rail (211). Of course, manual feeding is also possible.

[0010] Preferably, a servo motor (232) is installed on the synchronous belt support (233), and the servo motor (232) is used to drive the synchronous belt mechanism (231) to rotate.

[0011] Preferably, the positioning block (235) is mounted on the timing belt mechanism (231) via a universal positioning seat (234), and the positioning block (235) can be changed in size.

[0012] Preferably, the single-section feeding module (22) is provided in two sets. Preferably, the single-section feeding module (22) is provided in two sets. The two sets of single-section feeding modules (22) are located on both sides of the linear feeding guide rail (211) and are staggered. The distance between the dispensing rods (222) of the two sets of single-section feeding modules (22) corresponds to the space occupied by one spring chain section. The two sets of single-section feeding modules (22) work alternately.

[0013] Specifically: There are two sets of dispensing levers (222), each independently controlled by its own dispensing cylinder (221). The two sets of dispensing levers (222) are arranged on the left and right sides of the linear feeding guide rail (211), and are arranged one in front and one behind along the guide rail. The distance between the front and rear positions of the two dispensing levers (222) is about the space occupied by one spring chain link. The left and right dispensing levers (222) move in coordination through the electrical control system. That is, the left lever retracts while the right lever extends, and the right lever retracts while the left lever extends. Through the coordinated movement of the left and right dispensing levers (222), a channel switch is formed to ensure that when the first spring chain link passes through, the second spring chain link enters the pre-pass position, and the remaining spring chain links are blocked outside the pre-pass position, so that the spring chain passes through one by one in an orderly manner according to the rhythm. Specifically, when the next lever (222) is inserted into the corresponding spring chain section's holding port to limit it, the previous lever (222) makes way, allowing the spring chain section that has passed the pre-pass position to slide out. When the next lever (222) is withdrawn, the previous lever (222) extends to limit it, preventing the spring chain section behind the pre-pass position from sliding out, thereby allowing the spring chain sections to slide out one by one.

[0014] Preferably, the dispensing lever (222) can also be set as a single set, directly inserted into / out of the cartridge holder of a cartridge link to control the on / off of the cartridge sliding, but the control is not as accurate as that of two sets.

[0015] Due to the adoption of the above technical solution, the present invention has the following beneficial effects: This invention uses a feeding device to orient and sort the spring chains before they enter an automatic sorting device. The automatic sorting device's linear feeding module and single-section feeding module ensure that each spring chain section enters the positioning and flow module, then is sent to a vision inspection and judgment module for detection. Defective products are separated by a defective product separation module, while qualified products flow into a qualified product receiving module. This device achieves automated spring chain sorting through automatic feeding, orienting and sorting, vision-based judgment of qualification, and automatic separation of qualified and defective products, saving labor costs and improving sorting efficiency and quality. Attached Figure Description

[0016] Figure 1 This is a schematic diagram of the structure of the present invention; Figure 2 This is a schematic diagram of the structure of each module in the automatic sorting device of the present invention; Figure 3 This is a schematic diagram of the linear feeding guide and positioning block of the present invention.

[0017] Figure Labels In the attached diagram, 1-vibrating feeding device, 11-vibrating feeding tray, 12-feeding tray support, 2-automatic sorting device, 21-linear feeding module, 22-single-section feeding module, 23-spring chain positioning and transfer module, 24-visual inspection and judgment module, 25-defective product separation module, 26-qualified product receiving module, 27-electrical control module, 28-frame, 211-linear feeding guide rail, 212-linear vibrator, 213-vibrator support, 221-cylinder, 222-dispensing rod, 223-cylinder support, 231-synchronous belt mechanism, 232-servo motor, 233-synchronous belt support, 23... 4-Universal positioning seat, 235-Positioning block, 236-Fasting screw, 241-Vision camera, 242-Butterfly connecting piece, 243-Adjusting screw, 244-R-axis rod, 245-Limit nut, 246-Z-axis rod, 247-Camera support, 251-Separation drive cylinder, 252-Unqualified product receiving inclined feed channel, 253-Inclined support, 261-Qualified product receiving inclined feed channel, 262-Channel support, 281-Tabletop plate, 282-Support body, 2111-Guiding inclined surface of linear feeding guide rail, 2351-Arc-shaped positioning surface of positioning block, 2352-Limiting edge of positioning block. Detailed Implementation

[0018] The embodiments of the present invention will be further described in detail below with reference to the accompanying drawings.

[0019] like Figure 1 The illustrated automatic sorting device for spring chain links based on visual judgment includes a vibrating feeding device 1 and an automatic sorting device 2. The vibrating feeding device 1 and the automatic sorting device 2 are designed separately and used in combination.

[0020] The feeding device includes a vibrating feeding tray and a feeding tray support. The vibrating feeding tray individually orients and sorts the spring chain sections, serving as the material input for the automatic sorting device. The automatic sorting device includes a frame, a linear feeding module, a single-section feeding module, a spring chain positioning and transfer module, a visual inspection and judgment module, a defective product separation module, a qualified product receiving module, and an electrical control module. The linear feeding module includes a linear feeding guide rail, a linear vibrator, and a vibrator support. The linear feeding guide rail is connected to the linear vibrator with screws, the linear vibrator is connected to the vibrator support with bolts and nuts, and the vibrator support is connected to the table plate with screws. The linear feeding guide rail is aligned with the vibrating feeding tray guide rail by adjusting the support thread. After receiving the single-section oriented spring chain conveyors from the vibrating tray, they are arranged in a straight line on the guide rail and move forward. The single-section feeding module includes a cylinder, a dispensing rod, and a cylinder support. A cylinder group consisting of two cylinders is controlled by an electrical control module to move the two cylinders forward and backward, allowing a single spring chain section to pass while the others wait. The aforementioned spring chain positioning and transfer module includes a synchronous belt mechanism, a synchronous belt support, a servo motor, a universal positioning seat, a positioning block, and fastening screws. The synchronous belt mechanism is mounted on the platform plane via a support seat and uses a threaded connection. The servo motor drives the synchronous belt mechanism to start and stop. The universal positioning seat is mounted on the synchronous belt via screws. The positioning block is connected to the universal positioning seat via fastening screws and positioning slots. Different positioning blocks can be replaced through the slot interface and fastening screws. The positioning block has a double-arc groove for positioning the spring chain. The vision detection and judgment module includes a vision camera, a butterfly connecting piece, adjusting screws, an R-axis rod, a Z-axis rod, a limit nut, and a camera support. The vision camera is mounted on the R-axis via the butterfly connecting piece. The R-axis rod is connected to the Z-axis rod via a limit nut. The Z-axis rod is connected to the camera support, which is mounted on the platform plane. The Z-axis rod controls the camera height through adjustment of the limit nut, and the R-axis rod limits the camera's horizontal position through the butterfly connecting piece using a set screw. The non-conforming product separation module includes a separation drive cylinder, a non-conforming product receiving inclined conveyor, and an inclined support. The separation drive cylinder is mounted on the camera bracket via its own nut and screw, and the non-conforming product receiving inclined conveyor is connected to the side of the synchronous belt via the inclined support. After receiving a command, the separation drive cylinder pushes the non-conforming product into the inclined conveyor via the non-conforming product spring chain. The conforming product receiving module includes a conforming product receiving inclined conveyor and a conveyor support. The conforming product spring chain runs to the top of the inclined surface via the synchronous belt positioning block and falls freely into the conforming product inclined conveyor by gravity. The support includes a table plate and a support body. The table plate and the support frame are connected by threads. The electrical control module uses a PLC to centrally control the vision camera, cylinder, servo motor, linear vibrator, vibrating feeder, etc.

[0021] Specifically: like Figure 1The vibratory feeding device 1 shown includes a vibratory feeding plate 11 and a feeding plate support 12. The automatic sorting device 2 includes a linear feeding module 21, a single-section feeding module 22, a spring chain positioning and transfer module 23, a visual inspection and judgment module 24, a defective product separation module 25, a qualified product receiving module 26, an electrical control module 27, and a frame 28. The present invention arranges the linear feeding module 21, the spring chain positioning and transfer module 23, the visual inspection and judgment module 24, and the qualified product unloading module 26 in the frame 28 by means of threaded connection, and installs the single-section feeding module 22 and the defective product separation module 25 on their respective module interfaces. The electrical control module 27 is installed in the frame 28, thereby completing the spatial arrangement of each module.

[0022] like Figure 2 The rack 28 shown includes a tabletop 281 and a support body 282, which are connected by screws. The tabletop 281 is mainly used to install various modules.

[0023] like Figure 2 The linear feeding module 21 shown includes a linear feeding guide rail 211, a linear vibrator 212, and a vibrator support 213. The linear feeding guide rail 211 is connected to the linear vibrator 212 by screws, the linear vibrator 212 is connected to the vibrator support 213 by bolts and nuts, and the vibrator support 213 is connected to the table plate 281 by screws.

[0024] like Figure 2 The single-section feeding module 22 shown includes a cylinder 221, a dispensing rod 222, and a cylinder bracket 223. The cylinder 221 and the dispensing rod 222 are connected by threads, and the cylinder 221 is connected to the cylinder bracket 223, which is mounted on the synchronous belt mechanism 231.

[0025] like Figure 2 The shown spring belt positioning and transfer module 23 includes a synchronous belt mechanism 231, a servo motor 232, a synchronous belt support 233, a universal positioning seat 234, a positioning block 235, and fastening screws 236. The synchronous belt mechanism 231 is mounted on the platform 281 via the synchronous belt support 233. The universal positioning seat 234 is connected to the synchronous belt via screws. The positioning block 235 is connected to the universal positioning seat 234 via fastening screws 236 and a slot interface. The servo motor 232 is connected to the synchronous belt mechanism 231 to drive the synchronous belt movement.

[0026] like Figure 2The visual detection and judgment module 24 shown includes a visual camera 241, a butterfly connecting piece 242, an adjusting screw 243, an R-axis rod 244, a limiting nut 245, a Z-axis rod 246, and a camera support 247. The camera support 247 is mounted on the tabletop 281 with screws. The Z-axis rod 246 is connected to the camera support 247 and secured with a limiting nut 245. The R-axis rod 244 is connected to the Z-axis rod 246. The height of the R-axis rod 244 is adjusted and secured with two limiting nuts 245. The butterfly connecting piece 242 is fastened to the R-axis rod 244 and secured with an adjusting screw 243. The butterfly connecting piece 242 is connected to the visual camera 241 with screws. The visual camera 241 can adjust its height and horizontal position on the R-axis rod 244 and the Z-axis rod 246.

[0027] like Figure 2 The defective product separation module 25 shown includes a separation drive cylinder 251, a defective product receiving inclined fabric channel 252, and an inclined support 253. The separation drive cylinder 251 is connected to the camera support 247, the defective product inclined fabric channel 252 is connected to the inclined support 253, and the inclined support 253 is connected to the side of the synchronous belt mechanism 231.

[0028] like Figure 2 The qualified product receiving module 26 shown includes a qualified product receiving inclined material channel 261 and a material channel support 262. The qualified product receiving material channel 261 is connected to the material channel support 262, and the material channel support 262 is mounted on the table plate 281.

[0029] like Figure 3 The diagram shows a partial structure of the linear feed guide 211 and the positioning block 235. The guide ramp 2111 of the linear feed guide 211 guides the spring chain downwards; the limiting edge 2352 of the positioning block 235 limits the lower part of the spring chain and, in conjunction with the guide ramp 2111, adjusts the spring chain's posture; the arc-shaped positioning surface 2351 of the positioning block 235 ensures the stability of the spring chain's posture on the positioning block 235. This mechanical structure design ensures that the feature surfaces of the spring chain are completely consistent each time the vision camera takes a picture, greatly reducing the recognition difficulty of the vision algorithm and improving the detection accuracy.

[0030] The sorting process of this invention: The spring chains are output from the vibrating feeding plate of the vibrating feeding device, forming a directional and ordered spring chain queue. This queue then enters the linear feeding guide of the linear feeding module via the feeding plate guide. The spring chain queue forms a long queue on the linear feeding guide and continues to move forward under the action of the linear feeder. When the spring chain reaches the dispensing lever of the single-section feeding module, the queue is blocked by the dispensing lever. The dispensing lever, under the action of the linkage cylinder, forms a channel for a single-section spring chain to pass through, controlling the flow of the single-section spring chain to the spring chain positioning and transfer module, while the remaining spring chain queues wait. When a single-section spring chain is fed into the spring chain positioning and transfer module, a positioning block is placed below the inclined surface of the head of the linear feeding guide. The spring chain moves forward in the linear feeding module... Guided by the inclined plane of the guide rail and the posture adjustment of the positioning block's limiting edge, the material smoothly slides into the arc-shaped positioning groove of the positioning block. The positioning block carrying the spring chain is moved by the servo motor to the detection range of the vision camera in the vision inspection and judgment module. After taking pictures, analyzing, and judging, the vision camera transmits the results to the electronic control module. If the inspected spring chain is qualified, it continues to flow and is carried by the positioning block on the synchronous belt into the qualified product receiving inclined conveyor. The spring chain enters the qualified product receiving inclined conveyor under the action of gravity. If the inspected spring chain is unqualified, it is pushed into the unqualified product receiving inclined conveyor by the separation drive cylinder of the unqualified product separation module, thus realizing the automatic sorting of the spring chain. The motion control logic of the vibrating feeder, linear vibrator, vision camera, servo motor, cylinder, etc., is all implemented through a PLC program, and the vision camera's detection and judgment rely on its own detection and judgment function.

[0031] Finally, it should be noted that the above preferred embodiments are only used to illustrate the technical solutions of the present invention and are not intended to limit it. Although the present invention has been described in detail through the above preferred embodiments, those skilled in the art should understand that various changes can be made to it in form and detail without departing from the scope defined by the claims of the present invention.

Claims

1. An automatic sorting device for spring chain links based on visual judgment, characterized in that: Includes a frame (28), on which are provided a linear feeding module (21), a single-section feeding module (22), a spring chain positioning and transfer module (23), and a vision detection and judgment module (24). The linear feeding module (21) includes a vibrator support (213), a linear vibrator (212) is provided on the vibrator support (213), and a linear feeding guide (211) is inclined on the linear vibrator (212). The linear vibrator (212) is used to make the linear feeding guide (211) convey the spring chain link through vibration and gravity. The spring chain link includes a single spring opening side and a double spring opening side. A locking interface is formed between the two spring openings on the double spring opening side. The locking interface of the spring chain link is locked on the linear feeding guide (211) and forms an axial limit. The spring chain link can slide along the vibrating linear feeding guide (211). The single-section feeding module (22) includes a cylinder bracket (223), a cylinder (221) is provided on the cylinder bracket (223) in a direction perpendicular to the axial direction of the spring chain link, and a dispensing rod (222) is coaxially provided on the piston rod of the cylinder (221). The dispensing rod (222) is controlled to extend and retract by the cylinder (221). The dispensing rod (222) is used to control the state of the spring chain link on the linear feeding guide rail (211). The spring chain positioning and transfer module (23) includes a synchronous belt support (233), a synchronous belt mechanism (231) is installed on the synchronous belt support (233), and a number of positioning blocks (235) are installed on the synchronous belt mechanism (231). The upper surface of the positioning block (235) is provided with an arc-shaped positioning surface (2351) and a limiting edge (2352). The limiting edge (2352) is adjacent to the linear feeding guide rail (211). The limiting edge (2352) is used to contact the outer arc surface of the double spring-holding port side of the spring chain section and make the spring chain section flip into a posture with the spring-holding port facing upward. The arc-shaped positioning surface (2351) is used to cooperate with the back of the spring-holding port on both sides of the spring chain section for positioning. The visual inspection and judgment module (24) is located on one side of the spring chain positioning and transfer module (23) and is used to take pictures and analyze the spring chain sections transferred to the inspection station.

2. The automatic sorting device for spring chain links based on visual judgment according to claim 1, characterized in that: The discharge end of the linear feeding guide (211) is provided with a guide slope (2111) for guiding the spring chain. The slope of the guide slope (2111) is greater than that of the linear feeding guide (211). The arc-shaped positioning surface (2351) and the limiting edge (2352) on the positioning block (235) are used to cooperate with the guide slope (2111) to realize the attitude adjustment and positioning of the spring chain section.

3. The automatic sorting device for spring chain links based on visual judgment according to claim 1, characterized in that: The frame (28) is equipped with a non-conforming product separation module (25) and a conforming product receiving module (26). The non-conforming product separation module (25) is located downstream of the visual inspection and judgment module (24). The non-conforming product separation module (25) includes a separation drive cylinder (251) and a non-conforming product receiving inclined fabric channel (252). The separation drive cylinder (251) and the non-conforming product receiving inclined fabric channel (252) are located on both sides of the synchronous belt mechanism (231). The separation drive cylinder (251) is used to push the non-conforming product into the non-conforming product receiving inclined fabric channel (252). The qualified product receiving module (26) includes a qualified product receiving inclined fabric channel (261), which is located at the discharge end of the synchronous belt mechanism (231).

4. The automatic sorting device for spring chain links based on visual judgment according to claim 1, characterized in that: The visual detection and judgment module (24) includes a camera support (247), a Z-axis rod (246) is threaded along the vertical edge of the camera support (247), and a horizontally arranged R-axis rod (244) is hinged to the top of the Z-axis rod (246). The Z-axis rod (246) and the R-axis rod (244) are locked by limit nuts (245) respectively. A visual camera (241) is installed below the end of the R-axis rod (244).

5. The automatic sorting device for spring chain links based on visual judgment according to claim 1, characterized in that: It also includes a vibrating feeding device (1) that is separately set from the frame (28). The vibrating feeding device (1) includes a feeding tray support (12), and a vibrating feeding tray (11) is set on the feeding tray support (12). The vibrating feeding tray (11) has a channel and a discharge guide rail. Under normal conditions, the discharge guide rail is flush with the entry end of the linear feeding guide rail (211).

6. The automatic sorting device for spring chain links based on visual judgment according to claim 1, characterized in that: A servo motor (232) is mounted on the synchronous belt support (233), and the servo motor (232) is used to drive the synchronous belt mechanism (231) to rotate.

7. The automatic sorting device for spring chain links based on visual judgment according to claim 1, characterized in that: The positioning block (235) is mounted on the timing belt mechanism (231) via a universal positioning seat (234), and the positioning block (235) can be changed in size.

8. The automatic sorting device for spring chain links based on visual judgment according to claim 1, characterized in that: The single-section feeding module (22) is provided in two sets. The two sets of single-section feeding modules (22) are located on both sides of the linear feeding guide rail (211) and are staggered. The distance between the dispensing rods (222) of the two sets of single-section feeding modules (22) corresponds to the space occupied by one spring chain section. The two sets of single-section feeding modules (22) work alternately.

Images