Feeding machine equipment

Abstract

The utility model provides feeding machine equipment, a feeding and discharging BOX roller assembly and a BOX lifting assembly are sequentially arranged on a machine frame of the feeding machine equipment, the feeding and discharging BOX roller assembly comprises a full BOX conveying roller assembly and an empty BOX conveying roller assembly, and the full BOX conveying roller assembly and the empty BOX conveying roller assembly are arranged in parallel. The BOX lifting assembly comprises a full BOX lifting unit and an empty BOX lifting unit, the full BOX lifting unit corresponds to the full BOX conveying roller assembly, the empty BOX lifting unit and the full BOX lifting unit are arranged in parallel, and the empty BOX lifting unit corresponds to the empty BOX conveying roller assembly; a BOX carrying mechanical arm located above the empty BOX lifting unit is arranged on the side, opposite to the feeding and discharging BOX roller assembly, of the empty BOX lifting unit, and a discharging mechanical arm located above the full BOX lifting unit is arranged on the edge of the side, close to the full BOX lifting unit, of the top of the machine table. And full BOX feeding of different sizes can be detected, and the manual production efficiency is improved.

Description

Technical Field

[0001] This utility model belongs to the field of feeding machine technology, and in particular relates to a feeding machine device. Background Technology

[0002] Feeding machines are widely used in automated production lines to provide downstream docking equipment (such as AOI equipment) with the required products. However, most feeding machines currently rely on manual handling of products and manual identification of products and foam spacers before the products flow into the downstream docking equipment. This makes them highly dependent on manpower and results in high labor costs. In addition, existing feeding machines cannot detect the feeding of BOXes of different sizes, thus failing to achieve the automation function of the equipment. Utility Model Content

[0003] The technical problem to be solved by this utility model is that most existing feeding machines rely on manual picking of products for feeding, and cannot automatically distinguish between products and foam spacers, nor can they detect the feeding of BOXes of different sizes, thus failing to realize the automation function of the equipment. The present invention provides a feeding machine.

[0004] The technical solution adopted by this utility model to solve the above-mentioned technical problems is as follows:

[0005] A feeding machine is provided, comprising a machine base, a frame extending outward from the bottom of one side of the machine base along its width direction, and a loading / unloading box roller assembly and a box lifting assembly sequentially arranged along the width direction of the machine base. The loading / unloading box roller assembly includes a full box conveying roller assembly and an empty box conveying roller assembly arranged parallel to the full box conveying roller assembly. The box lifting assembly includes a full box lifting unit corresponding to the full box conveying roller assembly and an empty box lifting unit arranged parallel to the full box lifting unit and corresponding to the empty box conveying roller assembly. A transverse conveyor assembly is provided on the top of the machine platform along its width direction. On the side opposite to the loading and unloading BOX roller assembly, there is a BOX handling robot extending from the empty BOX lifting unit to the full BOX lifting unit and located above the empty BOX lifting unit. The BOX handling robot is equipped with a first color sensor. On the edge of the top of the machine platform near the full BOX lifting unit, there is a unloading robot extending from the transverse conveyor assembly to the full BOX lifting unit and located above the full BOX lifting unit. The unloading robot is equipped with a second color sensor.

[0006] Furthermore, the full BOX lifting unit includes a first fixed frame. From bottom to top, the first fixed frame contains a feeding correction component at its bottom and a first Z-axis lifting assembly at its top, which can be raised and lowered relative to the feeding correction component to receive the full BOX. The feeding correction component can correct the full BOX on the Z-axis lifting assembly. A BOX clamping component is provided on the top of each of the two side walls of the first fixed frame. The empty BOX lifting unit includes a second fixed frame arranged parallel to the first fixed frame. A motor-driven lead screw is vertically provided on each of the opposite side walls of the second fixed frame. The second fixed frame contains a second Z-axis lifting assembly, driven by the lead screw, for placing the empty BOX.

[0007] Furthermore, the feeding correction assembly includes two correspondingly spaced first correction plates and second correction plates. Two correspondingly spaced first fixing blocks and second fixing blocks are respectively provided outward between the first correction plates and the second correction plates. The top of the first correction plates and the second correction plates near the inner sidewall of the first fixing frame are respectively provided with a plurality of correction claws arranged in parallel. The first fixing block and the second fixing block are respectively provided with a first synchronous wheel assembly and a second synchronous wheel assembly that drive the correction claws on both sides to move towards the middle to correct the full BOX that is not placed neatly.

[0008] Further, the first synchronous pulley assembly includes two first synchronous pulleys respectively disposed at the bottom of the opposite side walls of the first fixed frame. The first fixed block has two spaced-apart second synchronous pulleys corresponding to the first synchronous pulleys on the side closer to the second fixed block. The first fixed block has a third synchronous pulley driven by a motor located at the bottom of the first fixed block on the side farther from the second fixed block. A first synchronous belt passing through the two correction grippers is fitted onto the two first synchronous pulleys. The first synchronous belt passes through the two second synchronous pulleys and then through the third synchronous pulley. The second synchronous pulley assembly includes two fourth synchronous pulleys respectively disposed on the first fixed block and the second fixed block. The second fixed block has two spaced-apart fifth synchronous pulleys corresponding to the fourth synchronous pulleys on the side closer to the first fixed block. The second fixed block has a sixth synchronous pulley driven by a motor located at the bottom of the second fixed block on the side farther from the first fixed block. A second synchronous belt passing through the two correction grippers is fitted onto the two fourth synchronous pulleys. The second synchronous belt passes through the two fifth synchronous pulleys and then through the sixth synchronous pulley.

[0009] Furthermore, the BOX empty disc clamping assembly includes two push cylinders respectively disposed on the top of the opposite side walls of the first fixed frame. The push cylinders are respectively disposed on the top of the opposite side walls of the first fixed frame via a mounting plate. The mounting plate is provided with a slider on each side along its length direction. The mounting plate is provided with a sliding plate that is pushed by the push cylinder and can slide towards the full BOX direction. The bottom sides of the sliding plate are respectively provided with a slide rail that slides in cooperation with the slider.

[0010] Furthermore, the full box conveying roller assembly includes a plurality of first rollers arranged at intervals and driven by a motor, and a first positioning sensor is provided on the side of the full box conveying roller assembly near the full box lifting unit; the empty box conveying roller assembly includes a plurality of second rollers arranged at intervals and driven by a motor, and a stop is provided on the side of the empty box conveying roller assembly away from the empty box lifting unit.

[0011] Furthermore, the BOX handling robot assembly includes a first handling robot for handling the BOX, a first lifting assembly for driving the first handling robot to rise and fall, and a traversing module for driving the first handling robot to move laterally. A vacuum suction cup gripper is provided below the first handling robot, and the first color sensor is located below the first handling robot.

[0012] Furthermore, the unloading robot assembly includes a second handling robot for picking up products, a second lifting assembly for driving the second handling robot to rise and fall, a synchronous belt module for driving the second handling robot to move synchronously, and a hollow rotating platform for driving the second handling robot to rotate.

[0013] Furthermore, the top of the first fixed frame is provided with a plurality of second positioning sensors spaced apart.

[0014] The feeding machine equipment provided in the above embodiments of this utility model has a frame on which loading and unloading BOX roller assemblies and BOX lifting assemblies are sequentially arranged. The loading and unloading BOX roller assembly includes a full BOX conveying roller assembly and an empty BOX conveying roller assembly arranged parallel to the full BOX conveying roller assembly. The BOX lifting assembly includes a full BOX lifting unit arranged corresponding to the full BOX conveying roller assembly and an empty BOX lifting unit arranged parallel to the full BOX lifting unit and corresponding to the empty BOX conveying roller assembly. A transverse conveyor assembly and an empty BOX lifting unit are provided on the top of the machine. A BOX handling robot is located above the empty BOX lifting unit on the side opposite to the loading and unloading BOX roller assembly. A unloading robot is located above the full BOX lifting unit on the edge of the machine top near the full BOX lifting unit. In this embodiment, manual handling and loading are used, which can automatically distinguish between products and foam spacers in full BOXes, thus improving manual production efficiency. In addition, by setting up the feeding correction component, the feeding of full BOXes of different sizes can be corrected, thereby facilitating the detection of full BOXes of different sizes by the first color sensor and the second color sensor, realizing the automation of the equipment. Attached Figure Description

[0015] To more clearly illustrate the technical solution of this utility model, the drawings used in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this utility model. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0016] Figure 1 This is an overall schematic diagram of a feeding machine provided in one embodiment of the present utility model.

[0017] Figure 2 yes Figure 1 Enlarged diagram of point A in the middle.

[0018] Figure 3 This is another overall schematic diagram of the feeding machine equipment provided in one embodiment of the present utility model.

[0019] Figure 4 This is a side view of a feeding machine provided in an embodiment of the present invention.

[0020] Figure 5 This is another side view of the feeding machine equipment provided in one embodiment of the present utility model.

[0021] Figure 6 This is a top view of a feeding machine provided in an embodiment of this utility model.

[0022] Figure 7This is a schematic diagram of the structure of the BOX lifting component of the feeding machine equipment provided in one embodiment of the present utility model.

[0023] Figure 8 yes Figure 7 Enlarged diagram of point B in the middle.

[0024] Figure 9 This is a schematic diagram of the loading and unloading BOX roller assembly of a feeding machine provided in an embodiment of the present invention.

[0025] Figure 10 This is a schematic diagram of the structure of the BOX handling robot of the feeding machine equipment provided in one embodiment of the present utility model.

[0026] Figure 11 This is a schematic diagram of the unloading robot arm of the feeding machine equipment provided in one embodiment of the present utility model. Detailed Implementation

[0027] To make the technical problems solved, technical solutions, and beneficial effects of this utility model clearer, the present utility model will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the present utility model and are not intended to limit the present utility model.

[0028] Please refer to the above as well. Figures 1 to 11This utility model provides a feeding machine, including a machine platform 100. A frame 200 extends outward from the bottom of one side of the machine platform 100 along its width direction. The frame 200 is sequentially provided with a loading / unloading box roller assembly 300 and a box lifting assembly 400 along the width direction of the machine platform 100. The loading / unloading box roller assembly 300 includes a full box conveying roller assembly 301 and an empty box conveying roller assembly 302 arranged parallel to the full box conveying roller assembly 301. Thus, the fully loaded boxes loaded with products are manually handled... 10. The BOX is fed into the full BOX conveyor roller assembly 301. The BOX lifting assembly 400 includes a full BOX lifting unit 401 corresponding to the full BOX conveyor roller assembly 301 and an empty BOX lifting unit 402 arranged in parallel with the full BOX lifting unit 401 and corresponding to the empty BOX conveyor roller assembly 302. A transverse conveyor assembly 500 is provided on the top of the machine base 100 along its width direction. The empty BOX lifting unit 402 is provided on the side opposite to the loading and unloading BOX roller assembly 300. A BOX handling robot 600 extends along the direction from the empty BOX lifting unit 402 to the full BOX lifting unit 401 and is located above the empty BOX lifting unit 402. The BOX handling robot 600 is equipped with a first color sensor 604 for determining whether it is a foam spacer. The first color sensor 604 is based on full-spectrum analysis technology and a white LED light source, which can emit a light beam covering the entire wavelength of visible light. This light source has high brightness and stability, and can uniformly illuminate the surface of the target object, reducing misjudgments caused by differences in color reflection. The sensor captures reflected light through a built-in light-receiving element and analyzes its spectral distribution to detect differences in the target object. The foam spacer is adsorbed onto the surface of the product to protect it. The foam spacer needs to be removed before the product is loaded. The top of the machine 100 is provided with a feeding robot 700 that extends along the direction from the transverse conveyor assembly 500 to the full BOX lifting unit 401 and is located above the full BOX lifting unit 401. The feeding robot 604 is based on full-spectrum analysis technology and a white LED light source, which can emit a beam of light covering the entire wavelength of visible light. This light source has high brightness and stability and can uniformly illuminate the surface of the target object, reducing misjudgments caused by differences in color reflection.The sensor captures reflected light through a built-in light-receiving element and analyzes its spectral distribution to detect differences in the target object. The full box lifting unit 401 includes a first fixed frame 4011. Within the first fixed frame 4011, from bottom to top, are a feeding correction component 4012 located at the bottom of the first fixed frame 4011 and a first Z-axis lifting group 4013 located at the top of the first fixed frame 4011 and movable relative to the feeding correction component 4012, for inputting full boxes 10. The feeding correction component 4012 can adjust the full boxes on the first Z-axis lifting group 4013. The device is calibrated to detect the feeding of full boxes of different sizes, thus realizing the automation function of the equipment. A box clamping assembly 4014 is provided on the top of the two side walls of the first fixed frame 4011. The empty box lifting unit 402 includes a second fixed frame 4021 arranged in parallel with the first fixed frame 4011. A lead screw 4022 driven by a motor is vertically provided on the two side walls opposite to the second fixed frame 4021. A second Z-axis lifting assembly 4023 for placing empty boxes 20 is provided inside the second fixed frame 4021 and is driven to lift by the lead screw 4022. In this embodiment, manual handling and feeding are adopted, which can automatically distinguish the product and foam spacer in the full box, detect the feeding of boxes of different sizes, realize the automation function of the equipment, and improve the efficiency of manual production.

[0029] In this embodiment, the full BOX 10 loaded with products is manually transported into the full BOX conveyor roller assembly 301. After the previous batch of full BOX 10 flows into the full BOX lifting unit 401, this batch of full BOX 10 flows into the standby position of the full BOX conveyor roller assembly 301. After the previous batch is loaded, this batch of full BOX 10 enters the first Z-axis lifting group 4013 of the full BOX lifting unit 401. After being clamped and corrected by the feeding correction component 4012, it can detect the loading of BOXes of different sizes and realize the automation function of the equipment. Then, it is raised to the picking position by the first Z-axis lifting group 4013. After the full BOX 10 enters the picking position, the BOX handling robot 600 moves to the full BOX. Above 10, the BOX handling robot 600 descends and the first color sensor determines whether the layer is a foam spacer. Once confirmed as a foam spacer, the BOX handling robot 600 removes the foam spacer and places it into the empty BOX 20 on the second Z-axis lifting assembly 4023. Then, the unloading robot 700 moves to the full BOX. Material is picked up from above. When the unloading robot 700 descends to pick up the material, the second color sensor distinguishes whether it is a product. After confirming that it is a product, the unloading robot 700 picks it up and lifts it up to transport it, and places the product on the transverse conveyor assembly 500. After the transverse conveyor assembly 500 senses the product, it moves transversely to the downstream equipment interface, and after receiving a signal from the downstream equipment, it transmits the product to the downstream equipment. In this way, the feeding machine equipment provided in this embodiment adopts manual handling and feeding, and automatically sorts products and foam spacers, and flows the products into the downstream docking equipment, which improves the efficiency of manual production. Moreover, through the setting of the first color sensor and the second color sensor, it can automatically distinguish the products and foam spacers in the full BOX, making the operation efficient and accurate.

[0030] In this embodiment, as Figure 7 and Figure 8As shown, the feeding correction assembly 4012 includes two correspondingly spaced first correction plates 40121 and second correction plates 40122. Two correspondingly spaced first fixing blocks 40123 and second fixing blocks 40124 extend outwards from the position between the first correction plates 40121 and second correction plates 40122. Multiple sequentially arranged correction grippers 40125 are respectively provided on the top of the first correction plates 40121 and second correction plates 40122 near the inner wall of the first fixing frame 4011. The first fixing blocks 40123 and second fixing blocks 40124 are respectively provided with a first synchronous pulley assembly 40126 and a second synchronous pulley assembly 40127 that drive the correction grippers 40125 on both sides to move towards the center to correct the misplaced full BOX 10. Thus, through the arrangement of the first synchronous pulley assembly 40126 and the second synchronous pulley assembly 40127, the two correction grippers 40125 are driven to move towards the center to correct the misplaced full BOX. The calibration is performed at 10, which can correct the feeding of full BOXes of different sizes. This makes it easier for the first and second color sensors to detect the feeding of full BOXes of different sizes, enabling the feeding machine to detect the feeding of BOXes of different sizes and realizing the automation function of the equipment.

[0031] In this embodiment, as Figure 7 and Figure 8As shown, the first synchronous pulley assembly 40126 includes two first synchronous pulleys 401261 ​​respectively disposed at the bottom of the opposite side walls of the first fixing frame 4011. The first fixing block 40123 has two spaced-apart second synchronous pulleys 401262 disposed on the side near the second fixing block 40124, corresponding to the first synchronous pulleys 401261. The first fixing block 40123 has a third synchronous pulley driven by a motor located at the bottom of the first fixing block 40123 on the side away from the second fixing block 40124. A first synchronous belt 401264, passing through two correction jaws 40125, is fitted onto two first synchronous pulleys 401261. The first synchronous belt 401264 passes through two second synchronous pulleys 401262 and then passes through the third synchronous pulley 401263. The second synchronous pulley assembly 40127 includes two fourth synchronous pulleys 401271, respectively disposed on the top of the first correction plate 40121 and the second correction plate 40122 near the inner sidewall of the first fixing frame 4011. The second fixing block 4... Two fifth synchronous pulleys 401272, spaced apart and corresponding to the fourth synchronous pulleys 401271, are provided on the side of the second fixed block 40124 away from the first fixed block 40123. A sixth synchronous pulley 401273, driven by a motor located at the bottom of the second fixed block 40124, is provided on the side of the second fixed block 40124 away from the first fixed block 40123. A second synchronous belt 401274, passing through two correction jaws 40125, is fitted onto the two fourth synchronous pulleys 401271. The second synchronous belt 401274 passes through two... The fifth synchronous pulley 401272 passes through the sixth synchronous pulley 401273. Thus, through the arrangement of the first synchronous belt 401264 and the second synchronous belt 401274, the first synchronous belt 401264 passes through two second synchronous pulleys 401262 and then through the third synchronous pulley 401263. The second synchronous belt 401274 passes through two fifth synchronous pulleys 401272 and then through the sixth synchronous pulley 401273. This drives the correction grippers 40125 on both sides to move towards the center to correct any misplaced full BOX 10. This allows for the correction of full BOXes of different sizes during feeding, facilitating the detection of different sized full BOXes by the first and second color sensors. This enables the feeding machine to detect the feeding of different sized BOXes, achieving automation.

[0032] In this embodiment, as Figure 2 and Figure 7As shown, the BOX clamping assembly 4014 includes two push cylinders 40141 respectively disposed on the top of the opposite side walls of the first fixing frame 4011. The push cylinders 40141 are respectively disposed on the top of the opposite side walls of the first fixing frame 4011 via a mounting plate 40142. The mounting plate 40142 is provided with a slider 40143 on each side along its length direction. The mounting plate 40142 is provided with a sliding plate 40144 that is pushed by the push cylinders 40141 and can slide towards the full BOX 10. The bottom sides of the sliding plate 40143 are respectively provided with a slide rail 40145 that slides and engages with the slider 40143. Thus, through the arrangement of the push cylinders 40141, the sliders 40144 and the slide rails 40145, the push cylinders 40141 push the sliding plate 40144 towards the full BOX 10 to clamp the full BOX 10.

[0033] In this embodiment, the full box conveying roller assembly 301 includes a plurality of first rollers 3011 arranged at intervals and driven by a motor. The full box 10 loaded with products is manually placed into the first rollers 3011. A first positioning sensor 3012 is provided on the side of the full box conveying roller assembly near the full box lifting unit. The empty box conveying roller assembly 302 includes a plurality of second rollers 3021 arranged at intervals and driven by a motor. A stop member 3022 is provided on the side of the empty box conveying roller assembly away from the empty box lifting unit.

[0034] In this embodiment, the BOX handling robot assembly 700 includes a first handling robot 601 for handling foam sheets and moving them into an empty BOX 20, a first lifting assembly 602 for driving the first handling robot 601 to rise and fall, and a traversing module 603 for driving the first handling robot 601 to move laterally. The first color sensor 604 is located below the first handling robot 601. Thus, the BOX handling robot assembly 700 adsorbs foam sheets from the upper surface of the product and moves them into the empty BOX 20 for unloading via the empty BOX conveyor roller assembly 302.

[0035] In this embodiment, the unloading robot assembly 700 includes a second handling robot 701 for picking up products, a second lifting assembly 702 for driving the second handling robot 701 to rise and fall, a synchronous belt module 703 for driving the second handling robot 701 to move synchronously, and a hollow rotating platform 704 for driving the second handling robot 701 to rotate. The second color sensor is located below the second handling robot 701.

[0036] In this embodiment, the top of the first fixed frame 4011 is provided with a plurality of second position sensors 4015 spaced apart, which are used to sense whether the full BOX is in position.

[0037] The process of the feeding machine equipment provided by this utility model is as follows:

[0038] Feeding section:

[0039] The full boxes loaded with products are manually carried and placed onto the first roller of the full box conveyor roller assembly. After the previous batch of full boxes flows into the full box lifting unit, the current batch of full boxes flows into the standby position of the full box conveyor roller assembly. After the previous batch of products has finished loading, the current batch of full boxes enters the first Z-axis lifting group of the full box lifting unit. After being clamped and corrected by the feeding correction component, it is then raised to the picking position by the first Z-axis lifting group.

[0040] Transportation section:

[0041] After a full box enters the material handling position, the empty box transport arm moves above the full box. The box transport robot descends and the first color sensor determines whether the layer is a foam partition. If it is confirmed to be a foam partition, the box transport robot removes the foam partition and places it into the empty box on the second Z-axis lifting assembly. Then, the unloading robot moves above the full box to pick up the material. When the unloading robot descends to pick up the material, the second color sensor distinguishes whether it is a product. If it is confirmed to be a product, the unloading robot picks it up and lifts it up, placing the product onto the transverse conveyor assembly. After the full box is picked up, the box transport robot moves it into an empty box and places it into the empty box on the second Z-axis lifting assembly. The empty box is then manually unloaded using the empty box conveyor roller assembly.

[0042] Material cutting section:

[0043] After sensing the product, the lateral conveyor assembly moves laterally to the interface of the downstream equipment. Upon receiving a signal from the downstream equipment, it transmits the product to the downstream equipment. Finally, the lateral conveyor assembly moves laterally to the unloading position below the unloading robot arm to wait for the next product.

[0044] The feeding machine equipment provided in the above embodiments of this utility model has a frame on which loading / unloading BOX roller assemblies and BOX lifting assemblies are sequentially arranged. The loading / unloading BOX roller assembly includes a full BOX conveying roller assembly and an empty BOX conveying roller assembly arranged parallel to the full BOX conveying roller assembly. The BOX lifting assembly includes a full BOX lifting unit arranged corresponding to the full BOX conveying roller assembly and an empty BOX lifting unit arranged parallel to the full BOX lifting unit and corresponding to the empty BOX conveying roller assembly. A transverse conveyor assembly is provided on the top of the machine. A [missing information - likely a component or component] is provided on the side of the empty BOX lifting unit opposite to the loading / unloading BOX roller assembly. A BOX handling robot is located above the empty BOX lifting unit, and a unloading robot is located on the edge of the machine top near the full BOX lifting unit. In this embodiment, manual handling and loading are adopted. With the setting of the first and second color sensors, the product and foam spacer in the full BOX can be automatically distinguished and the product flows into the downstream docking equipment, which improves the efficiency of manual production. In addition, with the setting of the feeding correction component, the feeding of full BOXes of different sizes can be corrected, so that the first and second color sensors can detect the feeding of full BOXes of different sizes, realizing the automation of the equipment.

[0045] The above description is only a preferred embodiment of the present utility model and is not intended to limit the present utility model. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the present utility model should be included within the protection scope of the present utility model.

Claims

1. A feeding machine, comprising a machine base, wherein a frame extends outward from the bottom of one side of the machine base along its width direction, characterized in that, The frame is provided with loading / unloading box roller assemblies and box lifting assemblies in sequence along the width of the machine base. The loading / unloading box roller assembly includes a full box conveying roller assembly and an empty box conveying roller assembly arranged in parallel with the full box conveying roller assembly. The box lifting assembly includes a full box lifting unit arranged corresponding to the full box conveying roller assembly and an empty box lifting unit arranged in parallel with the full box lifting unit and corresponding to the empty box conveying roller assembly. A transverse conveyor assembly is provided on the top of the machine base along its width. The machine has a BOX handling robot that extends along the direction from the empty BOX lifting unit to the full BOX lifting unit and is located above the empty BOX lifting unit. The BOX handling robot is equipped with a first color sensor. The machine has a unloading robot that extends along the direction from the transverse conveyor assembly to the full BOX lifting unit and is located above the full BOX lifting unit. The unloading robot is equipped with a second color sensor.

2. The feeding machine equipment according to claim 1, characterized in that, The full BOX lifting unit includes a first fixed frame. From bottom to top, the first fixed frame contains a feeding correction component at its bottom and a first Z-axis lifting assembly at its top, which can be raised and lowered relative to the feeding correction component to receive the full BOX. The feeding correction component can correct the full BOX on the Z-axis lifting assembly. A BOX clamping component is provided on the top of each of the two side walls of the first fixed frame. The empty BOX lifting unit includes a second fixed frame arranged parallel to the first fixed frame. A motor-driven lead screw is vertically installed on each of the opposite side walls of the second fixed frame. The second fixed frame contains a second Z-axis lifting assembly, driven by the lead screw, for placing the empty BOX.

3. The feeding machine equipment according to claim 2, characterized in that, The feeding correction assembly includes a first correction plate and a second correction plate that are spaced apart and correspondingly arranged. A first fixing block and a second fixing block that are spaced apart and correspondingly arranged are respectively provided on the position between the first correction plate and the second correction plate. Multiple correction claws are arranged in parallel on the top of the side of the first correction plate and the second correction plate near the inner sidewall of the first fixing frame. A first synchronous wheel assembly and a second synchronous wheel assembly are respectively provided on the first fixing block and the second fixing block to drive the two correction claws to move towards the middle to correct the full BOX.

4. The feeding machine equipment according to claim 3, characterized in that, The first synchronous pulley assembly includes two first synchronous pulleys respectively disposed at the bottom of the opposite side walls of the first fixed frame. Two second synchronous pulleys, spaced apart and corresponding to the first synchronous pulleys, are disposed on the side of the first fixed block closest to the second fixed block. A third synchronous pulley, driven by a motor located at the bottom of the first fixed block, is disposed on the side of the first fixed block furthest from the second fixed block. A first synchronous belt, passing through two of the aforementioned correction grippers, is fitted onto the two first synchronous pulleys. The first synchronous belt passes through the two second synchronous pulleys and then through the third synchronous pulley. The second synchronous pulley assembly includes two fourth synchronous pulleys respectively disposed on the first fixed block and the second fixed block. Two fifth synchronous pulleys, spaced apart and corresponding to the fourth synchronous pulleys, are disposed on the side of the second fixed block closest to the first fixed block. A sixth synchronous pulley, driven by a motor located at the bottom of the second fixed block, is disposed on the side of the second fixed block furthest from the first fixed block. A second synchronous belt, passing through two of the aforementioned correction grippers, is fitted onto the two fourth synchronous pulleys. The second synchronous belt passes through the two fifth synchronous pulleys and then through the sixth synchronous pulley.

5. The feeding machine equipment according to claim 2, characterized in that, The BOX clamping assembly includes two push cylinders respectively disposed on the top of the opposite side walls of the first fixed frame. The push cylinders are respectively disposed on the top of the opposite side walls of the first fixed frame via a mounting plate. The mounting plate is provided with a slider on each side along its length direction. The mounting plate is provided with a sliding plate that is pushed by the push cylinder and can slide in the direction of full BOX. The bottom of the sliding plate is provided with a slide rail on each side that slides in cooperation with the slider.

6. The feeding machine equipment according to claim 1, characterized in that, The full box conveying roller assembly includes multiple first rollers arranged at intervals and driven by a motor. A first positioning sensor is provided on the side of the full box conveying roller assembly near the full box lifting unit. The empty box conveying roller assembly includes multiple second rollers arranged at intervals and driven by a motor. A stop is provided on the side of the empty box conveying roller assembly away from the empty box lifting unit.

7. The feeding machine equipment according to claim 1, characterized in that, The BOX handling robot assembly includes a first handling robot for handling BOX, a first lifting component for driving the first handling robot to rise and fall, and a lateral movement module for driving the first handling robot to move laterally. A vacuum suction cup gripper is provided below the first handling robot, and the first color sensor is located below the first handling robot.

8. The feeding machine equipment according to claim 1, characterized in that, The unloading robot assembly includes a second handling robot for picking up products, a second lifting assembly for driving the second handling robot to rise and fall, a synchronous belt module for driving the second handling robot to move synchronously, and a hollow rotating platform for driving the second handling robot to rotate.

9. A feeding machine according to claim 2, characterized in that, The top of the first fixed frame is provided with multiple second position sensors spaced apart.

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