CN212668496U

CN212668496U - Automatic feeding mechanism

Info

Publication number: CN212668496U
Application number: CN202021210883.6U
Authority: CN
Inventors: 刘小龙; 羌小龙; 赵超; 孙聚川; 李明
Original assignee: Shanghai Zhonghui Automation Engineering Technology Co ltd
Current assignee: Shanghai Zhonghui Automation Engineering Technology Co ltd
Priority date: 2020-06-26
Filing date: 2020-06-26
Publication date: 2021-03-09
Anticipated expiration: 2030-06-26

Abstract

An automatic feeding mechanism comprises a position detection sensor, an empty box detection sensor, a material box carrying mechanism, a material box clamping and discharging mechanism, a material conveying mechanism, a suction and transfer mechanism and a control device. The position detection sensor is used for detecting whether the material conveying device reaches a preset material taking position or not; the material box carrying mechanism is used for carrying the material box carried by the material carrying device to a preset material box positioning position; the bin clamping and discharging mechanism is used for clamping a bin which is conveyed to the bin positioning position by the bin conveying mechanism and conveying an empty bin to a preset empty bin discharging position; the absorbing and transferring mechanism is used for absorbing the materials in the clamped material box and placing the absorbed materials at a preset material placing position on the material conveying mechanism; the material detection sensor is used for detecting whether materials exist at a preset discharging position of the material conveying mechanism; the material conveying mechanism is used for conveying materials to a preset material blanking position. The utility model discloses degree of automation is high, the material loading is fast, and difficult damage object surface.

Description

Automatic feeding mechanism

Technical Field

The utility model relates to an automation line technique especially relates to automatic feeding technique.

Background

At present, the equipment of domestic water heater combustor all adopts semi-automatic mode, needs a large amount of manpowers to come the material loading, and not only intensity of labour is big, and the material loading is with low efficiency moreover, and the combustor product quality that produces is also uncontrollable, can't satisfy high-end market demand.

The existing semi-automatic feeding mode is changed into an automatic feeding mode, and the following difficult problems need to be solved: 1. the burner is not scratched and is not deformed; 2. automatic feeding needs to be completed within a specified beat; 3. the incoming materials of the burner are unordered, and automatic material sorting is realized.

Disclosure of Invention

The utility model aims to solve the technical problem that an automatic feeding mechanism that degree of automation is high, the material loading is fast, be difficult for damaging the object surface is provided.

The embodiment of the utility model provides an automatic feeding mechanism, include:

the position detection sensor is used for detecting whether the material conveying device reaches a preset material taking position or not, and the material conveying device is used for bearing a material box for containing materials;

the material box carrying mechanism is used for carrying the material box carried by the material carrying device to a preset material box positioning position;

the empty box detection sensor is used for detecting whether the material box is an empty box or not;

the bin clamping and discharging mechanism is used for clamping the bin conveyed to the bin positioning position by the bin conveying mechanism and conveying the empty bin to a preset empty bin discharging position;

the material conveying mechanism is used for conveying materials to a preset material blanking position;

the sucking and transferring mechanism is used for sucking the materials in the clamped material box and placing the sucked materials at a preset discharging position on the material conveying mechanism;

the material detection sensor is used for detecting whether materials exist at a preset material placing position on the material conveying mechanism;

the signal input end of the control device is respectively and electrically connected with the signal output end of the position detection sensor, the signal output end of the empty box detection sensor and the signal output end of the material detection sensor, and the control device is used for controlling the work of the material box carrying mechanism, the material box clamping and discharging mechanism, the material conveying mechanism and the absorbing and transferring mechanism.

The utility model discloses one of following beneficial effect is reached at least:

1. when a plurality of boxes of product materials are conveyed to a material conveying region by the material conveying device, the material box conveying mechanism of the embodiment conveys the material box to a preset material box positioning position and is clamped and positioned by the material box clamping and discharging mechanism, when no material exists at the preset material discharging position on the material conveying mechanism, the material in the clamped material box is sucked by the sucking and transferring mechanism, the sucked material is placed at the preset material discharging position on the material conveying mechanism, after the material in the material box is polished, the empty material box is conveyed to the preset empty material box discharging position by the material box clamping and discharging mechanism, and the next material box is conveyed to the preset material box positioning position by the material box conveying mechanism;

2. the embodiment of the utility model provides a through absorbing the material in the transfer mechanism absorption material case, can reduce the damage to the material surface, further, the electro-magnet sucking disc of absorbing the transfer mechanism can fluctuate, can prevent to crush, scratch the material;

3. the embodiment of the utility model provides a be equipped with reason material mechanism, reason material mechanism can arrange the order to the material on the material conveying mechanism and expect, and the reason material is accomplished, and single material is carried predetermined material unloading position by material conveying mechanism, has ensured only to carry the individual layer material.

Drawings

In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings needed to be used in the description of the embodiments will be briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to these drawings without inventive effort.

Fig. 1 and fig. 2 show the overall structure of the automatic feeding mechanism according to an embodiment of the present invention from different angles, respectively.

Fig. 3 and 4 show a front view schematic diagram and a top view schematic diagram of an automatic feeding mechanism according to an embodiment of the present invention, respectively.

Fig. 5 and 6 respectively show a partial structure schematic diagram of an automatic feeding mechanism according to an embodiment of the present invention.

Fig. 7 shows a schematic structural diagram of a bin handling mechanism according to an embodiment of the present invention.

Fig. 8 shows a schematic view of an installation structure of the empty box detection sensor according to an embodiment of the present invention.

Fig. 9 shows a schematic diagram of a bin clamping and discharging mechanism and a box shaking mechanism according to an embodiment of the present invention.

Fig. 10 shows a schematic view of an aspiration transfer mechanism according to an embodiment of the invention.

Fig. 11 shows a schematic diagram of a material arranging mechanism according to an embodiment of the present invention.

Fig. 12 shows an electrical control schematic diagram of an automatic feeding mechanism according to an embodiment of the present invention.

Detailed Description

The present invention will be further explained with reference to the accompanying drawings.

Fig. 1 to 6 show the structure of an automatic feeding mechanism according to an embodiment of the present invention, and fig. 12 shows an electrical control schematic diagram of an automatic feeding mechanism according to an embodiment of the present invention. Referring to fig. 1 to 6 and 12, an automatic feeding mechanism according to an embodiment of the present invention includes a position detecting sensor 11, an empty box detecting sensor 12, a material detecting sensor 13, a material box carrying mechanism, a material box clamping and discharging mechanism, a box shaking mechanism, a material conveying mechanism, an absorbing and transferring mechanism, a material arranging mechanism and a control device.

The position detection sensor 11 is used to detect whether the material conveying device 91 reaches a predetermined material taking position. In the present embodiment, the position detection sensor 11 is a proximity switch. The material transporting device 91 is a material transporting trolley for carrying a material box 92 for containing materials 93 (in this embodiment, the materials 93 are burners in a household water heater), and the front of the material transporting trolley is open. The cart can be loaded with 4 stacked bins 92 at a time. Fig. 5 and 6 show that the cart 91 has been manually pushed to a predetermined take-off position.

The bin transporting mechanism is used for transporting the bin carried by the material transporting device 91 to a preset bin positioning position. Fig. 7 shows a schematic structural diagram of a bin handling mechanism according to an embodiment of the present invention. The material box carrying mechanism comprises a bracket 21 and a bracket lifting mechanism, wherein the bracket 21 is used for supporting the material box 92 carried by the material conveying device 91, and the bracket lifting mechanism is used for driving the bracket 21 to ascend and descend. The carriage lifting mechanism comprises a pair of lifting guide rails 22, a pair of first sliders 23 slidably mounted on the pair of lifting guide rails 22, a first lead screw 24, a first nut 25 engaged with the first lead screw 24 and connected to the carriage 21, and a first motor 26 for driving the lead screw 24 to rotate so as to drive the carriage 21 to ascend and descend, wherein the carriage 21 is fixedly connected to the pair of first sliders 23. The carriage 21 extends into the carriage 91 and holds the bottom of the 4 magazines 92 in a stack (a tray may be placed at the bottom of the 4 magazines 92) so that the 4 magazines may be lifted up to a specified height. FIG. 5 shows the bin being transported to a predetermined bin locating position.

The empty box detecting sensor 12 is used to detect whether the bin 92 is empty. In the present embodiment, the empty box detecting sensor 12 is an imaging sensor, and an empty box detecting sensor displacement mechanism is provided to drive the empty box detecting sensor to move forward and backward. Optionally, the imaging sensor is a CCD imaging sensor. As shown in fig. 8, the empty box detection sensor displacement mechanism includes a second lead screw (not shown), a second nut (not shown) engaged with the second lead screw, and a second motor 126, the imaging sensor 12 is connected to the second nut, and the second motor 126 drives the second lead screw to rotate clockwise or counterclockwise, so as to drive the imaging sensor 12 to move back and forth. In other embodiments, the empty-box detection sensor displacement mechanism may not be provided.

The bin gripping and blanking mechanism is adapted to grip a bin 92 carried by the bin handling mechanism to a bin locating position and to deliver an empty bin to a predetermined empty bin blanking position. Referring to fig. 9, the bin clamping and discharging mechanism includes a pair of guide rails 32, a pair of bin clamping assemblies, and a pair of bin clamping assembly driving mechanisms respectively corresponding to the pair of bin clamping assemblies. A pair of magazine clamp assemblies are slidably disposed on the pair of rails 32 for clamping opposite sides of magazine 92, respectively, and a pair of magazine clamp assembly drive mechanisms are provided for driving the pair of magazine clamp assemblies to slide along the pair of rails 32. Each magazine clamp assembly comprises a base 33, a jaw 34 and a jaw drive mechanism. The base 33 is slidably engaged with the guide rail 32, and the jaw driving mechanism is fixed to the base 33 and connected to the jaws 34 to drive the jaws 34 to extend and retract, the extending and retracting directions of the jaws 34 being perpendicular to the extending direction of the guide rail 32, that is, the guide rail 32 extends in the front-rear direction, and the extending and retracting directions of the jaws 34 being in the left-right direction. In this embodiment, the jaw drive mechanism is a first cylinder 35. The bin clamping assembly driving mechanism is a second air cylinder 36, the second air cylinder 36 is a rodless air cylinder, and a moving body of the rodless air cylinder is connected with the base 33.

The box shaking mechanism is used for horizontally shaking the box 92 so as to enable the materials 93 in the box 92 to be uniformly stacked. The box shaking mechanism includes a base 43, a pair of jaw assemblies and a base drive mechanism. A pair of jaw assemblies are respectively located on both sides of the base 43 for respectively gripping the pair of jaws 34. Each jaw assembly includes a jaw 44 and a jaw drive mechanism secured to the base 43 for driving the jaw 44 in extension and retraction. The base drive mechanism is connected to the base 43 for driving the base 43 to reciprocate in a direction parallel to the extending direction of the guide rail 32. The jaws 34 are provided with a detent 344 that mates with the jaws 44, and the pair of jaws 44 snap into the detent 344 of the pair of jaws 34, respectively, to retain the pair of jaw assemblies.

In this embodiment, the jaw driving mechanism is a third cylinder 45, and the base driving mechanism is a fourth cylinder 46.

Further, the box shaking mechanism further comprises a pair of slide rails 42, the extending direction of the pair of slide rails 42 is consistent with the extending direction of the pair of guide rails 32, and the base 43 is slidably disposed on the pair of slide rails 42.

The material conveying mechanism is used for conveying the material 93 to a preset material blanking position. In this embodiment, the material conveying mechanism is a conveyor belt conveying mechanism, which includes a conveyor belt 55 and a third motor 56 that drives the conveyor belt to move.

The suction transfer mechanism is used for sucking the materials 93 in the clamped material box 92 and placing the sucked materials 93 at a preset discharge position on the material conveying mechanism.

Referring to fig. 10, the sucking and transferring mechanism includes an electromagnetic sucking component and a three-axis moving mechanism. The electromagnetic suction assembly comprises a support frame 60 and a plurality of electromagnet sucker assemblies, the electromagnet sucker assemblies are respectively arranged on the support frame 60, and each electromagnet sucker assembly comprises a guide rod 61, an electromagnet sucker 62 and a spring 63. The guide rod 61 penetrates through the support frame along the vertical direction, and is kept on the support frame 60 in a falling-preventing mode, and the guide rod 61 can move up and down relative to the support frame 60. The electromagnet suction cup 62 is connected with the lower end of the guide rod 61, and the spring 63 is sleeved outside the guide rod 61 and is positioned between the electromagnet suction cup 62 and the bottom surface of the support frame 61. The material (combustor) in the feed box is unordered, and the position of material in the feed box is also uncertain, in this case, utilizes the electromagnet sucking disc to adsorb the material easily, but electromagnet sucking disc 62 fluctuation in the adsorption process to avoided crushing, scratch material. In this embodiment, the support plate 60 is provided with a guide sleeve 601 fitted with the guide rod 61, and the guide rod 61 passes through the guide sleeve 601 and moves up and down with respect to the guide sleeve 601. The top of the guide rod 61 is provided with a stop portion 611 for preventing the guide rod 61 from falling off the support frame 60.

The support frame 60 is connected to a three-axis motion mechanism, which can drive the electromagnetic suction assembly to move in the front-back direction, the left-right direction, and the up-down direction. The three-axis movement sub-mechanism comprises a front-back direction moving mechanism, a left-right direction moving mechanism and an up-down direction moving mechanism. The up-down moving mechanism is fixed to the front-back moving mechanism, and the front-back moving mechanism is fixed to the left-right moving mechanism. In this embodiment, the up-down moving mechanism includes an electric cylinder 616, and the electric cylinder 616 is connected to the supporting frame 60 and can drive the electromagnetic material sucking component to move up and down. The front-back direction moving mechanism comprises a fourth motor 626 and a front-back moving lead screw nut pair, the whole up-down direction moving mechanism is connected with a nut of the front-back moving lead screw nut pair, and the fourth motor 626 can drive the up-down moving mechanism to move front and back when driving a lead screw of the front-back direction moving mechanism to rotate. The left-right direction moving mechanism comprises a fifth motor 636 and a left-right moving screw nut pair, the whole front-back direction moving mechanism is connected with a nut of the left-right moving screw nut pair, and when the fifth motor 636 drives a screw rod of the left-right direction moving mechanism to rotate, the front-back moving mechanism and the up-down moving mechanism can be driven to move left and right.

The material detecting sensor 13 is used for detecting whether the predetermined discharging position on the material conveying mechanism (i.e. the conveyor belt 55) has the material. Referring to fig. 11, in the present embodiment, the material detecting sensor 13 is a grating sensor.

The material arranging mechanism is used for blocking the stacked materials conveyed by the material conveying mechanism, and conveying of single-layer materials is achieved. In this embodiment, the material arranging mechanism comprises a first brush roller 71 and a second brush roller 72, the first brush roller 71 and the second brush roller 72 are arranged side by side at the downstream side of the predetermined discharge position of the material conveying mechanism, and the gap between the first brush roller 71 and the second brush roller 72 and the conveying surface of the material conveying mechanism only allows a single layer of material to pass through. The first brush roller 71 is closer to the predetermined material placing position than the second brush roller 72, the rotating direction of the first brush roller 71 is opposite to the conveying direction of the material conveying mechanism, so that materials stacked on the bottom layer and conveyed from the front side can be effectively blocked, and the rotating direction of the second brush roller 72 is opposite to the rotating direction of the first brush roller 71. Further, a first synchronizing gear 73 is arranged on a roller shaft of the first brush roller 71, a second synchronizing gear 74 is arranged on a roller shaft of the second brush roller 72, the first synchronizing gear 73 and the second synchronizing gear 74 are meshed with each other, and the first brush roller 71 is driven by a sixth motor 76 to further drive the second brush roller 72 to rotate.

The signal input end of the control device is respectively and electrically connected with the signal output end of the position detection sensor 11, the signal output end of the empty box detection sensor 12 and the signal output end of the material detection sensor 13, and the control device is used for controlling the work of the work bin carrying mechanism, the work bin clamping and discharging mechanism, the work bin empty box detection sensor displacement mechanism, the work bin conveying mechanism, the work bin sucking and transferring mechanism, the work bin arranging mechanism and the work bin shaking mechanism.

In the present embodiment, the control device includes an industrial personal computer 81 and a PLC controller 82. The signal input end of the industrial personal computer 81 is connected with the signal output end of the imaging sensor 12 and used for judging whether the bin 92 is empty according to the image signal output by the imaging sensor 12.

The signal input part of the PLC 82 is respectively electrically connected with the signal output part of the position detection sensor 11 and the signal output part of the material detection sensor 13, and the signal output part of the PLC 82 is respectively connected with the control input parts of the first to seventh motors and the control input parts of the first to fourth cylinders, so as to control the work of the work bin carrying mechanism, the work bin clamping and discharging mechanism, the work bin empty detection sensor displacement mechanism, the work bin conveying mechanism, the work bin sucking and transferring mechanism, the work bin arranging mechanism and the work bin shaking mechanism.

In one specific embodiment, the automatic feeding mechanism operates as follows.

The material conveying trolley 91 is manually pushed to the material loading area, when the position detection sensor 11 detects that the material conveying trolley 91 reaches a preset material taking position (at the moment, the bracket 21 extends into the material conveying trolley 91), the position detection sensor sends a position signal to the PLC 82, the PLC 82 controls the first motor 26 to act, the bracket 21 lifts the 4 material boxes 92 loaded on the material conveying trolley upwards, and the uppermost material box 92 reaches a preset material box positioning position. The PLC control 82 controls the actuation of the jaws 34 of a pair of magazine gripper assemblies to grip the sides of the magazine 92, respectively, to position the magazine. After the bin is positioned, the PLC controller 82 controls the second motor 126 to rotate, which in turn drives the imaging sensor 12 to move forward over the bin 92 to capture an image of the burner in the bin 92. When the grating sensor 13 detects that the preset discharging position of the conveyor belt 55 has no burner product, the PLC 82 controls the suction transfer mechanism to electrify the electromagnet suction cup 62 and suck the burner in the material box, after suction is completed, the three-axis movement mechanism conveys the sucked burner to the preset discharging position of the conveyor belt 55, and the PLC controls the electromagnet suction cup 62 to be powered off for discharging. When the light barrier sensor 13 detects that there is a burner product at the predetermined discharge position of the conveyor belt 55, the electromagnet suction cup 62 is not activated. After the electromagnet suction disc 62 finishes placing the product, the next suction is performed. After the electromagnet suction cups 62 discharge materials, the PLC 82 controls the third motor 56 to rotate, the conveyor belt 55 drives the burner to move, and when the materials pass through the material arranging area, the first brush roller 71 can separate stacked products, so that the single product is ensured to be flatly laid on the conveyor belt 55. When the burner is conveyed to a predetermined material discharge position, the conveyor belt 55 stops operating. The external robot 101 will suck away the product placed at the material blanking position under the guidance of the CCD imaging sensor 102.

Because of the unordered position uncertainty of product supplied materials, this embodiment lets the product spread through shaking the punch-out equipment mechanism with the workbin shake, conveniently gets and puts. After the absorbing and transferring mechanism finishes absorbing the materials with the preset quantity, the products in the material box are uneven and easy to be uneven. The PLC controller 82 controls the third cylinder 45 to operate, so that the pair of jaws 44 are respectively clamped into the clamping grooves 344 of the pair of clamping jaws 34, thereby clamping the pair of jaw assemblies. Then, the PLC controller 82 controls the fourth cylinder 46 to extend and retract back and forth for a predetermined number of times, so that the bin 92 is shaken back and forth several times, and the shaking is completed, waiting for the product to be sucked by the suction transfer mechanism.

The material in the material box is sucked one by the sucking and transferring mechanism, when the imaging sensor 12 detects that the material box 92 is an empty box (namely the material in the material box is sucked completely), the PLC controller 82 controls the second air cylinder 36 to act, so that the pair of material box clamping assemblies slide along the guide rail 32, the empty box is conveyed to a preset empty box discharging position, the empty box is collected by an external discharging device, the collection is completed, and the alarm prompts people to pull away the empty box. The pair of bin clamping assemblies returns to the predetermined bin locating position, the PLC controller 82 controls the first motor 26 to rotate, and the carriage 21 lifts the 3 bins 92 loaded on the cart upward to bring the bins 92 that were originally on the second floor to the predetermined bin locating position. And so on until the material in 4 bins 92 has been removed.

The embodiment of the utility model provides an automatic operation degree is high, has reduced manufacturing cost, has improved production efficiency to can promote product quality.

It will be apparent to those skilled in the art that various changes and modifications may be made without departing from the spirit and scope of the invention. Thus, if such modifications and variations of the present invention fall within the scope of the claims and their equivalents, the present invention is also intended to include such modifications and variations.

Claims

1. The utility model provides an automatic feeding mechanism which characterized in that includes:

the bin clamping and discharging mechanism is used for clamping a bin conveyed to the bin positioning position by the bin conveying mechanism and conveying an empty bin to a preset empty bin discharging position;

the material detection sensor is used for detecting whether materials exist at the preset material placing position on the material conveying mechanism or not;

control device, control device's signal input part respectively with the signal output part of position detection sensor empty case detection sensor's signal output part with the signal output part electricity of material detection sensor is connected, control device is used for control workbin handling mechanism workbin centre gripping and unloading mechanism material conveying mechanism with absorb the work of transporting mechanism.

2. The automatic feeding mechanism according to claim 1, wherein the automatic feeding mechanism comprises a box shaking mechanism for horizontally shaking the bin to allow the material in the bin to be uniformly stacked;

the control device is used for controlling the operation of the box shaking mechanism.

3. The automatic feeding mechanism according to claim 1, wherein said magazine clamping and discharging mechanism comprises a pair of guide rails, a pair of magazine clamping assemblies and a pair of magazine clamping assembly driving mechanisms corresponding to one of said pair of magazine clamping assemblies, respectively, said pair of magazine clamping assemblies being slidably disposed on said pair of guide rails for clamping opposite sides of a magazine, respectively, and a pair of magazine clamping assembly driving mechanisms for driving said pair of magazine clamping assemblies to slide along said pair of guide rails;

each bin clamping assembly comprises a base, a clamping jaw and a clamping jaw driving mechanism; the base with guide rail sliding fit, clamping jaw actuating mechanism be fixed in the base, and with the clamping jaw links to each other to the drive clamping jaw stretches out and retracts.

4. The automatic feeding mechanism according to claim 3, wherein the automatic feeding mechanism comprises a box shaking mechanism comprising a base, a pair of jaw assemblies, and a base driving mechanism;

the pair of clamping jaw assemblies are respectively positioned on two sides of the base and used for respectively clamping the pair of clamping jaws; each jaw assembly comprises a jaw and a jaw driving mechanism fixed on the base, and the jaw driving mechanism is used for driving the jaw to extend and retract;

the base driving mechanism is connected with the base and used for driving the base to reciprocate along the direction parallel to the extending direction of the guide rail.

5. The automatic feeding mechanism according to claim 1, wherein the sucking and transferring mechanism comprises an electromagnetic sucking component and a three-axis movement mechanism;

the electromagnetic material sucking assembly comprises a support frame and a plurality of electromagnet sucker assemblies, the electromagnet sucker assemblies are respectively arranged on the support frame, and each electromagnet sucker assembly comprises an electromagnet sucker capable of floating up and down;

the support frame with the triaxial motion links to each other, triaxial motion can drive the material subassembly is inhaled to the electromagnetism and removes along back and forth direction, left and right sides direction and upper and lower direction.

6. The automatic feeding mechanism of claim 5, wherein each said electromagnet chuck assembly comprises a guide rod and a spring; the guide rod penetrates through the support frame along the vertical direction, is kept on the support frame in a falling-preventing and landing manner, and can move up and down relative to the support frame; the electromagnet sucker is connected with the lower end of the guide rod, and the spring is sleeved outside the guide rod and is located between the electromagnet sucker and the bottom surface of the support frame.

7. The automatic feeding mechanism according to claim 1, wherein the automatic feeding mechanism comprises a material arranging mechanism for blocking the laminated material conveyed by the material conveying mechanism to realize the conveying of the single-layer material;

the control device is used for controlling the work of the material arranging mechanism.

8. The automatic feeding mechanism according to claim 7, wherein the material arranging mechanism comprises a first brush roller and a second brush roller, the first brush roller and the second brush roller are arranged side by side at a downstream side of the predetermined discharge position of the material conveying mechanism, and a gap between the first brush roller and the second brush roller and the conveying surface of the material conveying mechanism allows only a single layer of material to pass through;

the first brush roller is closer to the preset discharging position than the second brush roller, the rotating direction of the first brush roller is opposite to the conveying direction of the material conveying mechanism, and the rotating direction of the second brush roller is opposite to the rotating direction of the first brush roller.

9. The automatic feeding mechanism according to claim 1, wherein the magazine carrying mechanism includes a carriage for holding a magazine carried by the material transporting device and a carriage lifting mechanism for driving the carriage up and down.

10. The automatic feeding mechanism according to claim 1, wherein the empty box detecting sensor is an imaging sensor;

the control device comprises an industrial personal computer and a PLC (programmable logic controller); the signal input end of the industrial personal computer is connected with the signal output end of the imaging sensor and used for judging whether the material box is empty or not according to the image signal output by the imaging sensor;

the signal input part of PLC controller respectively with the signal output part of position detection sensor with the signal output part electricity of material detection sensor is connected, and the PLC controller is used for controlling workbin handling mechanism workbin centre gripping and unloading mechanism material conveying mechanism with absorb the work of transport mechanism.