Dumpling machine and control method thereof

Abstract

The present invention discloses a dumpling machine and a control method thereof. The dumpling machine comprises a dumpling discharging device, a manipulator, a cooking device, a box discharging device and a cover discharging device; the dumpling discharging device is used to store quick-frozen dumplings and discharge them; the manipulator comprises a filling device and a box taking device, and the working positions of the manipulator comprise an initial material taking position, a feeding position, a box taking and sealing position, and a material receiving position; the cooking device comprises a cooking pot for cooking dumplings; the filling device of the manipulator cooperates with the cooking pot, and the manipulator can transport the dumplings in the filling device to the cooking pot at the feeding position; the box discharging device is used to store and output the dumpling boxes; and the cover discharging device is used to store and output the box covers. The dumpling machine can realize the automatic operations of storage, cooking, and output of quick-frozen dumplings, save time and labor, and meet people's needs for fast and convenient eating of dumplings.

Description

Technical Field

[0001] The invention relates to the technical field of food processing, in particular to a dumpling machine and a control method thereof. Background Art

[0002] Dumplings are a traditional specialty food that is deeply loved by the Chinese people, but the production process is cumbersome. Therefore, some dumpling machines have appeared on the market, which can assist in making dumplings and produce finished dumplings. They are used in restaurants, canteens, fast food, dumpling processing and other industries. However, the process of making dumplings still takes a certain amount of time, and steaming equipment is required for steaming, which is difficult to adapt to the fast-paced life of modern people. In addition, in order to adapt to the fast-paced life, quick-frozen dumplings came into being. Dumplings are quickly frozen at low temperatures, and the original nutrition and flavor can be maintained, and they can be kept fresh for a long time, so they have developed rapidly, but they still need to be manually steamed when eaten, which is time-consuming and laborious. At present, there is no automatic dumpling machine for steaming dumplings on the market, which cannot meet people's needs for fast and convenient dumplings. Summary of the invention

[0003] Based on this, the technical problem to be solved by the present invention is to provide a dumpling machine and a control method thereof which can automatically steam and cook dumplings, saves time and effort, and is highly practical.

[0004] In order to solve the above technical problems, the present invention adopts the following technical solutions to achieve the above problems:

[0005] A dumpling machine, comprising: a machine body, on which an outlet is arranged; a dumpling discharging device, comprising a lower hopper and a conveying device, wherein the lower hopper is used to store quick-frozen dumplings and discharge them; the conveying device is used to convey the dumplings discharged by the dumpling discharging device; a manipulator, comprising a filling device and a box taking device, wherein the working positions of the manipulator include an initial material taking position, a material feeding position, a box taking and sealing position, and a material receiving position; the manipulator can fill the dumplings conveyed by the conveying device through the filling device at the initial material taking position; a cooking device, comprising a cooking pot for cooking dumplings; the manipulator The filling device cooperates with the cooking pot, and the robot can transport the dumplings in the filling device to the cooking pot at the feeding station; the box discharging device is used to store and output the dumpling boxes; the robot can grab the dumpling box through the box taking device at the box taking and capping station, and can receive the dumplings output by the cooking device through the dumpling box at the material receiving station; the cover discharging device is used to store and output the box cover; when the robot is at the box taking and capping station, the cover discharging device outputs the box cover and buckles it on the dumpling box; the sealed dumpling box is output from the outlet through the output mechanism.

[0006] In one of the embodiments, a buffer area is further included, and the working station of the robot also includes a placement station. The robot can place the dumpling box in the buffer area when in the placement station; the buffer area is connected to the outlet through an output mechanism, and the dumpling box is output through the outlet.

[0007] In one of the embodiments, the dumpling discharging device is arranged at the bottom of the machine body; the manipulator is a two-axis manipulator, including a horizontal conveying mechanism and a vertical conveying mechanism, and is arranged at the front side of the machine body; the steaming device is arranged above the dumpling discharging device and located in the middle of the machine body; the box discharging device, the cover discharging device and the buffer area are arranged on one side of the machine body; the box discharging port of the box discharging device, the cover discharging port of the cover discharging device and the storage position of the buffer area are located on the working plane of the manipulator.

[0008] In one embodiment, the steaming device is provided in plurality and arranged up and down in the machine body.

[0009] In one embodiment, a fixed frame is provided on the horizontal conveying mechanism, and the containing device includes an inner box, an outer frame arranged around the inner box and a pushing mechanism; the outer frame is fixedly connected to the fixed frame; the inner box has a accommodating cavity for containing dumplings, and the front side of the inner box has an inlet and outlet; the inner box can move downward to separate from the outer frame through a first driving mechanism; the pushing mechanism is used to push the dumplings in the inner box out of the inlet and outlet; the box taking device is connected to the fixed frame and is arranged above the containing device, and the box taking device can grab the dumpling box to the outer frame.

[0010] In one embodiment, the box-taking device includes a gripping mechanism and a second driving mechanism, wherein the second driving mechanism is used to drive the gripping mechanism to move horizontally and linearly along the fixed frame; the gripping mechanism includes a connecting plate and two corner cylinders respectively arranged on the first end and the second end of the connecting plate.

[0011] In one of the embodiments, a dipping sauce discharging device is further included, and the dipping sauce discharging device is used to store and output the dipping sauce.

[0012] In one embodiment, the box discharging device, the cover discharging device, and the buffer area are each provided with two, and are symmetrically arranged on both sides of the cooking device. Correspondingly, the outlets are provided with two corresponding to the buffer areas.

[0013] In one of the embodiments, a dumpling discharging cabinet is provided at the bottom of the machine body, and the dumpling discharging cabinet includes a freezing device, and a plurality of the dumpling discharging devices are arranged in the freezing device.

[0014] A control method for a dumpling machine, comprising the dumpling machine, the control method comprising:

[0015] The dumpling discharging device outputs the quick-frozen dumplings to the conveying device; the manipulator moves to the initial material taking station, and the conveying device conveys the quick-frozen dumplings to the containing device of the manipulator; the manipulator moves to the feeding station, and conveys the dumplings in the containing device to the cooking pot; the box discharging device outputs the dumpling box; the manipulator moves to the box taking and sealing station, and grabs the dumpling box through the box taking device; the manipulator moves to the material receiving station; after the set time, the dumplings output by the cooking device, the manipulator receives the dumplings output by the cooking device through the dumpling box; the manipulator moves to the box taking and sealing station, and the cover discharging device outputs the box cover and buckles it on the dumpling box; the sealed dumpling box is output from the outlet through the output mechanism.

[0016] Compared with the prior art, the advantages and positive effects of the present invention are: by arranging a dumpling discharging device, a manipulator, a steaming device, a box discharging device and a cover discharging device to cooperate with each other, it is possible to realize automated operations such as storage, steaming and output of quick-frozen dumplings, saving time and labor and meeting people's needs for quick and convenient eating of dumplings. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 It is a structural schematic diagram of the dumpling machine of the present invention;

[0018] Figure 2 It is a schematic diagram of the overall structure of the discharging device in the dumpling machine of the present invention;

[0019] Figure 3 The structure of the dumpling machine of the present invention is schematically shown. Figure 2 , the right side plate of the lower hopper is omitted in the figure;

[0020] Figure 4 The structure diagram of the discharging device in the dumpling machine of the present invention is shown in FIG. Figure 3 , the lower hopper is omitted in the figure;

[0021] Figure 5 for Figure 4 Left view of

[0022] Figure 6 It is a structural schematic diagram of a bevel gear set in a discharging device of a dumpling machine of the present invention;

[0023] Figure 7 It is a top view of the discharging device in the dumpling machine of the present invention;

[0024] Figure 8 A schematic diagram of the structure of the robot in the dumpling machine of the present invention;

[0025] Fig. 9 It is a rear view structural schematic diagram of the robot in the dumpling machine of the present invention;

[0026] Fig.10 for Fig. 9 A partial enlarged view of the

[0027] Fig.11 The schematic diagram of the structure of the filling device and the box taking device of the robot in the dumpling machine of the present invention

[0028] Fig.12 It is a schematic diagram of a filling device and a box taking device of a robot in a dumpling making machine of the present invention, wherein the filling device is shown without showing an outer frame;

[0029] Fig.13 It is a structural schematic diagram of the push plate of the manipulator in the dumpling making machine of the present invention;

[0030] Fig.14 It is a schematic diagram of the structure of the steaming device in the dumpling machine of the present invention;

[0031] Fig.15 It is a schematic diagram of the internal structure of the steaming device in the dumpling machine of the present invention, and the outer pot is not shown in the figure;

[0032] Fig.16 It is a rear view schematic diagram of the internal structure of the steaming device in the dumpling machine of the present invention, and the outer pot is not shown in the figure;

[0033] Fig.17 It is a schematic diagram of the inner pot structure of the steaming device of the dumpling machine of the present invention;

[0034] Fig.18 It is a rear view schematic diagram of the inner pot of the steaming device of the dumpling machine of the present invention;

[0035] Fig.19 It is a structural schematic diagram of the material-prying mechanism in the steaming device of the dumpling machine of the present invention;

[0036] Fig. 20 It is a structural schematic diagram of the pot cover mechanism in the steaming device of the dumpling machine of the present invention;

[0037] Fig.21 It is a rear view schematic diagram of a pot cover mechanism in the steaming device of the dumpling machine of the present invention;

[0038] Fig. 22 It is a structural schematic diagram of the box discharging device of the dumpling machine of the present invention;

[0039] Fig.23 It is a schematic diagram of the internal structure of the box discharging device of the dumpling machine of the present invention;

[0040] Fig.24 It is a structural schematic diagram of the box-holding mechanism in the box-discharging device of the dumpling machine of the present invention;

[0041] Fig.25 It is a structural schematic diagram of the disengagement mechanism in the box discharging device of the dumpling machine of the present invention;

[0042] Fig.26 It is a schematic diagram of the back structure of the cover discharging device in the dumpling machine of the present invention;

[0043] Fig. 27 It is a front structural schematic diagram of the cover discharging device in the dumpling machine of the present invention;

[0044] Fig.28 It is a structural schematic diagram of the box cover and the box pushing mechanism in the cover discharging device of the dumpling machine of the present invention;

[0045] Fig.29 for Fig.28 Side view of

[0046] Description of reference numerals:

[0047] Body 10; outlet 11;

[0048] Dumpling discharging device 1; frame 110; lower hopper 120; discharging port 121; toggle plate 122; toggle plate rotating shaft 1221; gear lever 123; conveying device 130; first conveyor belt 131; second conveyor belt 132; gear box 1331; driving wheel 1332; first driven wheel 1333; second driven wheel 1334; third driven wheel 1335; bevel gear set 1336; first driving belt 1337; second driving belt 1338; third driving belt 1339; guide wheel 140;

[0049] Manipulator 2; vertical conveying mechanism 210; horizontal conveying mechanism 220; fixed frame 221; containing device 230; inner box 231; inlet and outlet 2311; first accommodating space 2312; second accommodating space 2313; installation space 2314; outer frame 232; front plate 2321; through hole 23211; extension part 23212; first linear cylinder 233; pushing mechanism 234; pushing plate 2341; first pushing plate 23411; second pushing plate 23412; third rodless cylinder 2342; fixed plate 2343; box taking device 240; corner cylinder 241; pressing arm 2411; positioning block 24111; second driving mechanism 242; first rodless cylinder 2421; second rodless cylinder 2422; connecting plate 243; second linear cylinder 250;

[0050] Cooking device 3; outer pot 310; inner pot 320; cooking chamber 321; inner pot discharge port 322; arc bottom 323; side plate 324; extension part 3241; rotating connection part 3242; inner pot driving mechanism 325; inner pot driving cylinder 3251; inner pot rotating shaft 3252; material shifting mechanism 330; material shifting shovel 331; cutout groove 3311; material shovel driving mechanism 332; material shovel driving cylinder 332 1; shovel rotating shaft 3322; gear 3323; rack 3324; sliding connector 333; through hole 3331; arc notch 3332; slide rail structure 334; pot cover mechanism 340; pot cover 341; pot cover driving mechanism 342; rodless cylinder 3421; connector 3422; horizontal connecting plate 34221; vertical connecting plate 34222; guide rail slide groove structure 343; cleaning water pipe 350;

[0051] Box discharging device 4; box discharging shell 410; accommodating cavity 411; base 412; box supporting mechanism 420; first horizontal driving mechanism 421; first plug plate 422; first vertical plate 4221; groove 42211; first rib 42222; first horizontal plate 4222; disengagement mechanism 430; bottom plate 431; second horizontal driving mechanism 432; second plug plate 433; second vertical plate 4331; second horizontal plate 4332; lifting driving mechanism 434; rear side plate 435; top plate 436; notch groove 437; notch 4381; guide rail 4382; box pushing mechanism 440; third horizontal driving mechanism 441; box pushing plate 442; horizontal supporting plate 443; guide rail structure 444;

[0052] Cover device 5; cover housing 510; accommodating cavity 511; cover opening 512; support plate 513; base 520; cover pushing mechanism 530; horizontal driving mechanism 531; cover pushing plate 532; vertical driving mechanism 533; first horizontal connecting plate 534; second horizontal connecting plate 535; vertical connecting plate 536; slide rail structure 540;

[0053] Buffer area 6; dumpling box 710; box cover 720; dipping sauce discharging device 8. DETAILED DESCRIPTION

[0054] The specific embodiments of the present invention will be described in detail below with reference to the accompanying drawings, but the present invention can be implemented in many different ways as defined and covered by the claims.

[0055] Reference Figure 1 The dumpling making machine in one embodiment of the present invention mainly comprises a machine body 10, a dumpling discharging device 1, a manipulator 2, a steaming device 3, a box discharging device 4 and a cover discharging device 5. The machine body 10 is provided with an outlet 11. Figure 2As shown, the dumpling discharging device 1 includes a lower hopper 120 and a conveying device. The lower hopper 120 is used to store and discharge quick-frozen dumplings; the conveying device is used to convey the dumplings discharged by the dumpling discharging device. Figure 8 As shown, the manipulator 2 includes a filling device 230 and a box taking device 240, and the working positions of the manipulator 2 include an initial material taking station, a feeding station, a box taking and capping station, and a material receiving station. The manipulator 2 can fill the dumplings conveyed by the conveying device through the filling device 230 at the initial material taking station. The cooking device 3 includes a cooking pot for cooking dumplings. The filling device 230 of the manipulator 2 cooperates with the cooking pot, and the manipulator 2 can convey the dumplings in the filling device to the cooking pot at the feeding station. The box discharging device 4 is used to store and output the dumpling box 710. The manipulator 2 can grab the dumpling box 710 through the box taking device 240 at the box taking and capping station, and can receive the dumplings output by the cooking device 3 through the dumpling box 710 at the material receiving station. The cap discharging device 5 is used to store and output the box cover 720. When the robot 2 is at the box taking and capping station, the cap discharging device 5 outputs the box cap 720 and snaps it onto the dumpling box 710. Finally, the capped dumpling box 710 is output from the outlet 11 through the output mechanism.

[0056] The above-mentioned dumpling machine, by arranging the dumpling discharging device 1, the manipulator 2, the steaming device 3, the box discharging device 4 and the cover discharging device 5 to cooperate with each other, can realize the automatic operations such as storage, steaming and output of quick-frozen dumplings, save time and labor, and meet people's needs for fast and convenient eating of dumplings.

[0057] Furthermore, the dumpling machine also includes a buffer area 6, and the working position of the robot also includes a placement station. The robot can place the dumpling box 710 in the buffer area 6 when at the placement station; the buffer area 6 is connected to the outlet through the output mechanism, and the dumpling box 710 is output through the outlet.

[0058] The dumpling discharging device 1 is arranged at the bottom of the machine body 10. The manipulator 2 is a two-axis manipulator, including a horizontal conveying mechanism 220 and a vertical conveying mechanism 210, and is arranged at the front side of the machine body 10. The cooking device 3 is arranged above the dumpling discharging device 1 and located in the middle of the machine body 10. The box discharging device 4, the cover discharging device 4 and the buffer area 6 are arranged on one side of the machine body. The box discharging port of the box discharging device 4, the cover discharging port of the cover discharging device 4 and the storage position of the buffer area 6 are located on the working plane of the manipulator 2. There are multiple cooking devices 3, and they are arranged up and down in the machine body 10.

[0059] The dumpling discharging device 1 specifically includes a frame 110, a lower hopper 120 and a conveying device 130, Figure 2-Figure 7The lower hopper 120 and the conveying device 130 are both installed on the frame 110. The lower hopper 120 has a containing cavity for containing quick-frozen dumplings. The conveying device 130 is used to convey the quick-frozen dumplings discharged from the lower hopper 120. The dumplings conveyed from the conveying device 130 can be directly output to the containing device of the robot, and the robot will perform the next step of transporting them to the cooking device.

[0060] The lower hopper 120 is arranged on the frame 110, and a discharge port 121 is arranged at the bottom of the lower hopper 120. In this embodiment, the frame 110 is a rectangular frame, and the lower hopper 120 is also rectangular and fixedly arranged on the top of the rectangular frame.

[0061] The conveying device 130 is arranged below the lower hopper 120. The conveying device 130 includes a first conveyor belt 131, a second conveyor belt 132 and a driving mechanism. The first conveyor belt 131 and the second conveyor belt 132 intersect to form a V-shaped conveyor belt. The V-shaped conveyor belt is arranged directly below the lower hopper 120, and the discharge port 121 of the lower hopper 120 is opposite to the rear end of the conveyor belt. The angle of the V-shaped conveyor belt is preferably 90°. When the dumplings fall from the discharge port 121 onto the V-shaped conveyor belt, since the first conveyor belt 131 and the second conveyor belt 132 intersect to form a V shape, the dumplings fall to the bottom of the V-shaped conveyor belt under the action of gravity. In order to improve the conveying efficiency, the dumplings on the conveyor belt can be arranged to be stacked in 2 to 3 layers. The quick-frozen dumplings falling from the discharge port 121 contact with the V-shaped conveyor belt, which can increase the contact area and increase the friction, thereby avoiding the problem that ordinary belt transmission cannot provide sufficient friction, it is difficult to quickly transport the dumplings, and then the dumplings are piled up.

[0062] In order to prevent the dumplings from piling up at the discharge end of the conveyor belt, the dumpling discharge device 1 is further provided with a guide wheel 140. The guide wheel 140 is arranged above the discharge end of the conveyor belt, and the rotation direction of the guide wheel 140 is ensured to be opposite to the conveying direction of the conveyor belt. When the dumplings are transported to the discharge end of the conveyor belt, under the action of the friction force in the opposite direction of the guide wheel 140, the friction force between the conveyor belt and the dumplings can be reduced, thereby preventing the dumplings from piling up at the discharge end.

[0063] Specifically, the driving mechanism includes a gear box 1331, a driving wheel 1332 and a first driven wheel 1333 for sleeves of the first conveyor belt 131, and a second driven wheel 1334 and a third driven wheel 1335 for sleeves of the second conveyor belt 132. In this embodiment, the gear box 1331 has an output shaft, which is connected to the driving wheel 1332 of the first conveyor belt 131 to drive the first conveyor belt 131 to operate. Figure 6The driving wheel 1332 is connected to the second driven wheel 1334 through the bevel gear set 1336, thereby driving the second conveyor belt 132 to rotate synchronously. Through a gear box 1331, the first conveyor belt 131 and the second conveyor belt 132 can be driven to rotate synchronously, which can greatly simplify the device and reduce the size of the device.

[0064] The guide wheel 140 is also connected to the output shaft of the gear box 1331 and driven to rotate by the gear box 1331. In order to ensure that one output shaft drives the driving wheel 1332 and the guide wheel 140 to rotate at the same time, it is set that the driving wheel 1332 is connected to the output shaft of the gear box 1331 through the first driving belt 1337, and the output shaft of the gear box 1331 is connected to the input shaft of the guide wheel 140 through the second driving belt 1338. The guide wheel 140 does not need to be provided with a separate driving motor, which further simplifies the device structure. In other embodiments, the guide wheel 140 can also be driven to rotate by a separate driving motor, and the rotation speed of the guide wheel 140 can be adjusted, which is different from the transmission speed of the conveyor belt. It should be pointed out that in other embodiments, the gear box 1331 can also adopt a multi-axis gear box 1331, in which two output shafts can be used to drive the driving wheel 1332 and the guide wheel 140 of the first conveyor belt 131 to rotate.

[0065] like Figure 3 and Figure 7 As shown, a toggle piece 122 is also provided on the inner wall of the lower hopper 120. Preferably, the toggle piece 122 is arranged on the inner wall of the lower hopper 120 in a rotational manner. During the dumpling unloading process, the toggle piece 122 is used to toggle the dumplings piled up in the lower hopper 120, so as to facilitate the dumplings to fall smoothly from the discharge port 121. In this embodiment, the power of the toggle piece 122 is also provided by the gear box 1331. Specifically, a through hole is provided on the inner wall of the lower hopper 120, and the toggle piece 122 is connected to the toggle piece rotating shaft 1221, and the toggle piece rotating shaft 1221 is installed in the through hole. The toggle piece rotating shaft 1221 is connected to the input shaft of the guide wheel 140 through a third drive belt 1339 sleeved on its input shaft. In other embodiments, the toggle piece 122 may also be directly connected to the output shaft of the gear box 1331 through the third drive belt 1339, or a three-axis gear box 1331 may be used, and the three output shafts of the gear box 1331 respectively drive the first conveyor belt 131, the guide wheel 140 and the toggle piece 122. In order to improve the efficiency of the toggle, a plurality of toggle pieces 122 may be provided, and the toggle pieces 122 are connected to each other through the drive belt transmission to achieve synchronous rotation.

[0066] The discharge port 121 is arranged at the rear end bottom of the lower hopper 120, and the front side wall of the lower hopper 120 is inclined toward the discharge port 121. Preferably, the angle of inclination is greater than 35°. The inclined surface is arranged to facilitate the dumplings to slide smoothly to the discharge port 121. At the same time, at the bottom of the lower hopper 120, the connection between the side walls on the left and right sides and the bottom surface is also arranged as an inclined surface to facilitate the dumplings to slide. At the same time, the gear box 1331 can be installed and fixed at the notch position below the inclined front side wall, which further reduces the size of the device and improves the space utilization.

[0067] like Figure 3 As shown, a plurality of transverse levers 123 are provided on the inner wall of the lower hopper 120. The plurality of levers 123 are staggered to separate the dumplings in the lower hopper 120, and can further prevent the dumplings from piling up during the falling process.

[0068] In this embodiment, the diameter of the guide wheel 140 gradually decreases from both ends to the middle, forming an hourglass-shaped structure, which can prevent the dumplings from slipping out of the two sides of the guide wheel 140. At the same time, since the middle of the guide wheel 140 is concave inward, the damage to the dumplings can be reduced during rotation.

[0069] A dumpling discharging cabinet is arranged at the bottom of the machine body, and the dumpling discharging cabinet includes a freezing device, in which the plurality of dumpling discharging devices 1 are arranged, and each dumpling discharging device 1 can contain different varieties of quick-frozen dumplings to meet the different taste requirements of customers. The plurality of dumpling discharging devices 1 are arranged side by side in the freezing device.

[0070] The robot 2 specifically includes a vertical conveying mechanism 210, a horizontal conveying mechanism 220, a filling device 230 and a box taking device 240, Figure 8-Figure 11 The horizontal transmission mechanism 220 can move up and down through the vertical transmission mechanism 210. The vertical transmission mechanism 210 and the horizontal transmission mechanism 220 are preferably conveyor belt transmission mechanisms. In other embodiments, transmission mechanisms such as screw transmission mechanisms and slide rail transmission mechanisms can also be selected. A fixed frame 221 is provided on the horizontal transmission mechanism 220, and the fixed frame 221 can reciprocate horizontally through the transmission of the horizontal transmission mechanism 220. Figure 11-Figure 12 As shown, the containing device 230 includes an inner box 231, an outer frame 232 mounted around the inner box 231, and a pushing mechanism 234. The outer frame 232 is fixedly connected to the fixing frame 221, and has four side panels, and its bottom plate and top plate are missing. The inner box 231 has a containing cavity for containing quick-frozen dumplings, and the front side of the inner box 231 has an inlet and outlet 2311 for loading and pouring dumplings. The outer frame 232 is mounted outside the inner box 231, and the inlet and outlet 2311 is closed. Fig.11, a gap can be left at the bottom of the inlet and outlet 2311, and the size of the gap can ensure that the dumplings do not fall out. The inner box 231 can move downward to separate from the outer frame 232 through the first driving mechanism, so that the inlet and outlet 2311 of the inner box 231 is opened, and at this time, the dumplings can be placed in the inner box 231 through other conveying mechanisms of the dumpling machine. The first driving mechanism is preferably a first linear cylinder 233, and the first linear cylinder 233 is fixed on the fixed frame 221. The piston rod of the first linear cylinder 233 is fixed to the outer frame 232, and the outer frame 232 is driven by the first linear cylinder 233 and can move up and down. A pushing mechanism 234 is also provided on the filling device 230. When the manipulator 2 transports the dumplings to the cooking device of the dumpling machine and reaches the predetermined position, the pushing mechanism 234 can push the dumplings in the inner box 231 from the inlet and outlet 2311 into the dumpling cooking device.

[0071] The box taking device 240 is used to take out the dumpling box 710 and the box cover containing dumplings. The box taking device 240 is connected to the fixing frame 221 and is arranged above the containing device 230. Fig.10 As shown, the box taking device 240 can grab the dumpling box 710 onto the outer frame 232. After the dumplings are cooked and boxed, the robot 2 transports the dumpling box 710 to the buffer area 6 for temporary storage, and then performs the capping operation after the dumplings are slightly cooled.

[0072] Specifically, the box taking device 240 includes a gripping mechanism and a second driving mechanism 242. The second driving mechanism 242 is used to drive the gripping mechanism to move horizontally and linearly along the fixed frame 221. Among them, the gripping mechanism includes a connecting plate 243 and two corner cylinders 241 respectively arranged on the first end and the second end of the connecting plate 243. The two corner cylinders 241 can be driven by hydraulic pressure or pneumatic pressure, and pneumatic pressure is preferably used in this embodiment. The corner cylinders 241 are placed horizontally and symmetrically. The piston of the corner cylinder 241 completes the rotation stroke first, and the pressing arm 2411 presses inward and rotates to the specified position and angle, and then completes the clamping stroke, that is, presses and clamps the workpiece inward in a straight line. When releasing the dumpling box 710, the pressing arm 2411 automatically returns to the original position along the pressing route to disengage from the dumpling box 710.

[0073] In order to ensure the grabbing range of the box taking device 240, the grabbing can be performed from both the left and right sides, the second driving mechanism 242 is provided with a first rodless cylinder 2421 and a second rodless cylinder 2422, and the strokes of the first rodless cylinder 2421 and the second rodless cylinder 2422 are equal. The first slider of the first rodless cylinder 2421 is fixedly connected to the first end of the cylinder body of the second rodless cylinder 2422, and the second slider of the second rodless cylinder 2422 is fixedly connected to the second end of the connecting plate 243. In this way, it can be ensured that the strokes of the corner cylinder 241 moving to the left and right sides are equal.

[0074] The pushing mechanism 234 includes a pushing plate 2341 disposed at the rear side of the accommodating chamber and a third driving mechanism for driving the pushing plate 2341 to move forward. Preferably, the third driving mechanism is a third rodless cylinder 2342. The pushing mechanism 234 is used to push out the quick-frozen dumplings in the inner box 231. The manipulator 2 transports the quick-frozen dumplings to the steaming device through the inner box 231, and pushes the pushing plate 2341 forward through the third rodless cylinder 2342, pushing the dumplings into the steaming device for the next step of the steaming operation.

[0075] In this embodiment, if Fig.12 As shown, the accommodating cavity of the inner box 231 includes a first accommodating space 2312, a second accommodating space 2313 and an installation space 2314. The installation space 2314 is arranged between the first accommodating space 2312 and the second accommodating space 2313. The first accommodating space 2312 and the second accommodating space 2313 are used to hold dumplings, and the third driving mechanism is arranged in the installation space 2314. Fig.13 The push plate 2341 includes a first push plate 23411 and a second push plate 23412 respectively arranged on the rear sides of the first accommodating space 2312 and the second accommodating space 2313. The first push plate 23411 and the second push plate 23412 are connected by a fixed plate 2343. The fixed plate 2343 is connected to the third rodless cylinder 2342, and the push plate 2341 is pushed to move by pushing the fixed plate 2343.

[0076] like Fig.11 and Fig.12 As shown, a second linear cylinder 250 is also provided in the installation space 2314, and a through hole 23211 is provided on the front plate 2321 of the outer frame 232, and the piston rod of the second linear cylinder 250 can extend out of the through hole 23211. The second linear cylinder 250 is used to be linked with the material shovel on the cooking device. When the manipulator 2 transports dumplings to the cooking device, the piston rod of the second linear cylinder 250 extends out of the through hole 23211 and can be connected with the material shovel 331 on the cooking device. Specifically, the piston rod of the second linear cylinder 250 is inserted into the insertion hole on the material shovel. When the cooking device cooks the dumplings, the manipulator 2 moves horizontally, so that the inner box 231 corresponds to the corresponding cooking bin, and at the same time drives the material shovel to move to the corresponding cooking bin. The material shovel moves the cooked dumplings in the cooking bin to the dumpling box 710 above the inner box 231, and then the manipulator 2 completes the operation of storing the dumpling box 710 in the buffer area 6.

[0077] In order to position the dumpling box 710 placed on the inner box 231, the top of the front plate 2321 of the outer frame 232 is provided with an extension 23212 that is higher than the two side plates of the outer frame 232, and the extension 23212 is used for positioning the front side of the dumpling box 710. Positioning blocks 24111 are provided on the pressing arms 2411 of the two corner cylinders 241, and the positioning blocks 24111 are used for positioning the back side of the dumpling box 710. The two sides of the dumpling box 710 are positioned by the inner sides of the pressing arms 2411 of the two corner cylinders 241.

[0078] The working process of the manipulator 2 of the dumpling machine of the present invention is specifically as follows: first, the quick-frozen dumplings discharged from the dumpling discharging device are transported to the initial material-picking station of the manipulator 2 through the conveying device, and the inner box 231 of the containing device 230 moves downward under the drive of the first linear cylinder 233 to open the inlet and outlet 2311. The conveying device pushes the dumplings into the accommodating cavity of the inner box 231, and the inner box 231 moves upward again to close the inlet and outlet 2311. Then, the corner cylinder 241 moves to the left or right to the box discharging device under the drive of the first rodless cylinder 2421 and the second rodless cylinder 2422, and after clamping the dumpling box 710, it returns to the initial position and places the dumpling box 710 on the top of the outer frame 232. Then, the manipulator 2 moves to the cooking device 3 under the drive of the horizontal conveying mechanism 220 and the vertical conveying mechanism 210; under the drive of the horizontal conveying mechanism 220, the containing device 230 is driven to the preset cooking cavity, i.e., the feeding station, and the pushing mechanism 234 pushes the dumplings in the inner box 231 into the cooking cavity, and the cooking device 3 performs the cooking operation. When the cooking operation is completed, the manipulator 2 moves to the material shovel position, and the piston rod of the second linear cylinder 250 extends to be linked with the material shovel on the cooking device, driving the material shovel into the preset cooking cavity, and the cooked dumplings are pushed into the dumpling box 710 by the material shovel. When the dumplings are being loaded into the dumpling box 710 or after loading, the manipulator 2 can be shaken left and right through the horizontal conveying mechanism 220 to spread the dumplings flat in the dumpling box 710. Finally, the robot 2 moves to the placement station and transports the dumpling box 710 containing the dumplings to the buffer area 6. After the dumplings are slightly cooled, they are transported from the buffer area 6 to the capping device 5 for capping.

[0079] The cooking device 3 specifically includes a cooking pot, a material-dispensing mechanism 330 and a pot cover mechanism 340, Figure 14-Figure 21The cooking pot includes an outer pot 310 and an inner pot 320. The outer pot 310 has a containing cavity, which is used to hold water for cooking dumplings. The outer pot 310 is connected to a heating device, which heats the water in the outer pot 310. The inner pot 320 has a cooking cavity 321 for holding dumplings and an inner pot discharge port 322. The inner pot 320 is arranged in the containing cavity of the outer pot 310 and is connected to the outer pot 310. By arranging through holes 3331, grids, etc. at the bottom of the inner pot 320, the water in the outer pot 310 can enter the cooking cavity 321 of the inner pot 320. The inner pot discharge port 322 is arranged on the front side of the inner pot 320, and dumplings are fed and discharged from the inner pot discharge port 322.

[0080] Reference Fig.16 and Fig.19 The material-digging mechanism 330 includes a material-digging shovel 331, which is adapted to the cooking cavity 321 of the inner pot 320 and can be turned forward and backward along the cooking cavity 321. When the material-digging shovel 331 is turned forward to a horizontal position, it can be flush with the bottom of the inner pot discharge port 322. When dumplings are put in, the material-digging shovel 331 is located at the rear side of the cooking cavity 321. When the dumplings are cooked, the material-digging shovel 331 is turned forward from the bottom of the cooking cavity 321, and part of the dumplings in the cooking cavity 321 are transferred to the dumpling box 710 outside the inner pot discharge port 322 by the material-digging shovel 331, and the remaining part of the dumplings is located on the material-digging shovel 331, which is flush with the bottom of the inner pot discharge port 322.

[0081] The pot cover mechanism 340 includes a pot cover 341, which is vertically covered at the inner pot discharge port 322 and can move horizontally forward and backward in the inner pot 320. When dumplings are added, the pot cover 341 moves backward to the middle position of the inner pot 320; when the dumplings are cooked, the pot cover 341 moves forward to cover the inner pot discharge port 322; when the dumplings are cooked, the pot cover 341 moves backward again to the middle position of the inner pot 320, and the material shovel 331 flips forward to push the dumplings to a position flush with the bottom of the inner pot discharge port 322, that is, the dumplings are placed in the space formed by the pot cover, the material shovel and the two sides of the inner pot, and the pot cover 341 moves forward again, so as to push the remaining cooked dumplings from the inner pot 320 into the dumpling box 710.

[0082] like Fig.17 As shown, in order to prevent the dumplings from sticking to each other and to the pot during the cooking process, the cooking device 3 also includes an inner pot driving mechanism 325. The inner pot 320 is rotatably arranged in the outer pot 310. The inner pot driving mechanism 325 is connected to the inner pot 320 and is used to drive the inner pot 320 to swing back and forth.

[0083] The inner pot driving mechanism 325 includes an inner pot driving cylinder 3251 and an inner pot rotating shaft 3252. The inner pot rotating shaft 3252 is fixedly connected to the inner pot 320, and the piston rod of the inner pot driving cylinder 3251 is vertically arranged and hingedly connected to the inner pot rotating shaft 3252. When the piston rod of the inner pot driving cylinder 3251 moves up and down, the inner pot 320 is driven to swing back and forth through the inner pot rotating shaft 3252. The outer pot 310 and the inner pot 320 have roughly the same shape. Mounting holes are provided on both sides of the outer pot 310, and one side of the inner pot 320 is installed in the mounting hole through the inner pot rotating shaft 3252. The inner pot driving cylinder 3251 is correspondingly arranged on the outer side of the outer pot 310, and the other side of the inner pot 320 is connected to the outer pot 310 through a bearing.

[0084] Specifically, refer to Fig.17 and Fig.18 The inner pot 320 includes an arc-shaped bottom 323 and side panels 324 arranged on both sides. The side panels 324 extend upward along the arc-shaped bottom 323 to form an extension portion 3241. The extension portions 3241 of the opposite side panels 324 form an inner pot discharge port 322. The structure of the inner pot 320 facilitates the flipping of the material shovel 331 and facilitates the discharge of dumplings from the inner pot discharge port 322. The side panels 324 also include a rotating connection portion 3242, which is higher than the upper plane of the arc-shaped bottom 323. The inner pot rotating shaft 3252 is fixedly arranged on the outer side of the rotating connection portion 3242.

[0085] In order to improve efficiency and meet the needs of different flavors of dumplings, multiple cooking chambers 321 can be provided in the inner pot 320, and multiple inner pot discharge ports 322 are provided accordingly. The multiple cooking chambers 321 are separated by partitions. The shape of the partitions is the same as that of the side panels 324 on both sides. Different cooking chambers 321 can be used to cook dumplings with different flavors. In this embodiment, preferably three.

[0086] like Fig.19 As shown, the material-dispensing mechanism 330 also includes a shovel driving mechanism 332 for driving the movement of the material-dispensing shovel 331. The shovel driving mechanism 332 includes a shovel driving cylinder 3321 and a shovel rotating shaft 3322. The shovel rotating shaft 3322 is arranged along the length direction of the arc-shaped bottom and is arranged above the middle position of the arc-shaped bottom. The two ends of the shovel rotating shaft 3322 are rotatably connected to the two sides of the inner pot 320 through bearings. The shovel driving cylinder 3321 is located on one side of the inner pot 320 and drives the shovel rotating shaft 3322 to rotate. The material-dispensing shovel 331 is circumferentially fixed to the shovel rotating shaft 3322, that is, when the shovel rotating shaft 3322 rotates, the material-dispensing shovel 331 is turned over. In this embodiment, the cross-section of the shovel rotating shaft 3322 is preferably rectangular.

[0087] Specifically, the piston rod of the shovel driving cylinder 3321 is vertically arranged with the shovel rotating shaft 3322, the shovel rotating shaft 3322 is connected to the gear 3323, and the piston rod is provided with a rack 3324 meshing with the gear 3323. The movement of the piston rod drives the rack 3324 to move up and down, and drives the shovel 331 to flip forward and backward through the meshing gear 3323.

[0088] When a plurality of cooking chambers 321 are provided in the inner pot 320, the plurality of cooking chambers 321 share a material shovel 331, and the material shovel 331 can move between the cooking chambers 321. Specifically, the material shovel mechanism 330 includes a sliding connection 333, and the connection end of the material shovel 331 is sleeved on the material shovel rotating shaft 3322 and can slide axially along the material shovel rotating shaft 3322. A notch groove 3311 is provided on the connection end of the material shovel 331, and one end of the sliding connection 333 is provided in the notch groove. The sliding connection 333 is driven by a driving component, and can drive the material shovel 331 to move axially along the material shovel rotating shaft 3322.

[0089] The sliding connector 333 includes an L-shaped folding plate, one end of which has an arc notch 3332. The L-shaped folding plate is arranged in the notch groove through the arc notch. The structural coordination of the arc notch and the notch groove can ensure the up and down flipping and left and right movement of the material shovel 331. A bending portion is arranged on the other end of the L-shaped folding plate, and a through hole 3331 is arranged on the bending portion; the bending portion is arranged above the inner pot discharge port 322. The through hole 3331 of the bending portion is used to cooperate with the second linear cylinder 250 on the manipulator, and the material shovel is driven to move left and right through the manipulator 2. The sliding connector 333 is also connected to a slide rail structure 334, which limits the circumferential rotation of the sliding connector 333 and guides the sliding connector 333 to move along the shovel rotation axis 3322.

[0090] like Fig. 20 and Fig.21 As shown, the pot cover mechanism 340 also includes a pot cover driving mechanism 342, which is used to drive the pot cover 341 to move forward and backward. The pot cover driving mechanism 342 includes a rodless cylinder 3421 fixed to the outer pot 310, a connecting member 3422 connected to the slider of the rodless cylinder 3421, and the connecting member 3422 is connected to the pot cover 341; the rodless cylinder 3421 is arranged on one side above the inner pot 320. The pot cover 341 not only realizes the function of covering and closing the inner pot 320, but also can cooperate to complete the operation of pushing the dumplings out of the pot after they are cooked. It has a simple structure and is easy to operate.

[0091] The connecting member 3422 includes a horizontal connecting plate 34221 and a vertical connecting plate 34222 connected to each other. One end of the horizontal connecting plate 34221 is connected to the slider of the rodless cylinder 3421, and the other end is connected to the outer pot 310 through the guide rail slide structure 343; the vertical connecting plate 34222 is connected to the pot cover 341. When the inner pot 320 has multiple cooking chambers 321, multiple pot covers 341 are correspondingly provided, and the multiple pot covers 341 are fixedly connected to each other and connected to the rodless cylinder 3421 through the connecting member 3422.

[0092] The cooking device 3 also includes a cleaning device, see Fig.15 The cleaning device includes a cleaning water pipe 350 arranged above the inner pot 320 and in the accommodating cavity of the outer pot 310, and a drain port is arranged on the outer pot 310. The cleaning water pipe 350 is provided with a plurality of spray ports, and the water flow from the spray ports rinses the inner pot and the outer pot, and the rinsed water is discharged from the drain port. In this embodiment, the cleaning water pipe enters from the upper side of the outer pot, and the drain port is arranged on the bottom surface of the other side of the outer pot. The cleaning water pipe 350 includes a plurality of connected water pipes. The water pipe placed on the upper side of the inner pot along the length direction of the inner pot, with the spray port facing the inner pot, can rinse the inner pot; the water pipe vertically arranged on one side of the inner pot can rinse the sides of the inner pot and the outer pot; the water pipe arranged at the bottom of one side of the inner pot can rinse the bottom surface of the inner pot and the outer pot, and at the same time, can flush impurities to the drain port on the opposite side.

[0093] The cooking device is also provided with a liquid level sensor and a temperature sensor. The temperature sensor is used to detect the water temperature in the outer pot. For example, when the temperature of the water for cooking dumplings reaches 100°C, the dumplings are put in for cooking. The liquid level sensor is used to detect the liquid level in the outer pot. When the liquid level is detected to be lower or higher than the normal level for cooking dumplings, the control system adds water or drains water to make the liquid level reach the normal level.

[0094] The box discharging device 4 specifically includes a box discharging housing 410, a box holding mechanism 420, a disengaging mechanism 430 and a box pushing mechanism 440. Figure 22-Figure 25 The box-dispensing shell 410 has a receiving cavity 411 for accommodating the dumpling boxes 710 stacked up and down. The upper end of the dumpling boxes 710 has a flange portion, and there is a gap between the flange portions of adjacent dumpling boxes 710. The bottom end of the box-dispensing shell 410 is provided with a base 412, and the front side surface of the bottom end of the box-dispensing shell 410 is provided with a box-dispensing port (not shown).

[0095] like Fig.24 As shown, the box supporting mechanism 420 includes a first horizontal driving mechanism 421 and a first inserting plate 422. The first inserting plate 422 moves left and right through the first horizontal driving mechanism 421, and can be inserted into and out of the gap between the bottommost dumpling box and the dumpling box above it.

[0096] like Fig.25As shown, the disengagement mechanism 430 includes a bottom plate 431, a second horizontal driving mechanism 432, a second plug plate 433 and a lifting driving mechanism 434. The second horizontal driving mechanism 432 is arranged on the bottom plate 431 and is located below the first horizontal driving mechanism 421, driving the second plug plate 433 to move left and right, so that the second plug plate 433 can be inserted into and withdrawn from the gap between the bottommost dumpling box and the dumpling box on the upper side. The lifting driving mechanism 434 can drive the second plug plate 433 to move up and down. When the second plug plate 433 is located in the gap, the second plug plate 433 moves downward and abuts against the upper surface of the flange portion of the bottommost dumpling box, and the bottommost dumpling box is pressed downward to completely disengage from the upper dumpling box. The bottom plate 431 is fixedly connected to the second plug plate 433 for supporting the dumpling box, and the height between the bottom plate 431 and the second plug plate 433 is slightly greater than the height of a dumpling box.

[0097] like Fig.23 As shown, the box pushing mechanism 440 includes a third horizontal driving mechanism 441 and a box pushing plate 442. The box pushing plate 442 is arranged on the rear side of the bottom plate 431. The box pushing plate 442 moves back and forth through the third horizontal driving mechanism 441, and can push the bottommost dumpling box out of the box outlet along the bottom plate 431 after detachment.

[0098] The box discharging principle of the above-mentioned box discharging device 4 is specifically as follows: first, the dumpling boxes 710 stacked up and down are first placed in the accommodating cavity 411 of the box discharging shell 410, wherein there is a gap between the flanges of adjacent dumpling boxes 710. When the box supporting mechanism 420 and the disengaging mechanism 430 are in the initial position, the first plug plate 422 and the second plug plate 433 are located at the outer position, that is, close to the inner wall of the box discharging shell 410. After the dumpling box 710 is placed in, it is supported on the bottom plate 431 of the disengaging mechanism 430. Since the height between the bottom plate 431 and the second plug plate 433 is equal to the height of one dumpling box, the second plug plate 433 can be inserted into the gap between the dumpling box at the bottom and the dumpling box above it when it moves inward. The first plug plate 422 is also set at a height relative to the gap. When it is necessary to take the dumplings out of the box, the first plug plate 422 and the second plug plate 433 both move inward to the gap between the bottommost dumpling box and the dumpling box on the upper side, and the second plug plate 433 moves downward, and by pressing down the flange of the bottommost dumpling box, the bottommost dumpling box is pulled down. At this time, the dumpling box on the upper side is supported on the first plug plate 422 by its flange, and the second plug plate 433 continues to move downward until the dumpling box on the bottom end is completely separated from the dumpling box on the upper side, that is, the bottom end of the dumpling box on the upper side is separated from the inner cavity of the bottommost dumpling box. Then the second plug plate 433 moves outward and separates from the dumpling box, and the box pushing plate 442 located at the rear side of the bottom plate 431 moves forward, pushing the detached bottommost dumpling box forward, and pushing the dumpling box out of the box outlet on the front side, thereby pushing out a dumpling box. Finally, the box pushing plate 442 moves backward to reset, the bottom plate 431 and the second plug plate 433 move upward, and the bottom plate 431 returns to the initial position. The first plug plate 422 moves outward to release the dumpling box supported on it, and the dumpling box falls onto the bottom plate 431 below. At this point, the box holding mechanism 420 and the separation mechanism 430 are reset. Repeat the above actions to carry out the next dumpling box unpacking operation.

[0099] In this embodiment, if Fig.23 The first plug plate 422 and the first horizontal driving mechanism 421 are respectively provided with two, and are symmetrically arranged on the left and right sides of the dumpling box 710. The first horizontal driving mechanism 421 includes a first horizontal cylinder, and the first horizontal cylinder is fixed to the outer side wall of the box outlet housing 410. The first plug plate 422 includes a first vertical plate 4221 and a first horizontal plate 4222 connected to each other, and the first vertical plate 4221 is connected to the first horizontal cylinder, and the first horizontal plate 4222 can be inserted into and out of the gap between the bottommost dumpling box and the dumpling box above it.

[0100] In order to enhance the supporting strength of the second plug plate 433 and prevent excessive downward pressure of the dumpling box from directly acting on the first horizontal cylinder, a guide portion is provided on the first vertical plate 4221, and a guide matching portion is correspondingly provided on the inner wall of the box output shell 410, and the guide portion slides against the guide matching portion. Fig.24As shown, specifically, the guide portion includes a groove 42211 opened along the length direction of the first vertical plate 4221 and a first rib 42222 arranged on the upper side of the groove 42211, and the guide matching portion includes a second rib (not shown) arranged on the inner wall of the box output shell 410 and matching with the groove 42211, and the upper side surface of the second rib abuts against the lower side surface of the first rib 42222; when the first plug plate 422 moves outward, the second rib is inserted into the groove 42211.

[0101] Correspondingly, two second horizontal driving mechanisms 432 and two second plug plates 433 are also provided, symmetrically arranged on the left and right sides of the dumpling box 710. The second horizontal driving mechanism 432 includes a second horizontal cylinder. The second plug plate 433 includes a second vertical plate 4331 and a second horizontal plate 4332, the second vertical plate 4331 is connected to the second horizontal cylinder, and the second horizontal plate 4332 can be inserted into and out of the gap between the bottom dumpling box and the dumpling box above it.

[0102] Reference Fig.25 The bottom plate 431 is connected to the rear side plate 435 and the top plate 436. The bottom plate 431 and the rear side plate 435 are provided with a notch 437 that penetrates forward and backward along the front-back direction. The box pusher plate 442 is arranged at the rear side of the rear side plate 435 and can move forward and backward along the notch 437. The second horizontal cylinders are fixedly arranged on the left and right sides of the rear side plate 435. The top plate 436 is connected to the lifting drive mechanism 434. The lifting drive mechanism 434 drives the top plate 436 to move up and down, thereby driving the second horizontal cylinder, the second plug plate 433 and the bottom plate 431 to move up and down.

[0103] Specifically, the lifting drive mechanism 434 includes a lifting cylinder, which is fixedly arranged on the outer wall of the box output housing 410; the piston rod of the lifting cylinder is connected to the top plate 436. Preferably, the lifting cylinder is fixedly arranged in the middle position of the rear side wall of the box output housing 410.

[0104] In order to ensure the stability of the up and down movement of the bottom plate 431 and the second plug plate 433, as shown in FIG. Fig.25 The bottom plate 431 on both sides of the notch 437 is symmetrically provided with notches 4381, and a guide rail 4382 is vertically arranged in the notch 4381, and the upper end of the guide rail 4382 is fixedly connected to the upper first horizontal driving mechanism 421. When the bottom plate 431 moves up and down, the guide rail 4382 plays a guiding role.

[0105] like Fig.23As shown, the box pushing mechanism 440 also includes a horizontal support plate 443 for supporting the dumpling box 710 pushed out from the front side of the bottom plate 431. The box pushing plate 442 is vertically arranged on the horizontal support plate 443, and the horizontal support plate 443 is connected to the second horizontal cylinder. The second horizontal cylinder is preferably a rodless cylinder, which is fixedly arranged on the base 412. The horizontal support plate 443 is fixedly arranged on the slider of the second horizontal cylinder. The second horizontal cylinder is arranged on one side of the horizontal support plate 443. A guide rail structure 444 is also arranged between the horizontal support plate 443 and the base 412, and the guide rail structure 444 is arranged on the other side of the horizontal support plate 443 to ensure the smooth sliding of the horizontal support plate 443 and the box pushing plate 442.

[0106] Capping device 5, see Figure 26-Figure 29 , specifically including a cover shell 510, the cover shell 510 has a receiving cavity 511, which is used to receive a plurality of dumpling boxes' lids 720 stacked up and down. A cover opening 512 is provided on the front side of the bottom end of the receiving cavity 511. A cover pushing mechanism 530 is provided at the bottom of the cover shell 510, and the cover pushing mechanism 530 includes a horizontal driving mechanism 531 and a cover pushing plate 532 connected to the horizontal driving mechanism 531. The initial position of the cover pushing plate 532 is set at the rear side of the bottom end of the receiving cavity 511, and is arranged horizontally opposite to the bottommost cover. The horizontal driving mechanism 531 can drive the cover pushing plate 532 to move horizontally forward and backward, and can push the bottommost cover out of the cover opening 512. During the process of the push cover plate 532 pushing the box cover forward, the push cover plate 532 does not extend out of the cover outlet 512. When the push cover plate 532 is controlled to push the box cover out of the cover outlet 512, the push cover plate 532 is driven by the horizontal driving mechanism 531 to move backward and return to the initial position of the push cover plate 532. The second to last box cover at the bottom falls down, thus completing the pushing operation of one box cover.

[0107] Furthermore, if Fig.28 and Fig.29 As shown, in order to enable the push cover plate 532 to smoothly return to the initial position, the push cover mechanism 530 also includes a vertical driving mechanism 533, which is connected to the push cover plate 532 and is used to drive the push cover plate 532 to move vertically up and down. After the push cover plate 532 pushes the bottommost box cover out of the cover, the vertical driving mechanism 533 drives the push cover plate 532 to move downward; the horizontal driving mechanism 531 drives the push cover plate 532 to move backward, and the vertical driving mechanism 533 drives the push cover plate 532 to move upward, so that the push cover plate 532 returns to the initial position, thus completing a box cover pushing operation. Through the up and down movement of the push cover plate 532, the push cover plate 532 is separated from the box cover during the return process, and no friction is generated with the bottom surface of the box cover, so that the push cover plate 532 can return smoothly.

[0108] Specifically, the vertical driving mechanism 533 includes a lifting cylinder, which is connected to the push cover plate 532 through a first horizontal connecting plate 534. The push cover plate 532 is arranged horizontally and vertically, and its lifting cylinder is connected to the horizontal driving mechanism 531. The cylinder type of the lifting cylinder is not specifically limited, such as a single-acting cylinder, a rodless cylinder, etc.

[0109] Preferably, the horizontal drive mechanism 531 includes a rodless cylinder, and the slider of the rodless cylinder is connected to the push cover plate 532 to push the push cover plate 532 to move forward and backward. In other embodiments, the vertical drive mechanism 533 and the horizontal drive mechanism 531 are not limited to cylinder drive, but can also be a motor drive mechanism.

[0110] The bottom end of the cover housing 510 is connected to a base 520 , and the rodless cylinder is located below the cover housing 510 and is fixedly disposed on the base 520 .

[0111] The rodless cylinder is arranged on one side below the cover housing 510. The cover push plate 532 is connected to the slider of the rodless cylinder through a connecting plate, and the connecting plate includes a second horizontal connecting plate 535 and a vertical connecting plate 536. One end of the second horizontal connecting plate 535 is connected to the slider of the rodless cylinder, and the other end is connected to the vertical connecting plate 536, and the lifting cylinder is fixedly arranged on the vertical connecting plate 536.

[0112] The horizontal driving mechanism 531 further includes a slide rail structure 540, which is disposed on the base 520. The slide rail structure 540 includes a slide rail and a slider, and the slide rail is fixedly disposed on the base 520 and is located inside the rodless cylinder, and the middle of the second horizontal connecting plate 535 is connected to the slider. The slide rail structure 540 has a motion guiding function on the one hand, and plays a role in supporting the second horizontal connecting plate 535 on the other hand.

[0113] In this embodiment, the left and right sides of the bottom of the accommodating cavity 511 are respectively provided with support plates 513, and the stacked several box covers 720 are placed on the support plates 513. The gap between the bottom ends of the front and rear side walls of the cover shell 510 and the support plates 513 forms the cover opening 512. The box cover 720 of the dumpling box in this embodiment is rectangular, so the cross section of the cover shell 510 is also rectangular, which is compatible with the rectangular box cover 720. In other embodiments, the shape of the box cover can be circular or other shapes.

[0114] In order to prevent the upper box cover from moving along with the box cover at the bottom during the pushing process, the height of the cover opening 512 is set to be greater than the height of the box cover and less than the height of two stacked box covers, so as to ensure that only one box cover can be pushed out at a time.

[0115] The specific operation flow of the cover discharging device 5 of the dumpling machine of the present invention is as follows: first, a plurality of box covers 720 are stacked up and down in the accommodating cavity 511 of the cover discharging housing 510; the push cover plate 532 is located at the initial position on the rear side of the cover discharging housing 510 and is horizontally opposite to the bottom box cover. When the cover needs to be discharging, the rodless cylinder pushes the push cover plate 532 to move forward, and the push cover plate 532 pushes the bottom box cover to move forward. When the push cover plate 532 is pushed out from the cover discharging opening 512, the box cover is pushed out. Then the lifting cylinder drives the push cover plate 532 to move downward. When the top of the push cover plate 532 is lower than the support plate 513, the upper box cover falls onto the support plate 513. Then, the rodless cylinder drives the push cover plate 532 to move backward. When it moves to the rear side of the cover discharging housing 510 and below the initial position, the lifting cylinder finally drives the push cover plate 532 to move upward and return to the initial position. In this way, a box discharging operation is completed.

[0116] Furthermore, the dumpling machine also includes a dipping sauce discharging device 8, which is used to store and output the dipping sauce. Preferably, the box discharging device 4, the cover discharging device 5 and the buffer area 6 are each provided with two, and are symmetrically arranged on both sides of the steaming device 3, and accordingly, the outlet corresponds to the buffer area 6 is provided with two.

[0117] The present invention also includes a control method for a dumpling machine, comprising:

[0118] S100, the dumpling discharging device outputs the quick-frozen dumplings to the conveying device;

[0119] S200, the robot moves to the initial material taking station, and the conveying device conveys the quick-frozen dumplings to the filling device of the robot;

[0120] S300, the robot moves to the feeding station and transports the dumplings in the containing device into the cooking pot;

[0121] S400, the box discharging device outputs the dumpling box 710; the robot moves to the box taking and capping station, and grabs the dumpling box 710 through the box taking device;

[0122] S500, the robot moves to the material receiving station; after the set time, the dumplings output by the steaming device are received by the robot through the dumpling box 710;

[0123] S600, the robot moves to the box taking and capping station, and the cap discharging device outputs the box cap 720 and fastens it on the dumpling box 710;

[0124] S700, the sealed dumpling box 710 is output from the outlet through the output mechanism.

[0125] When the dumpling machine is provided with a buffer area 6, after step S500, the robot temporarily stores the dumpling box 710 in the buffer area 6, and after a certain period of time, when the dumplings are slightly cooled, the subsequent capping operation is performed. The capped dumpling box can also be temporarily placed in the buffer area 6, and after receiving the user's take-out instruction, it is output from the buffer area.

[0126] The dumpling machine of the present invention can be set up in any shared place such as an office building or a convenience store. Users can place orders online through an APP or offline through the operation interface on the dumpling machine, select their favorite dumpling flavors, and make an appointment for the pickup time. The dumpling machine receives the order information, cooks the dumplings through automatic control, and packs them in boxes. Users can take the dumplings at the scheduled pickup time according to the order number. The dumpling machine of the present invention meets people's needs for fast and convenient dumplings and is highly practical.

[0127] The above-mentioned embodiments only express several implementation methods of the present invention, and the description thereof is relatively specific and detailed, but it cannot be understood as limiting the scope of the patent of the present invention. It should be pointed out that, for ordinary technicians in this field, several variations and improvements can be made without departing from the concept of the present invention, which all belong to the protection scope of the present invention. Therefore, the protection scope of the patent of the present invention shall be subject to the attached claims.

Claims

1. A dumpling machine, characterized in that: include: A machine body, wherein the machine body is provided with an outlet; The dumpling discharging device comprises a lower hopper and a conveying device, wherein the lower hopper is used to store quick-frozen dumplings and discharge them; the conveying device is used to convey the dumplings discharged by the dumpling discharging device; The manipulator comprises a filling device and a box taking device, wherein the working positions of the manipulator comprise an initial material taking position, a material feeding position, a box taking and sealing position, and a material receiving position; the manipulator can fill the dumplings conveyed by the conveying device through the filling device at the initial material taking position; The cooking device comprises a cooking pot for cooking dumplings; the containing device of the manipulator cooperates with the cooking pot, and the manipulator can transport the dumplings in the containing device to the cooking pot at the feeding station; The box discharging device is used to store and output the dumpling boxes; the robot can grab the dumpling boxes through the box discharging device at the box discharging and capping station, and can receive the dumplings output by the steaming device through the dumpling boxes at the material receiving station; The cover discharging device is used to store and output the box cover; when the robot is at the box taking and capping station, the cover discharging device outputs the box cover and fastens it on the dumpling box; the sealed dumpling box is output from the outlet through the output mechanism; The buffer area, the working position of the manipulator also includes a placement station, and the manipulator can place the dumpling box in the buffer area when at the placement station; the buffer area is connected to the outlet through an output mechanism, and the dumpling box is output through the outlet.

2. The dumpling machine according to claim 1, characterized in that: The dumpling discharging device is arranged at the bottom of the machine body; the manipulator is a two-axis manipulator, including a horizontal conveying mechanism and a vertical conveying mechanism, and is arranged at the front side of the machine body; the steaming device is arranged above the dumpling discharging device and located in the middle of the machine body; the box discharging device, the cover discharging device and the buffer area are arranged on one side of the machine body; the box discharging port of the box discharging device, the cover discharging port of the cover discharging device and the storage position of the buffer area are located on the working plane of the manipulator.

3. The dumpling machine according to claim 2, characterized in that: The steaming and boiling devices are provided in plurality and arranged up and down in the machine body.

4. The dumpling machine according to claim 2, characterized in that: A fixed frame is provided on the horizontal conveying mechanism, and the containing device includes an inner box, an outer frame arranged around the inner box and a pushing mechanism; the outer frame is fixedly connected to the fixed frame; the inner box has a accommodating cavity for containing dumplings, and the front side of the inner box has an inlet and outlet; the inner box can move downward to separate from the outer frame through a first driving mechanism; the pushing mechanism is used to push the dumplings in the inner box out of the inlet and outlet; the box taking device is connected to the fixed frame and is arranged above the containing device, and the box taking device can grab the dumpling box to the outer frame.

5. The dumpling machine according to claim 4, characterized in that: The box-taking device comprises a gripping mechanism and a second driving mechanism, wherein the second driving mechanism is used to drive the gripping mechanism to move horizontally and linearly along the fixing frame; the gripping mechanism comprises a connecting plate and two corner cylinders respectively arranged on the first end and the second end of the connecting plate.

6. The dumpling machine according to claim 1, characterized in that: It also includes a dipping sauce discharging device, which is used to store and output the dipping sauce.

7. The dumpling machine according to any one of claims 1 to 6, characterized in that: The box discharging device, the cover discharging device, and the buffer area are each provided with two, and are symmetrically arranged on both sides of the cooking device. Correspondingly, the outlets are provided with two corresponding to the buffer areas.

8. The dumpling machine according to any one of claims 1 to 6, characterized in that: A dumpling discharging cabinet is arranged at the bottom of the machine body, and the dumpling discharging cabinet comprises a freezing device, and a plurality of the dumpling discharging devices are arranged in the freezing device.

9. A method for controlling a dumpling machine, characterized in that: The dumpling making machine according to any one of claims 1 to 8, wherein the control method comprises: The dumpling discharging device outputs the quick-frozen dumplings to the conveying device; The manipulator moves to the initial material taking station, and the conveying device conveys the quick-frozen dumplings to the containing device of the manipulator; The robot moves to the feeding station to transport the dumplings in the containing device into the cooking pot; The box discharging device outputs the dumpling box; the robot moves to the box taking and capping station, and grabs the dumpling box through the box taking device; The robot moves to the material receiving station; after the set time, the dumplings output by the steaming device are received by the robot through the dumpling box; The robot moves to the box taking and lid sealing station, and the lid discharging device outputs the box lid and fastens it on the dumpling box; The sealed dumpling box is output from the outlet through the output mechanism.

Images