Tableware transfer device

Abstract

The present invention discloses a tableware transfer device, comprising a pre-feeding mechanism for transferring tableware and a transfer robot arranged above the pre-feeding mechanism for clamping the tableware placed on the pre-feeding mechanism and then moving to a tableware packaging machine. When packaging the tableware, the pre-feeding mechanism transports the tableware to the bottom of the clamp of the transfer robot, and the transfer robot clamps the tableware of the pre-feeding mechanism and transfers it to the corresponding unloading port of the tableware packaging machine, finally forming an automated packaging bag production line. As can be seen from the above, this packaging structure realizes mechanization and automation, saves labor costs, and improves packaging efficiency.

Description

[Technical field]

[0001] The present application relates to a packaging machine, and in particular to a tableware transfer device. [Background technology]

[0002] As people's pace of life accelerates, more and more people dine out or order takeout. Changes in people's living habits and consumption habits have given rise to disposable tableware. Disposable tableware usually seals and packages injection-molded plastic tableware such as plastic knives and plastic forks one by one. Before people open and use the plastic tableware, they keep it in a sealed packaging state to keep the plastic tableware clean and hygienic, making it convenient for people to use. Currently, most disposable tableware is still packed into packaging bags one by one by people. This manual packaging requires a lot of labor, has low mechanization and automation, high labor costs, and low sorting efficiency. [Summary of the invention]

[0003] The present invention makes improvements on the problems existing in the above-mentioned prior art, and the technical problem to be solved by the present invention is to provide a tableware transfer device.

[0004] To solve the above technical problems, a tableware transfer device of the present invention includes a pre-feeding mechanism for conveying tableware and a transfer robot arranged above the pre-feeding mechanism for clamping the tableware placed on the pre-feeding mechanism and then moving it to a tableware packaging machine.

[0005] As an improvement of the above-mentioned tableware transfer device, the transfer robot includes a transfer robot mobile phone holder, to which is connected a movable arm that moves backward toward the tableware packaging machine, and an end of the movable arm away from the transfer robot mobile phone holder is connected to a tableware clamping mechanism for clamping tableware.

[0006] As an improvement of the above-mentioned tableware transfer device, the movable arm includes a first movable arm connected to the transfer mechanical mobile phone rack and moving toward the tableware packaging machine, and the first movable arm is connected to a second movable arm that can slide on a vertical plane at one end away from the transfer mechanical mobile phone rack.

[0007] As an improvement to the above-mentioned tableware transfer device, the tableware clamping mechanism can rotate on a vertical plane.

[0008] As an improvement of the above-mentioned tableware transfer device, the tableware clamping mechanism includes a support plate arranged on the second movable arm, and a plurality of tableware clamps are provided on the support plate; a first power mechanism is provided at the connection between the support plate and the second movable arm, and the first power mechanism drives the support plate to rotate in a plane parallel to the support plate.

[0009] As an improvement of the above-mentioned tableware transfer device, a second power mechanism is provided at the connection between the tableware clamp and the support plate, and the second power mechanism drives the tableware clamp to slide on a surface perpendicular to the support plate and creates a displacement difference between the tableware clamps on the surface perpendicular to the support plate; the clamping direction of the tableware clamp is parallel to the surface on which the support plate is located.

[0010] As an improvement of the above-mentioned tableware transfer device, the pre-feeding mechanism includes a pre-feeding frame and a pre-feeding table which moves alternately on the pre-feeding frame.

[0011] As an improvement of the above-mentioned tableware transfer device, the pre-feeding table includes a first tableware pre-feeding table and a second tableware pre-feeding table, and the first tableware pre-feeding table and the second tableware pre-feeding table move alternately up and down in parallel on the pre-feeding frame.

[0012] As an improvement of the above-mentioned tableware transfer device, a guide rail and a pre-feeding power mechanism are provided on the pre-feeding frame, and the pre-feeding platform slides along the guide rail under the drive of the pre-feeding power mechanism.

[0013] As an improvement of the above-mentioned tableware transfer device, the first tableware pre-feeding table and the second tableware pre-feeding table include a pre-feeding support table arranged on the pre-feeding frame and a pre-feeding box arranged on the pre-feeding support table; a tableware positioning cavity is provided on the pre-feeding box, and the tableware positioning cavity is provided with a groove along the edge direction of the pre-feeding box for allowing the tableware clamp to enter.

[0014] Compared with the prior art, the present invention has the following advantages:

[0015] The present invention provides a tableware transfer device, comprising a pre-feeding mechanism for transferring tableware and a transfer robot arranged above the pre-feeding mechanism for clamping the tableware placed on the pre-feeding mechanism and then moving to a tableware packaging machine. When packaging the tableware, the pre-feeding mechanism transports the tableware to the bottom of the clamp of the transfer robot, and the transfer robot clamps the tableware of the pre-feeding mechanism and transfers it to the corresponding unloading port of the tableware packaging machine, finally forming an automated packaging bag production line. As can be seen from the above, this packaging structure realizes mechanization and automation, saves labor costs, and improves packaging efficiency.

Brief Description of the Drawings

[0016] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings required for describing the embodiments are briefly introduced below.

[0017] Figure 1 A three-dimensional diagram of a tableware batch packaging device;

[0018] Figure 2A three-dimensional diagram of a packaging machine;

[0019] Figure 3 A three-dimensional diagram of the transfer robot;

[0020] Figure 4 for Figure 3 A partial enlarged view of the middle A;

[0021] Figure 5 A three-dimensional image of a pre-feed box for tableware;

[0022] Figure 6 It is a three-dimensional picture of the pre-feed box. [Specific implementation method]

[0023] In order to make the technical problems, technical solutions and beneficial effects solved by the present application more clearly understood, the present application is further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present application and are not used to limit the present application.

[0024] Depend on Figure 1 It can be known from the tableware batch packaging device shown that the tableware batch packaging device includes a tableware packaging machine 1, a pre-feeding mechanism 81 provided on one side of the tableware packaging machine 1 for conveying tableware, and a transfer robot 82 provided above the pre-feeding mechanism 81 for clamping the tableware placed on the pre-feeding mechanism 81 and transferring it to the tableware packaging machine 1. When packaging tableware, the pre-feeding mechanism 81 transports the tableware to the bottom of the clamp of the transfer robot 82, and the transfer robot 82 clamps the tableware of the pre-feeding mechanism 81 and transfers it to the corresponding unloading port of the tableware packaging machine 1, finally forming an automated packaging bag production line. As can be seen from the above, this structure of batch packaging of tableware realizes mechanization and automation, saves labor costs, and improves packaging efficiency.

[0025] Depend on Figure 3 It can be known from the tableware batch packaging device shown that the transfer robot 82 includes a transfer robot mobile frame 821, and the transfer robot mobile frame 821 is connected to a movable arm 822 that moves toward the tableware packaging machine, and the end of the movable arm 822 away from the transfer robot mobile frame 821 is connected to a tableware clamping mechanism 824 for clamping tableware. This structure is simple and easy to operate.

[0026] Depend on Figure 3It can be known from the tableware batch packaging device shown that the movable arm 822 includes a first movable arm 8221 connected to the transfer mechanical mobile phone frame 821 and moving toward the tableware packaging machine 1, and the first movable arm 8221 is connected to a second movable arm 8222 at one end away from the transfer mechanical mobile phone frame 821; the second movable arm 8222 can slide on the vertical plane. The figure shows a specific implementation scheme of the movable arm 822. In this implementation scheme, the movable arm 822 includes the first movable arm 8221 that can move along the tableware packaging machine 1 and the second movable arm 8222 that slides in the vertical direction. When in use, the tableware clamping mechanism 824 is driven by the first movable arm 8221 to move to the top of the pre-feeding mechanism 81, and the second movable arm 8222 slides on the vertical plane according to the distance between the tableware clamping mechanism 824 and the pre-feeding mechanism 81, so as to achieve the purpose of clamping the tableware. With this structure, the second movable arm 8222 can adjust the distance between the second movable arm 8222 and the pre-feeding mechanism 81 by sliding on a vertical plane to achieve the purpose of clamping. This structure is conducive to clamping tableware at different heights on the pre-feeding mechanism 81. There is no need to replace different second movable arms 8222 to adapt to different heights, thereby improving flexibility of use.

[0027] Depend on Figure 3 It can be known from the tableware batch packaging device shown that the tableware clamping mechanism 824 can rotate on the vertical plane; as an embodiment of the improved tableware transfer device, the tableware clamping mechanism 824 can rotate on the vertical plane driven by a cylinder or other power. With this structure, after the tableware clamping mechanism 824 clamps the tableware, the angle of the tableware clamping mechanism 824 with the tableware can be adjusted according to the opening position of the packaging bag on the tableware packaging machine 1, so that the tableware can smoothly enter the packaging bag to achieve the unloading step. The use of this structure that enables the tableware clamping mechanism 824 to rotate on the vertical plane improves the flexibility of the tableware clamping mechanism 824 and can adapt to different packaging bag opening conditions.

[0028] Depend on Figure 3 It can be known from the tableware batch packaging device shown that the tableware clamping mechanism 824 includes a support plate 8241 arranged on the movable arm 822, and a plurality of tableware clamps 8242 are arranged on the support plate 8241. The figure shows an embodiment of the tableware clamping mechanism 824, wherein the support plate 8241 is respectively provided with a first tableware clamp and a second tableware clamp at both ends in the length direction thereof. With this mechanism, two tableware can be clamped at the same time by one operation, and two tableware can be delivered by one movement to the tableware packaging machine 1, which saves the number of operations and increases the number of delivered tableware, thereby improving the transportation efficiency.

[0029] Depend on Figure 4 It can be known from the tableware batch packaging device shown that the connection between the support plate 8241 and the movable arm 822 is provided with a first power mechanism 11, and the first power mechanism 11 drives the support plate 8241 to rotate on a surface parallel to the support plate 8241. As an embodiment of the improved scheme of the tableware clamping mechanism 824, after adopting this structure, the support plate 8241 can be rotated on a vertical plane and on a surface parallel to the support plate 8241, so no matter how the clamp head on the tableware clamp 8242 is oriented, the clamped tableware can be smoothly placed in the packaging bag of the joke station corresponding to the tableware packaging machine 1; after adopting this structure, the support plate 8241 can slide on a vertical plane and rotate on a surface parallel to the support plate 8241, and the tableware placed in the pre-feeding box 812 can be clamped in different directions. It can be seen from the above that by adopting this structure, the needs of clamping tableware and placing tableware at multiple angles can be realized. The first power mechanism 11 is a combination of a servo motor and a reducer.

[0030] Depend on Figure 4It can be seen from the tableware batch packaging device shown that a second power mechanism 12 is provided at the connection between the tableware clamp 8242 and the support plate 8241, and the second power mechanism 12 drives the tableware clamp 8242 to slide on a surface perpendicular to the support plate 8241 and creates a displacement difference between the tableware clamps 8242 on a surface perpendicular to the support plate 8241; the clamping direction of the tableware clamp 8242 is parallel to the surface where the support plate 8241 is located. As can be seen from the figure, the cutlery clamps 8242 are respectively arranged on both sides of the support plate 8241 in the length direction. After the cutlery clamps 8242 on both sides clamp the cutlery set respectively, the movable arm 822 approaches the cutlery packaging machine 1, and the cutlery clamping mechanism 824 rotates on the vertical plane. The cutlery clamps 8242 on both sides of the support plate 8241 are at different heights on the vertical plane. First, the cutlery above the packaging bag close to the cutlery packaging machine 1 is released into the packaging bag. Then, the second power mechanism 12 pushes the cutlery clamp 8242 located above in the direction away from the support plate 8241, so that a displacement difference is generated between it and the cutlery clamp 8242 below. Then, the first movable arm 8221 and the second movable arm 8222 are used to drive the cutlery clamping mechanism 824 to move in the horizontal direction and the vertical direction, and finally the cutlery clamp 8242 located above is moved to the top of the packaging bag on the cutlery packaging machine 1, and finally the cutlery is released into the packaging bag to complete the secondary delivery. This structure is mainly aimed at the clamping direction of the cutlery clamp 8242 being parallel to the surface of the support plate 8241. In the process of placing the cutlery, after the cutlery set placed at the bottom is placed, the cutlery clamp 8242 placed at the top holding the cutlery produces a displacement difference with the cutlery clamp 8242 at the bottom perpendicular to the surface of the support plate 8241 under the push of the second power mechanism 12, and then cooperates with the movable arm in the horizontal and vertical directions, and finally the cutlery placed at the top is moved to the position of the packaging bag opening, and the cutlery is placed smoothly. With this structure, the cutlery at different heights can be placed by rotating the support plate 8241 once on the vertical plane, which is conducive to solving the problem that the support plate 8241 holding the cutlery needs a larger operating space to rotate, and avoids the possibility of cutlery of different shapes interfering with other parts inside the machine.

[0031] Depend on Figure 4 As can be seen from the tableware batch packaging device shown, the tableware clamp 8242 includes a connecting column 82421 connected to the support plate 8241, and the end of the connecting column 82421 away from the support plate 8241 is connected to a clamp 82422 that can move closer or farther away. This structure is simple, the clamping operation is simple, and the clamping effect is good.

[0032] Depend on Figure 5As can be seen from the tableware batch packaging device shown, the pre-feeding mechanism 81 includes a pre-feeding frame 811 and a pre-feeding table 812 that moves alternately on the pre-feeding frame 811. With this structure, the injection molding machine puts the molded tableware on the pre-feeding table 812, and when the clamp on the tableware packaging machine has finished clamping the tableware on it, it does not need to wait to continue clamping the tableware, which saves time and improves efficiency.

[0033] Depend on Figure 5 It can be known from the tableware batch packaging device shown that the pre-feeding platform 812 includes a first tableware pre-feeding platform 8123 and a second tableware pre-feeding platform 8124, and the first tableware pre-feeding platform 8123 and the second tableware pre-feeding platform 8124 move alternately on the pre-feeding frame 811 in parallel. With this structure, the injection molding machine puts the molded tableware on the first tableware pre-feeding platform 8123, and the first tableware pre-feeding platform 8123 moves to the bottom of the transfer robot 82. After the transfer robot 82 completes the clamping of the tableware on the first tableware pre-feeding platform 8123, the first tableware pre-feeding platform 8123 moves away from the transfer robot 82. At this time, the transfer robot 82 moves downward to approach the second tableware pre-feeding platform 8124 that has been prepared to continue clamping, and this cycle repeats, and the first tableware pre-feeding platform 8123 and the second tableware pre-feeding platform 8124 appear alternately below the injection molding machine and below the transfer robot 82. This structure ensures that there will be no time gap when the transfer robot 82 grabs tableware, and there is no need to wait for the feeding table that has already been grabbed to be loaded with materials before grabbing, which saves time and improves efficiency.

[0034] Depend on Figure 5 It can be known from the tableware batch packaging device shown that the pre-feeding frame 811 is provided with a guide rail 813, and the pre-feeding table 812 slides along the guide rail 813; the pre-feeding frame 811 is provided with a pre-feeding power mechanism 814 that drives the pre-feeding table 812 to slide on the guide rail 813; the pre-feeding power mechanism 814 is a belt-type transport. The figure shows a specific scheme of the pre-feeding power mechanism 814 used when the pre-feeding table 812 moves alternately on the pre-feeding frame 811. This structure is simple in structure, easy to implement, and has a good use effect.

[0035] Depend on Figure 5 and Figure 6It can be known from the tableware batch packaging device shown that the first tableware pre-feeding station 8123 and the second tableware pre-feeding station 8124 include a pre-feeding support platform 8121 arranged on the pre-feeding frame 811 and a pre-feeding box 8122 arranged on the pre-feeding support platform 8121. The pre-feeding box 8122 is provided with a tableware positioning cavity 8125, and the tableware positioning cavity 8125 is provided with a slot 8126 for allowing a tableware clamp to enter along the edge direction of the pre-feeding box 8122. The pre-feeding box 8122 is a hollow cylinder, which is divided into a first semicircle 8127 and a second semicircle 8128 by its diameter as a dividing line. The cutlery positioning cavity 8125 on the first semicircle 8127 is provided with a first slot 81261 for the cutlery clamp to enter along the outer circumferential direction, and the cutlery positioning cavity 8125 on the second semicircle 8126 is provided with a second slot 81262 for the cutlery clamp to enter along the inner circumferential direction. With this structure, the effect of taking materials once, transporting them once, and repeatedly clamping them can be achieved, which effectively improves efficiency.

[0036] Depend on Figure 5 As shown in the tableware batch packaging device, the pre-feeding boxes 8122 are evenly distributed along the length direction of the pre-feeding support platform 8121. With this structure, the effect of one-time material collection, one-time transportation, and multiple repeated clamping can be achieved, which effectively improves efficiency.

[0037] Depend on Figure 2The tableware batch packaging device shown in the figure can be known that the tableware batch packaging device, the tableware packaging machine 1 includes a main frame 101, a dividing turntable 102 arranged on the main frame 101 and rotating relative to the main frame 101, and a dividing power mechanism 103 driving the dividing turntable 102 to rotate in an indexing manner, the dividing turntable 102 is provided with a plurality of groups of packaging bag clamping mechanisms 104 for clamping packaging bags at intervals along the circumferential direction, and the packaging bag clamping mechanisms 104 are respectively provided with a plurality of groups of packaging bag clamping mechanisms 104 for clamping packaging bags to the packaging bags. The bag feeding device 105 on the clamping mechanism 104, the bag opening device 106 for opening the packaging bag on the packaging bag clamping mechanism 104, the bag mouth straightening device 107 for straightening the opening of the packaging bag on the packaging bag clamping mechanism 104, the pressing device 109 for pressing the tableware in the packaging bag on the packaging bag clamping mechanism 104, the bag sealing device 1010 for sealing the bag mouth of the packaging bag on the packaging bag clamping mechanism 104 and the unloading port 108 for receiving the tableware transferred by the transfer robot 82. When in use, the packaging bag is placed on the bag feeding device 105. The bag taking robot on the bag feeding device 105 clamps the packaging bag and places it on the clamp of the packaging bag clamping mechanism 104. The packaging bag clamping mechanism 104 clamping the packaging bag rotates on the indexing turntable 102, and rotates to the bottom of the bag opening device 106, the bag mouth regularization device 107, the tableware transfer device 108, the pressing device 109, and the bag sealing device 1010 in sequence, completing a series of actions including opening the bag, regularizing the bag mouth, placing tableware, pressing the tableware and tightening the bag mouth, and sealing the bag mouth. As can be seen from the above, the mechanical accessories required to complete the tableware packaging process are placed above the packaging bag clamping mechanism on the indexing turntable. This packaging machine has a simple structure, small footprint, and is easy to operate.

[0038] Depend on Figure 2 As can be seen from the tableware batch packaging device shown, the packaging bag clamping mechanism 104 includes swing arms connected to the indexing turntable 102 and capable of approaching or moving away from each other, and a clamp is provided at one end of the swing arm away from the indexing turntable 102. With this structure, the clamp is used to clamp both sides of the packaging bag, and the bag opening of the packaging bag is tightened by moving the swing arms away from each other, and then the packaging bag is rotated to the corresponding workstation through the indexing turntable 102 for operation.

[0039] Depend on Figure 2As can be seen from the tableware batch packaging device shown, the bag feeding device 105 includes a storage rack arranged on the rack 101 for storing packaging bags and a transfer clamp for clamping the packaging bags placed on the storage rack and transferring the packaging bags to the packaging bag clamping mechanism 104. As can be seen from the figure, the storage rack is arranged on the main frame 101, one end of the transfer clamp is connected to the main frame 101, and the end away from the main frame 101 is provided with a transfer clamp that can be repeatedly opened and closed to clamp the packaging bag.

[0040] Depend on Figure 2 As can be seen from the tableware batch packaging device shown, the bag opening device 106 includes suction cups that are close to or relatively far away from each other in the opening direction of the bag opening of the packaging bag. As can be seen from the figure, the bag opening device 106 includes a bag opening support column connected to the main frame 101 at one end, and a suction cup is provided at the end of the bag opening support column away from the main frame 101, and the suction cups are close to or relatively far away from each other in the opening direction of the bag opening of the packaging bag. With this structure, the structure is simple and the bag opening of the packaging bag on the packaging bag clamping mechanism 4 can be effectively opened.

[0041] Depend on Figure 2 As can be seen from the tableware batch packaging device shown, the bag opening regularization device 107 includes an opening and closing plate placed in the bag opening of the packaging bag and reciprocatingly opened and closed. As can be seen from the figure, the bag opening regularization device 107 includes a bag opening regularization support column connected to the main frame 101 at one end, and an opening and closing plate is provided at one end of the bag opening regularization support column away from the main frame 101, and the opening and closing plate can be repeatedly opened and closed in the bag opening of the packaging bag to achieve the purpose of bag opening regularization.

[0042] Depend on Figure 2 As can be seen from the tableware batch packaging device shown, the pressing device 109 includes a pressing plate that can be placed in the packaging bag and move on the vertical plane. As can be seen from the figure, the pressing device 109 includes a pressing support column connected to the main frame 101 at one end, and a pressing plate is provided at one end of the pressing support column away from the main frame 101. The pressing plate can be placed in the packaging bag and reciprocate on the vertical plane to achieve the purpose of pressing the tableware.

[0043] Depend on Figure 2 As can be seen from the tableware batch packaging device shown, the bag sealing device 1010 includes heat sealing plates that are close to or relatively far away from each other in the opening direction of the packaging bag. As can be seen from the figure, the bag sealing device 1010 includes a bag sealing support column connected to the main frame 101 at one end, and a heat sealing plate is provided at one end of the bag sealing support column away from the main frame 101. The heat sealing plates can be close to or relatively far away from each other in the opening direction of the packaging bag to achieve the purpose of heat sealing the bag.

[0044] Depend on Figure 2It can be known from the tableware batch packaging device shown that the feed port 108 is arranged on the packaging bag clamping mechanism 104 and is used to receive the tableware transferred by the transfer robot 82.

[0045] The working principle of the tableware transfer device of the present invention is as follows:

[0046] The present invention provides a tableware transfer device, comprising a pre-feeding mechanism for transferring tableware and a transfer robot arranged above the pre-feeding mechanism for clamping the tableware placed on the pre-feeding mechanism and then moving to a tableware packaging machine. When packaging the tableware, the pre-feeding mechanism transports the tableware to the bottom of the clamp of the transfer robot, and the transfer robot clamps the tableware of the pre-feeding mechanism and transfers it to the corresponding unloading port of the tableware packaging machine, finally forming an automated packaging bag production line. As can be seen from the above, this packaging structure realizes mechanization and automation, saves labor costs, and improves packaging efficiency.

Claims

1. A tableware transfer device, It is characterized in that It includes a pre-feeding mechanism for conveying tableware and a transfer robot arranged above the pre-feeding mechanism for clamping the tableware placed on the pre-feeding mechanism and then moving it to the tableware packaging machine; The transfer robot comprises a transfer robot mobile phone frame, the transfer robot mobile phone frame is connected to a movable arm that moves toward the tableware packaging machine, and one end of the movable arm away from the transfer robot mobile phone frame is connected to a tableware clamping mechanism for clamping tableware; The movable arm comprises a first movable arm connected to the transfer machine mobile phone frame and moving toward the tableware packaging machine, and an end of the first movable arm away from the transfer machine mobile phone frame is connected to a second movable arm that can slide on a vertical plane; The tableware clamping mechanism comprises a support plate arranged on the second movable arm, and a plurality of tableware clamps are arranged on the support plate; a first power mechanism is arranged at the connection between the support plate and the second movable arm, and the first power mechanism drives the support plate to rotate in a plane parallel to the support plate; The pre-feeding mechanism comprises a pre-feeding frame and a pre-feeding table which moves alternately on the pre-feeding frame; The pre-feeding frame is provided with a guide rail and a pre-feeding power mechanism, and the pre-feeding platform slides along the guide rail under the drive of the pre-feeding power mechanism; A second power mechanism is provided at the connection between the cutlery clamp and the support plate, and the second power mechanism drives the cutlery clamp to slide on a surface perpendicular to the support plate and generates a displacement difference between the cutlery clamps on the surface perpendicular to the support plate; the clamping direction of the cutlery clamp is parallel to the surface where the support plate is located; The tableware clamping mechanism can rotate on a vertical plane under the power of the cylinder; The pre-feeding table comprises a first tableware pre-feeding table and a second tableware pre-feeding table, wherein the first tableware pre-feeding table and the second tableware pre-feeding table move alternately up and down in parallel on the pre-feeding frame; The first tableware pre-feeding station and the second tableware pre-feeding station include a pre-feeding support table arranged on the pre-feeding frame and a pre-feeding box arranged on the pre-feeding support table; The pre-feeding box is provided with a tableware positioning cavity, and the tableware positioning cavity is provided with a slot for allowing the tableware clamp to enter along the edge direction of the pre-feeding box; The pre-feed box is a hollow cylinder, which is divided into a first semicircle and a second semicircle by its diameter as a dividing line. The cutlery positioning cavity on the first semicircle is provided with a first slot for the cutlery clamp to enter along the outer circumferential direction, and the cutlery positioning cavity on the second semicircle is provided with a second slot for the cutlery clamp to enter along the inner circumferential direction.

Images