Automatic packaging vending cabinet and packaging vending method

Abstract

The application provides an automatic packaging vending cabinet and a dumpling cooking method, and relates to the technical field of catering equipment. The scheme is that the automatic packaging vending cabinet comprises a dumpling storage box, a dumpling conveying device, a transfer device, a storage box container, a storage cover container, a dumpling cooking device, a temporary storage rack and a delivery device. The dumpling storage box is provided with a discharge port. The dumpling conveying device is provided with a dumpling conveying feeding box in a split structure. The transfer device comprises a left-right translation mechanism. The left-right translation mechanism is slidably connected with a lifting mechanism. The lifting mechanism is slidably connected with a mechanical hand. The mechanical hand can cause the dumpling conveying feeding box to be dislocated, so that the dumplings fall from the gap formed by the dislocation. The storage box container, the storage cover container, the dumpling cooking device, the temporary storage rack and the delivery device are all within the stroke range of the mechanical hand. The problems of poor coordination, low efficiency and high cost of each link in the existing dumpling machine are solved.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of automatic vending machines, in particular to an automatic packaging vending machine and a packaging vending method. BACKGROUND

[0002] Mass production, mass consumption and changes in consumption patterns and sales environment require new distribution channels, and the emergence of new distribution channels such as supermarkets and department stores has led to rising labor costs, as well as limitations on space and convenience of shopping. As a result, automatic vending machines have emerged as a necessary machine.

[0003] As a traditional Chinese dish, dumpling vending machines have gradually become popular, and generally have the functions of steaming, packaging and vending. The dumplings in the refrigerator are placed in the cooking pot by the internal mechanism, and after cooking, they are placed in the packaging box for packaging, and finally placed in the meal taking cabinet for meal taking personnel to take meals. The dumpling machine realizes automatic steaming and vending of dumplings without human management, and has a wide market prospect.

[0004] At present, the existing dumpling vending machine generally includes a refrigerator, a mechanical hand, a packaging box and a cooking pot. The mechanical hand transfers the frozen dumplings in the refrigerator to the cooking pot for cooking, and then packages the cooked dumplings. However, the existing dumpling machine has many actions, especially the step of placing the cooked dumplings into the packaging box for packaging and storage, which has complex program control and is difficult to coordinate with each other, often causing problems during operation, resulting in low operation efficiency and high cost of the entire vending machine. Therefore, how to efficiently and smoothly place the cooked dumplings into the packaging box for packaging has become a big problem for automatic vending.

[0005] Therefore, in view of the poor coordination between the existing dumpling vending machine and the step of placing the cooked dumplings into the packaging box for packaging, the low efficiency and high cost of the packaging and vending, it is urgent to develop an efficient automatic packaging vending machine and dumpling cooking method. SUMMARY

[0006] The present application aims to solve the problems of poor coordination between the existing dumpling vending machine and the step of placing the cooked dumplings into the packaging box for packaging, and low efficiency and high cost of the packaging and vending, and proposes and designs an automatic packaging vending machine with smooth action, efficient operation and the ability to smoothly place the cooked dumplings into the packaging box for packaging.

[0007] The application adopts the technical scheme that an automatic packaging vending cabinet comprises a dumpling storage box, a dumpling conveying device, a transfer device, a storage box container, a storage cover container, a dumpling cooking device, a temporary storage rack and a delivery device, the dumpling storage box is provided with a discharge port, the dumpling conveying device is provided with a dumpling conveying feeding box, the dumpling conveying device can move the dumpling conveying feeding box from the discharge port of the refrigerator to the transfer device, and the dumpling conveying feeding box is in a split structure; the transfer device comprises a left-right translation mechanism, the left-right translation mechanism is slidably connected with a lifting mechanism, the lifting mechanism is slidably connected with a mechanical hand, and the mechanical hand can cause the dumpling conveying feeding box to be dislocated and then cause the dumplings to fall from the gap formed by the dislocation; the storage box container, the storage cover container, the dumpling cooking device, the temporary storage rack and the delivery device are all within the stroke range of the mechanical hand, the mechanical hand can clamp and move the packaging box from the storage box container to the dumpling cooking device, and the mechanical hand and the dumpling cooking device cooperate to cause the dumpling cooking device to be overturned and then cause the dumplings in the dumpling cooking device to be poured into the packaging box on the mechanical hand. Preferably, the dumpling storage box is a refrigerator. In the drawings, for example, the dumpling storage box is located in the front, the cooking pot, the temporary storage rack, the storage cover container and the storage box container are all located in the back, the transfer device is located in the middle, the cooking pot is located at the bottom, the temporary storage rack is located above the cooking pot, the storage box container is located at the upper right of the temporary storage rack, the storage cover container is located at the upper left of the temporary storage rack, and the dumpling conveying device is located at the right side of the dumpling storage box and the transfer device.

[0008] Further, the storage box container comprises a box storage cylinder, a lower part of the box storage cylinder is provided with a lower box opening, both sides of the box storage cylinder are provided with side baffles, the side baffles are connected with side pressing plates, the side pressing plates can slide up and down relative to the side baffles, the side pressing plates are connected with support moving frames, the support moving frames are located below the lower box opening, the side baffles are connected with horizontal driving members, the horizontal driving members can drive the side baffles to move horizontally, the side baffles can drive the side pressing plates connected therewith to move horizontally, the support moving frames are connected with vertical driving members, the vertical driving members can drive the support moving frames to move vertically, the support moving frames can drive the side pressing plates connected therewith to move vertically. The side baffles are connected with baffle frames, the baffle frames comprise side plates and front plates, the side plates are located at the sides of the box storage cylinder, the front plates are located at the front of the box storage cylinder, the horizontal driving members are connected with the front plates, since the side baffles are located at both sides of the box storage cylinder, it is difficult to drive the side baffles with one horizontal driving member, therefore, the baffle frames are arranged, and are bent to the front of the box storage cylinder, so that one horizontal driving member can drive the side baffles at both sides synchronously, meanwhile, the baffle frames also play a role of providing mounting positions. The side pressing plates are connected with pressing plate frames, the pressing plate frames comprise vertical sliding plates and horizontal sliding plates, vertical sliding rails are mounted on the side plates, the vertical sliding plates are slidably connected with the vertical sliding rails, so as to ensure the smooth up and down movement of the side pressing plates. The bottom of the support moving frame is provided with horizontal sliding rails, the horizontal sliding plates are slidably connected with the horizontal sliding rails, so as to ensure the smooth horizontal movement of the side pressing plates, the horizontal driving members drive the baffle frames to move, and then drive the side baffles and the pressing plate frames to move, at this time, the horizontal sliding rails provide a guiding role for the horizontal movement, and also connect the pressing plate frames with the support moving frame, when the support moving frame moves downward, the pressing plate frames will move downward along the vertical sliding rails, so as to realize that the side pressing plates can move horizontally with the baffle frames and can move up and down with the support moving frame. Both sides of the support moving frame are provided with side support plates, the side support plates are located below the side pressing plates, the side pressing plates press the side edges of the packing boxes to the side support plates, the side edges of the packing boxes are clamped between the side support plates and the side pressing plates, so as to avoid the movement of the packing boxes, ensure the accurate position of the packing boxes, and play a role of positioning. The side baffles and the side pressing plates are located at the same height in the initial state, since the gap between the side edges of the packing boxes stacked together is small, this arrangement mode can ensure that the side baffles and the side pressing plates are clamped into the gap between the side edges of two packing boxes at the same time. Both sides of the bottom of the box storage cylinder are provided with avoiding openings, the side baffles and the side pressing plates are located at the avoiding openings, so as to ensure the smooth movement of the side baffles and the side pressing plates, and avoid the interference between the parts.

[0009] Further, the cover storage container comprises a cover storage cylinder and a fixing frame, the fixing frame is located in front of the bottom of the cover storage cylinder, the lower part of the cover storage cylinder is provided with a cover outlet, the cover outlet is provided with a movable pull plate, the upper part of the movable pull plate is provided with a protrusion, the protrusion is used for matching the groove on the box cover, the protrusion is clamped into the groove of the box cover, because the groove of the box cover has a horizontal rib, the movable pull plate moves forward, the protrusion is clamped at the horizontal rib, and then the box cover is moved forward, the two sides of the fixing frame are provided with opening and closing frames, the opening and closing frames are provided with side support plates, the opening and closing frames are connected with X-axis driving elements, the X-axis driving elements can drive the opening and closing frames to move in the left-right direction, the movable pull plate is connected with Y-axis driving elements, the Y-axis driving elements can drive the movable pull plate to move in the front-back direction, and the movable pull plate is located between the side support plates on the two sides. The cover outlet of the cover storage cylinder is provided with a limiting plate in front, the limiting plate is connected with a Z-axis driving element, and the Z-axis driving element can drive the limiting plate to move up and down. The front part of the cover storage cylinder is provided with a Z-axis sliding rail, and the limiting plate is slidably installed on the Z-axis sliding rail. The limiting plate is arranged at the cover outlet and is used for blocking the box covers stacked together, so that only the lowermost box cover can slide out. The opening and closing frame comprises an upper connecting plate and a side connecting plate, the side connecting plate connects the upper connecting plate and the side support plate, the X-axis driving element is connected with the upper connecting plates on the two sides, so that one X-axis driving element can drive the opening and closing frames on the two sides to move and drive the side support plates to move. The side support plates are horizontally arranged, the bottom surface of the fixing frame is a horizontal surface, and the side support plates are horizontally arranged, so that the box cover can be horizontally supported thereon, and the mechanical hand only needs to move upward, when the packaging box moves to the position of the box cover, the X-axis driving element drives the side support plates to move outward, so that the box cover falls on the packaging box, then the mechanical hand continues to move upward, drives the packaging box and the box cover to move upward, and the box cover is stopped on the horizontal bottom surface of the fixing frame, the stopping force makes the box cover tightly buckled with the packaging box, and the operation is simple and efficient. The bottom of the fixing frame is provided with a downward protruding baffle, the baffle is located in front of the side support plate and is used for blocking the forward movement of the box cover to realize the limiting function, so that the position of the box cover is accurate when the box cover is taken out. The protrusion has two, the two protrusions are arranged on the movable pull plate, the two protrusions are adapted to the groove at the bottom of the box cover, and are symmetrically distributed to avoid the offset and shaking of the box cover during movement.

[0010] Further, the temporary storage rack is provided with a plurality of storage positions arranged in multiple layers. The delivery device comprises a delivery rack, a plurality of delivery boxes and a delivery cover plate are mounted on the delivery rack, a lower rack gear is arranged on the delivery box, an upper rack gear is arranged on the delivery cover plate, the upper rack gear and the lower rack gear are connected through gear meshing, and a telescopic driving assembly is connected to the delivery box. The telescopic driving assembly is a screw nut transmission structure. The delivery box is moved through the screw nut transmission structure, the lower rack gear fixed on the delivery box moves, the rack gear rotates, the upper rack gear moves, the delivery cover plate moves with the upper rack gear, the delivery cover plate is opened or closed on the delivery box, the delivery cover plate is located at the rear when it is closed, the mechanical hand places the packed box of dumplings into the delivery box, the packed box moves forward when the delivery is performed, the delivery cover plate is staggered with the delivery box, the packed box in the delivery box is exposed, and customers can see and take away the packed box.

[0011] Further, the mechanical hand comprises a support frame, a clamping jaw assembly is mounted on the support frame, a clamping jaw opening and closing driving element and a clamping jaw forward and backward translation driving element are connected to the clamping jaw assembly, the clamping jaw opening and closing driving element can drive the clamping jaw assembly to open and close, the clamping jaw forward and backward translation driving element can drive the clamping jaw assembly to move forward and backward, a placement plate is arranged on the support frame, a through hole is arranged on the placement plate, and a material box fixing fork assembly is arranged below the placement plate. The shifting fork assembly comprises a shifting fork head and a shifting fork forward and backward driving element, the shifting fork head is connected to the shifting fork forward and backward driving element, and the shifting fork forward and backward driving element can drive the shifting fork head to move horizontally forward and backward. The material box fixing fork assembly comprises a fixing fork and a fixing fork driving element, the fixing fork is connected to the fixing fork driving element. The limiting structure comprises a limiting column, a clamping protrusion is arranged on the side wall of the limiting column, and the fixing fork driving element can drive the fixing fork to move so that the fixing fork is clamped into the limiting column. The clamping jaw assembly comprises two clamping jaws, the inner side of the clamping jaw has a clamping groove, the clamping jaw is located above the placement plate, and the rear part of the clamping jaw is connected to the clamping jaw opening and closing driving element. The clamping jaw forward and backward translation driving element comprises a clamping jaw frame and a lead screw, the lead screw is mounted on the support frame, the clamping jaw frame is connected to the lead screw through a nut, the clamping jaw and the clamping jaw opening and closing driving element are mounted on the clamping jaw frame, and the clamping jaw frame is connected to the support frame through a sliding block guide rail structure. A horizontal positioning plate is arranged on the clamping jaw frame, the horizontal positioning plate is located above the placement plate, a positioning hole is arranged on the horizontal positioning plate, and a positioning plug is arranged on the dumpling conveying material box. The left and right translation mechanism and the lifting mechanism both adopt a ball screw transmission structure. The dumpling conveying device also preferably adopts a ball screw transmission structure, and a clamping jaw for clamping the dumpling conveying material box is mounted thereon.

[0012] Further, the dumpling conveying box comprises a box body and a bottom plate arranged in a split mode, the box body is a through structure from top to bottom, i.e. the upper part and the lower part of the box body are both open, the box body is slidably connected with the bottom plate, and a limiting structure is arranged on the bottom plate. Sliding baffles are arranged on both sides of the bottom plate, the sliding baffles are located at the front part of the bottom plate, and the box body is located between the two sliding baffles. The sliding baffles and the box body are connected through a guide rail assembly. Preferably, the guide rail assembly comprises a rail and a sliding block, the rail is connected to the sliding baffle, the sliding block is connected to the box body, and the sliding block and the rail are cooperatively installed to realize stable sliding movement of the box body. The limiting structure comprises a limiting block, the limiting block is fixed to the lower part of the bottom plate, and the box body and the bottom plate can be moved from top to bottom to the mechanical hand in a small space and positioned, the movement is driven by the mechanical hand, or other blocking structures can be used as long as the bottom plate can be limited to move with the box body. A positioning structure is arranged on the box body. The positioning structure comprises a connecting plate and a positioning plate, one end of the connecting plate is fixed to the box body, the other end of the connecting plate is fixedly connected with the positioning plate, and a downward positioning plug is arranged on the positioning plate. The positioning structure can be cooperated with a positioning hole on the mechanical hand to realize a rough positioning when the box is transferred from the conveying mechanism to the mechanical hand, the conveying mechanism is released after the position is found, and the box can be smoothly transferred. An inclined sliding plate is arranged on one side of the upper part of the box body, so that the dumplings in the refrigerator can slide down along the inclined sliding plate when entering the box, and the buffer and connection effects are achieved. Transporting clamping grooves are arranged on both sides of the box body and cooperated with the clamping claws of the conveying mechanism.

[0013] Further, the dumpling conveying device comprises a box translation mechanism and a box lifting mechanism, the box translation mechanism is connected with the box lifting mechanism and can be lifted by the box lifting mechanism, a clamping claw is connected to the box translation mechanism, and the conveying box is clamped to the clamping claw. A clamping claw cylinder is connected to the clamping claw, the clamping claw is driven to open and close by the clamping claw cylinder, and then the clamping claw clamps and releases the conveying box. The box lifting mechanism is a ball screw transmission mechanism. The box translation mechanism comprises a translation cylinder, a fixed plate and a translation plate, the fixed plate is connected with the lifting mechanism, the translation plate is slidably connected to the fixed plate, the translation cylinder is connected with the translation plate, the translation cylinder pushes the translation plate to translate, and the clamping claw is installed on the translation plate.

[0014] Further, the dumpling cooking device comprises a frame and a cooking pot, the cooking pot is arranged on the frame in multiple, a rotating shaft is installed on the frame, a rotating driving assembly is connected to the rotating shaft, a plurality of first connecting members are fixed on the rotating shaft, the rotating driving assembly can drive the rotating shaft to rotate and further drive the first connecting members to rotate, a sliding assembly is further connected to the frame, the sliding assembly is connected to the cooking pot through a second connecting member, an insertion port is arranged on the sliding assembly, and the first connecting member is close to the second connecting member. The cooking pot is arranged vertically, the pot opening of the cooking pot faces upward, and the front baffle of the cooking pot is an arc-shaped plate. This facilitates the dumplings to smoothly slide out of the front baffle of the cooking pot into the packaging box.

[0015] Further, the second connecting member comprises a hinged rod and a hinged plate, the hinged plate is rotatably installed on the rotating shaft, the hinged plate is hinged to the cooking pot, one end of the hinged rod is connected to the sliding assembly, and the other end of the hinged rod is hinged to the hinged plate or the cooking pot after passing above the rotating shaft, the rotating shaft is located on the upper front end of the frame, and the front baffle of the cooking pot is higher than the rotating shaft. A support block is arranged on the frame, the support block is located in front of the cooking pot, the support block has an arc corresponding to the front baffle of the cooking pot, and the cooking pot can be turned over along the support block, thereby playing a supporting role during the turning over of the cooking pot. The first connecting member is a knocking block, the first connecting member is located behind the hinged rod, the movement of the rotating shaft drives the first connecting member to move and further knock the hinged rod, then drives the cooking pot to move, and the shaking of the cooking pot is realized. Since each of the multiple cooking pots corresponds to a first connecting member, the movement of the rotating shaft can drive multiple cooking pots to move together, the simultaneous shaking of multiple cooking pots is realized, and the dumpling cooking efficiency is improved. The sliding assembly comprises a sliding block and a guide rail, the sliding block is connected to the guide rail and can move vertically along the guide rail, the sliding block is connected to the hinged rod, and the guide rail is fixed to the frame. The hinged rod is driven to move by the up-and-down movement of the sliding block. The bottom of the cooking pot is provided with a leakage hole and a blocking plate, the blocking plate can be separated from the cooking pot, when the cooking pot is turned over, the cooking pot is separated from the blocking plate, water in the cooking pot leaks out through the leakage hole, and then the dumplings are separated from the water and enter the packaging box. A pot cover is arranged above the cooking pot, the rear end of the pot cover is hinged to the frame, one side of the rear end of the pot cover is connected to a cover driving member, the cover driving member is installed on the frame, the rear end of the pot cover is driven to rotate around the hinge point on the frame by the cover driving member, and the opening and closing of the pot cover are completed. The rotating driving assembly comprises a shaft driving member and a connecting rod, the shaft driving member is installed on one side of the frame, the shaft driving member is connected to the rotating shaft through the connecting rod, and the shaft driving member drives the connecting rod to move and further drives the rotating shaft to move. The shaft driving member and the cover driving member are both air cylinders.

[0016] On the other hand, the present application also provides an automatic packaging vending method, comprising the automatic packaging vending cabinet and the following steps:

[0017] A1: The dumpling conveying device drives the dumpling feeding box to move to the discharge port of the dumpling storage box, and the dumpling storage box falls out dumplings into the dumpling feeding box;

[0018] A2: The dumpling conveying device drives the dumpling feeding box containing dumplings to move to the manipulator, and the manipulator places the dumpling feeding box on the manipulator;

[0019] A3: The manipulator drives the dumpling feeding box to move above the cooking pot, and the manipulator makes the upper part and the lower part of the dumpling feeding box staggered, so that the dumplings in the dumpling feeding box enter the cooking pot;

[0020] A4: The manipulator drives the dumpling feeding box to return, and the dumpling conveying device retrieves the dumpling feeding box from the manipulator;

[0021] A5: The manipulator moves to the storage box container, the storage box container falls down a packaging box, and the manipulator extends to clamp the packaging box;

[0022] A6: The manipulator drives the packaging box to move in front of one of the cooking pots, the manipulator is connected to the cooking pot, moves downward to pull the cooking pot to make the cooking pot turn over by a certain angle, the cooked dumplings in the cooking pot fall into the packaging box on the manipulator, the manipulator moves to be disconnected from the cooking pot, and the cooking pot is reset;

[0023] A7: The manipulator drives the packaging box containing cooked dumplings to move to the storage cover container, the storage cover container falls down a box cover, the box cover is located above the manipulator, the manipulator moves upward, the packaging box is tightly pushed onto the box cover, the packaging box is buckled with the box cover, and the packaging is completed;

[0024] A8: The manipulator drives the packaged packaging box to move to the temporary storage rack, and places the packaging box on the temporary storage rack;

[0025] A9: When a user comes to take dumplings, the manipulator places the packaging box on the temporary storage rack on the delivery device, and the delivery device sends out the packaging box.

[0026] From the above technical solutions, the present application has the following advantages:

[0027] The present application provides an automatic packaging and vending cabinet and a packaging and vending method, which is simple in action and only needs three-dimensional translation of the manipulator, so that the turning action is omitted, the transfer of the packaging box is completed by the manipulator, the process of placing cooked dumplings into the packaging box for packaging and the storage of the packaged dumplings is smoothly realized, and there is no redundant action, so that the program control of steaming, packaging and storage of meals is reduced, the cooperation of the links is stronger, and the efficiency can be greatly improved. BRIEF DESCRIPTION OF DRAWINGS

[0028] In order to more clearly illustrate the technical solutions of the present application, the drawings required to be used in the description will be briefly introduced as follows. Obviously, the drawings in the following description are only some embodiments of the present application, and other drawings can be obtained by those skilled in the art without any creative effort on the basis of these drawings.

[0029] Figure 1 And Figure 2 The structural schematic diagram of the embodiment of the present application.

[0030] Figure 3 The structural schematic diagram of the refrigerator in the embodiment of the present application.

[0031] Figure 4 The structural schematic diagram of the refrigerator hidden in the embodiment of the present application.

[0032] Figure 5 The structural schematic diagram of the dumpling conveying device in the embodiment of the present application.

[0033] Figure 6 The structural schematic diagram of the dumpling conveying device in the embodiment of the present application.

[0034] Figures 7 to 9 The structural schematic diagram of the transfer device in the embodiment of the present application.

[0035] Figures 10 to 13 The structural schematic diagram of the dumpling cooking device in the embodiment of the present application.

[0036] Figures 14 to 19 The structural schematic diagram of the storage box container in the embodiment of the present application.

[0037] Figures 20 to 24 The structural schematic diagram of the storage cover container in the embodiment of the present application.

[0038] Figure 25 The structural schematic diagram of the delivery device in the embodiment of the present application.

[0039] 1, dumpling storage box, 2, dumpling conveying device, 3, transfer device, 4, dumpling cooking device, 5, storage box container, 6, storage cover container, 7, temporary storage rack, 8, delivery device, 11, discharge port, 201, box body, 202, bottom plate, 203, side baffle, 204, track, 205, sliding block, 206, connecting plate, 207, positioning plate, 208, positioning plug, 209, inclined sliding plate, 210, conveying slot, 211, limiting block, 212, material box lifting mechanism, 213, translation cylinder, 214, fixed plate, 215, translation plate, 216, clamping jaw, 217, clamping jaw cylinder, 301, left and right translation mechanism, 302, lifting mechanism, 304, fixed fork driving piece, 305, support frame, 306, placement plate, 307, clamping jaw frame, 308, horizontal positioning plate, 309, clamping jaw opening and closing driving piece, 310, clamping jaw, 311, positioning hole, 312, through hole, 313, lead screw, 314, fork front and rear driving piece, 315, fork head, 316, fixed fork, 401, rack, 402, cover driving piece, 403, shaft driving piece, 404, connecting rod, 405, guide rail, 406, sliding block, 407, plug-in interface, 408, rotating shaft, 409, pot cover, 410, cooking pot, 411, front baffle, 412, support block, 413, first connecting piece, 414, hinged rod, 415, hinged plate, 416, leakage hole, 501, storage cylinder, 502, baffle frame, 503, pressing plate frame, 504, transverse driving piece, 505, vertical driving piece, 506, support moving frame, 507, side support plate, 508, side baffle, 509, side pressing plate, 510, vertical sliding rail, 511, transverse sliding rail, 5021, side plate, 5022, front panel, 5031, vertical sliding plate, 5032, transverse sliding plate, 601, cover storage cylinder, 602, limiting plate, 603, opening and closing frame, 604, X-axis driving piece, 605, fixed frame, 606, Z-axis driving piece, 607, Z-axis sliding rail, 608, baffle, 609, side support plate, 610, moving pull plate, 611, protrusion, 6031, upper connecting plate, 6032, side connecting plate, 801, delivery box, 802, delivery cover plate, 803, lower rack, 804, upper rack, 805, gear, 806, telescopic driving assembly. DETAILED DESCRIPTION

[0040] In order to make the object, characteristics and advantages of the present application more obvious and easy to understand, the technical solutions in the present application will be described clearly and completely below in combination with the drawings in the specific embodiments. The embodiments described below are only some of the embodiments of the present application, not all the embodiments. Based on the embodiments in the present patent, all other embodiments obtained by those skilled in the art without creative labor fall within the scope of protection of the present patent. DETAILED DESCRIPTION

[0042] As Figures 1 to 25 The present embodiment provides an automatic packaging vending machine, which comprises a dumpling storage box 1, a dumpling conveying device 2, a transfer device 3, a storage box container 5, a storage cover container 6, a dumpling cooking device 4, a temporary storage rack 7 and a delivery device 8. The temporary storage rack 7 is provided with a plurality of storage positions arranged in multiple layers. The dumpling storage box 1 is preferably a refrigerator. The dumpling storage box 1 is provided with a discharge port 11. The dumpling conveying device 2 is provided with a dumpling conveying feeding box. The dumpling conveying device 2 can move the dumpling conveying feeding box from the discharge port 11 of the refrigerator to the transfer device 3. The dumpling conveying feeding box is in a split structure. The transfer device 3 comprises a left-right translation mechanism 301. The left-right translation mechanism 301 is slidably connected with a lifting mechanism 302. The lifting mechanism 302 is slidably connected with a mechanical hand. The mechanical hand can cause the dumpling conveying feeding box to be dislocated, so that the dumplings fall from the gap formed by the dislocation. The storage box container 5, the storage cover container 6, the dumpling cooking device 4, the temporary storage rack 7 and the delivery device 8 are all within the travel range of the mechanical hand. The mechanical hand can clamp and move the packaging box from the storage box container 5 to the dumpling cooking device 4. When the mechanical hand cooperates with the dumpling cooking device 4, the dumpling cooking device 4 is turned over, so that the dumplings in the dumpling cooking device 4 are poured into the packaging box on the mechanical hand. Figure 1 As shown in the figure, the dumpling storage box 1 is located in the front. The cooking pot 410, the temporary storage rack 7, the storage cover container 6 and the storage box container 5 are all located in the rear. The transfer device 3 is located in the middle. The cooking pot 410 is located at the bottom. The temporary storage rack 7 is located above the cooking pot 410. The storage box container 5 is located above the right of the temporary storage rack 7. The storage cover container 6 is located above the left of the temporary storage rack 7. The dumpling conveying device 2 is located on the right side of the dumpling storage box 1 and the transfer device 3.

[0043] As shown in the figure, the dumpling storage box 1 is located in the front. The cooking pot 410, the temporary storage rack 7, the storage cover container 6 and the storage box container 5 are all located in the rear. The transfer device 3 is located in the middle. The cooking pot 410 is located at the bottom. The temporary storage rack 7 is located above the cooking pot 410. The storage box container 5 is located above the right of the temporary storage rack 7. The storage cover container 6 is located above the left of the temporary storage rack 7. The dumpling conveying device 2 is located on the right side of the dumpling storage box 1 and the transfer device 3. Figures 7 to 9As shown, the lifting mechanism 302 is slidably connected with a support frame 305, the support frame 305 is installed with a jaw 310 assembly, the jaw 310 assembly is connected with a jaw opening and closing driving element 309 and a jaw 310 front and rear translation driving element, the jaw opening and closing driving element 309 can drive the jaw 310 assembly to open and close, the jaw 310 front and rear translation driving element can drive the jaw 310 assembly to move forward and backward, the support frame 305 is provided with a placement plate 306, the placement plate 306 is provided with a through hole 312, the lower side of the placement plate 306 is provided with a material box fixing fork 316 assembly, the upper side of the support frame 305 is provided with a dumpling conveying device 2, the dumpling conveying device 2 is installed with a dumpling conveying box, the dumpling conveying box is of a split structure, the bottom of the dumpling conveying box is provided with a limiting structure, the dumpling conveying device 2 can place the dumpling conveying box on the placement plate 306, and the limiting structure can pass through the through hole 312 on the placement plate 306 and be clamped by the material box fixing fork 316 assembly, the support frame 305 is also provided with a fork assembly. Specifically, the fork assembly includes a fork head 315 and a fork front and rear driving element 314, the fork head 315 is connected to the fork front and rear driving element 314, the fork front and rear driving element 314 can drive the fork head 315 to move horizontally forward and backward, the fork front and rear driving element 314 is preferably a gas cylinder, which plays a role in the use process, that is, the fork head 315 is driven by the fork front and rear driving element 314 to move forward, and then the fork head 315 protrudes and is inserted into the insertion hole of the cooking pot 410 matched therewith, and moves downward under the driving of the lifting mechanism 302, thereby pulling the cooking pot 410 to overturn by a certain angle, and the dumplings are poured into the packaging box on the mechanical hand, so that the action of transferring the dumplings from the cooking pot 410 to the packaging box is more simple and efficient. The material box fixing fork 316 assembly includes a fixing fork 316 and a fixing fork driving element 304, the fixing fork 316 is connected to the fixing fork driving element 304. The limiting structure includes a limiting column, the side wall of the limiting column is provided with a clamping protrusion, the fixing fork driving element 304 can drive the fixing fork 316 to move so that the fixing fork 316 is clamped into the limiting column, and the clamping protrusion and the limiting column form a clamping space of the fixing fork 316, thereby reliably clamping the fixing fork 316 with the limiting structure. Specifically, the jaw 310 assembly includes two jaws 310, the inner side of the jaw 310 has a clamping groove, the jaw 310 is located above the placement plate 306, the rear part of the jaw 310 is connected with the jaw opening and closing driving element 309, and each jaw 310 is driven by a gas cylinder to realize the opening and closing action, and the clamping groove can be clamped on the packaging box or the material box for limiting.The front and back translation driving part of the clamping jaw 310 comprises a clamping jaw frame 307 and a screw rod, the screw rod is installed on the support frame 305, the clamping jaw frame 307 is connected with the screw rod through a nut, the clamping jaw 310 and the clamping jaw opening and closing driving part 309 are both installed on the clamping jaw frame 307, the clamping jaw frame 307 is connected with the support frame 305 through a sliding block guide rail structure, the driving of the front and back movement of the clamping jaw 216 is realized, and the opening and closing action of the clamping jaw 216 during the movement in the front and back direction is not affected. A horizontal positioning plate 308 is arranged on the clamping jaw 216 frame, the horizontal positioning plate 308 is located above the placing plate 306, the horizontal positioning plate 308 is provided with a positioning hole 311, and the dumpling feeding box is provided with a positioning plug 208. When the dumpling feeding box is lowered, the positioning plug 208 on the dumpling feeding box is inserted into the positioning hole 311, coarse positioning is realized, and the dumpling feeding box can be accurately lowered to the placing plate 306. In use, the dumpling feeding box contains raw dumplings, the dumpling feeding device 2 feeds the dumpling feeding box to make the dumpling feeding box located above the placing plate 306, then the dumpling feeding box is lowered, the limiting structure on the bottom plate 202 passes through the through hole 312 of the placing plate 306, the fixed fork driving part 304 drives the fixed fork 316 to move to make the fixed fork 316 clamped into the limiting structure to fix the position of the bottom plate 202, the clamping jaw 310 clamps the box body 201, and the clamping jaw 310 drives the box body 201 to move forward under the driving of the front and back translation driving part of the clamping jaw 310. The box body 201 and the bottom plate 202 are slowly disengaged, the dumplings are pushed forward by the box body 201, the raw dumplings fall through the gap between the disengaged box body 201 and the bottom plate 202 and enter the dumpling boiling pot; under the driving of the left and right translation mechanism 301 and the lifting mechanism 302, the packing box position is reached, the clamping jaw opening and closing driving part 309 drives the clamping jaw 310 to open, the clamping jaw 310 is driven to move forward by the front and back translation driving part of the clamping jaw 310, the packing box is clamped and then moved to the placing plate 306, then the dumpling boiling pot 410 position is reached, the prong head 315 is driven to move forward by the prong front and back driving part 314, and then the prong head 315 is inserted into the insertion hole of the dumpling boiling pot 410 matched therewith, and is driven downward by the lifting mechanism 302, and then the dumpling boiling pot 410 is pulled to turn a certain angle, and the dumplings are poured into the packing box on the mechanical hand, the whole process is more simple and efficient.

[0044] Wherein, as Figure 6As shown, the dumpling conveying box comprises a box body 201 and a bottom plate 202 arranged in a split manner. The box body 201 is of a through structure, i.e., the upper and lower parts of the box body 201 are open. The box body 201 is slidably connected with the bottom plate 202. The bottom plate 202 is provided with a limiting structure for achieving a rough positioning when the box is transferred from the conveying mechanism to the mechanical hand. The upper part of the box body 201 is provided with an inclined slide plate 209, so that the dumplings in the refrigerator can slide along the inclined slide plate 209 when entering the box, thereby playing a buffering and connecting role. The box body 201 is provided with conveying clamping grooves 210 on both sides, which are matched with the clamping claws 216 of the conveying mechanism. The bottom plate 202 is provided with sliding baffles 203 on both sides. The sliding baffles 203 are located at the front part of the bottom plate 202, and the box body 201 is located between the two sliding baffles 203. The sliding baffles 203 play a limiting function on both sides and also have the effect of installing and fixing other accessories. The sliding baffles 203 and the box body 201 are connected through a guide rail assembly. Preferably, the guide rail assembly comprises a rail 204 and a sliding block. The rail 204 is connected to the sliding baffle 203, and the sliding block is connected to the box body 201. The sliding block and the rail 204 are matched and installed, so as to realize the stable sliding action of the box body 201. The limiting structure comprises a limiting block 211 fixed to the lower part of the bottom plate 202. The box body 201 and the bottom plate 202 can be moved from top to bottom in a small space and positioned on the mechanical hand. The box body 201 is driven by the mechanical hand. Other blocking structures can also be used as long as they can limit the movement of the bottom plate 202 with the box body 201. The box body 201 is provided with a positioning structure. Specifically, the positioning structure comprises a connecting plate 206 and a positioning plate 207. One end of the connecting plate 206 is fixed to the box body 201, and the other end of the connecting plate 206 is fixedly connected with the positioning plate 207. The positioning plate 207 is provided with a downward positioning plug 208. The positioning structure can be matched with a positioning hole 311 on the mechanical hand. When the box is transferred from the conveying mechanism to the mechanical hand, a rough positioning is achieved. After the position is found, the conveying mechanism is released, which is more beneficial to the smooth transfer of the box. Figure 5As shown, the dumpling conveying device 2 includes a material box translation mechanism and a material box lifting mechanism 212. The material box translation mechanism is connected to the material box lifting mechanism 212 and can be lifted and lowered by the material box lifting mechanism 212. A clamping claw 216 is connected to the material box translation mechanism, and the conveying material box is clamped onto the clamping claw 216. A clamping claw cylinder 217 is connected to the clamping claw 216, which drives the clamping claw 216 to open and close, thereby achieving the clamping and releasing of the conveying material box. The material box lifting mechanism 212 is a ball screw drive mechanism or a cylinder drive mechanism. The material box translation mechanism includes a translation cylinder 213, a fixed plate 214, and a translation plate 215. The fixed plate 214 is connected to the material box lifting mechanism 212. The translation plate 215 is slidably connected to the fixed plate 214. The translation cylinder 213 is connected to the translation plate 215. The translation cylinder 213 pushes the translation plate 215 to translate. The claw 216 is installed on the translation plate 215. In use, the gripper 310 holds the conveyor box at the refrigerator outlet. After the dumplings come out of the refrigerator, they slide down the inclined slide plate 209 into the conveyor box. Driven by the lifting mechanism 212, the box is lifted and lowered, and driven by the translation mechanism, it is translated. After the lifting and translation, the conveyor box moves above the robot arm and then descends. The positioning plug 208 is inserted into the positioning hole 311 on the robot arm to achieve coarse positioning. The limiting structure on the base plate 202 is engaged in the limiting groove on the robot arm. The pushing mechanism on the robot arm pushes the box 201 forward along the base plate 202. The base plate 202 is restricted by the limiting structure on it to prevent it from moving with the box 201. As a result, the box 201 and the base plate 202 are gradually misaligned. The box 201 pushes the dumplings forward. After the dumplings pass through the gap between the box 201 and the base plate 202, they fall into the dumpling pot.

[0045] Among them, such as Figures 10 to 13As shown, the dumpling cooking device 4 comprises a frame 401 and a plurality of cooking pots 410, the plurality of cooking pots 410 are arranged on the frame 401 in intervals, a rotating shaft 408 is installed on the frame 401, a rotating driving assembly is connected to the rotating shaft 408, a plurality of first connecting members 413 are fixed on the rotating shaft 408, the rotating driving assembly can drive the rotating shaft 408 to rotate and in turn drive the first connecting members 413 to rotate, a sliding assembly is further connected to the frame 401, the sliding assembly is connected to the cooking pots 410 through second connecting members, the sliding assembly is provided with a plug-in interface 407, and the first connecting members 413 are close to the second connecting members. Specifically, the rotating driving assembly comprises a shaft driving member 403 and a connecting rod 404, the shaft driving member 403 is installed on one side of the frame 401, the shaft driving member 403 is connected to the rotating shaft 408 through the connecting rod 404, and the shaft driving member 403 drives the connecting rod 404 to move and in turn drives the rotating shaft 408 to move. Specifically, the cooking pots 410 are arranged vertically, the pot openings of the cooking pots 410 face upwards, and the front baffles 411 of the cooking pots 410 are arc-shaped plates, so as to facilitate the dumplings to slide along the front baffles 411 of the cooking pots 410 and smoothly enter the packaging boxes. The second connecting members comprise a hinged rod 414 and a hinged plate 415, the hinged plate 415 is rotatably installed on the rotating shaft 408, the hinged plate 415 is hinged to the cooking pots 410, one end of the hinged rod 414 is connected to the sliding assembly, and the other end of the hinged rod 414 is hinged to the hinged plate 415 or the cooking pots 410 after passing above the rotating shaft 408, the rotating shaft 408 is located on the upper front end of the frame 401, the front baffles 411 of the cooking pots 410 are higher than the rotating shaft 408, and in this way, each cooking pot 410 can rotate around the rotating shaft 408, that is, the mechanical hand pulls the sliding assembly at a certain sliding assembly, the sliding assembly pulls the hinged rod 414 corresponding to the sliding assembly, the hinged rod 414 pulls the cooking pot 410, the cooking pot 410 is connected to the rotating rod through the hinged plate 415, a rotating fulcrum is formed at the rotating rod, and in turn the hinged rod 414 pulls the cooking pot 410 to rotate around the rotating rod, so as to drive the sliding assembly to drive the single cooking pot 410. The frame 401 is provided with a support block 412, the support block 412 is located at the front of the cooking pot 410, the support block 412 has an arc corresponding to the front baffle 411 of the cooking pot 410, and the support block 412 can make the cooking pot 410 overturn along the support block 412 and play a supporting role in the overturning process of the cooking pot 410. The first connecting member 413 is a knocking block, and the first connecting member 413 is located behind the hinged rod 414. The movement of the rotating shaft 408 drives the first connecting member 413 to move and in turn knock the hinged rod 414, and then drives the cooking pot 410 to move, so as to realize the shaking of the cooking pot 410. Since each of the plurality of cooking pots 410 corresponds to the first connecting member 413, the movement of the rotating shaft 408 can drive the plurality of cooking pots 410 to move together, realize the simultaneous shaking of the plurality of cooking pots 410, and improve the dumpling cooking efficiency.The sliding assembly comprises a sliding block and a guide rail, the sliding block is connected to the guide rail and can move vertically along the guide rail, the sliding block is connected to the articulated rod 414, the guide rail is fixed to the rack 401, and the articulated rod 414 is driven to move by the upward and downward movement of the sliding block. The bottom of the cooking pot 410 is provided with a leakage hole 416 and a blocking plate, the blocking plate can be separated from the cooking pot 410, when the cooking pot 410 is turned over, the cooking pot 410 is separated from the blocking plate, the water in the cooking pot 410 leaks out through the leakage hole 416, and then the dumplings are separated from the water and then enter the packaging box. The upper portion of the cooking pot 410 is provided with a pot cover 409, the rear end of the pot cover 409 is hinged to the rack 401, one side of the rear end of the pot cover 409 is connected with a cover driving element 402, the cover driving element 402 is installed on the rack 401, the rear end of the pot cover 409 is driven to rotate around the hinge point on the rack 401 by the cover driving element 402, and then the opening and closing of the pot cover 409 is completed. When in use: the rotating shaft 408 is driven to rotate by the shaft driving element 403, the first connecting element 413 on the rotating shaft 408 rotates together with the rotating shaft 408, the upward and downward driving of the shaft driving element 403 makes the first connecting element 413 knock the articulated rod 414 to drive the cooking pot 410 to move, since the first connecting element 413 is provided in plurality and corresponds to the cooking pot 410, the plurality of cooking pots 410 can be driven to rotate simultaneously, the cooking pot 410 is shaken to make the dumplings in the cooking pot 410 more uniform and prevent the dumplings from sticking together; after the dumplings are cooked, the rear end of the pot cover 409 is driven to rotate around the hinge point on the rack 401 by the cover driving element 402, and then the opening of the pot cover 409 is completed, then the mechanical hand directly inserts into the plug-in interface 407 on the corresponding sliding block, the sliding block is pulled downward, the cooking pot 410 is pulled to turn over by a certain angle by the articulated rod 414, the dumplings in the corresponding cooking pot 410 are poured into the packaging box on the mechanical hand, and the transfer of the dumplings from the cooking pot 410 to the packaging box is realized simply and efficiently.

[0046] Wherein, as Figures 14 to 19As shown, the cartridge container 5 comprises a cartridge storage cylinder 501, the lower part of the cartridge storage cylinder 501 is provided with a lower cartridge opening, both sides of the cartridge storage cylinder 501 are provided with side baffles 508, the side baffles 508 are connected with side pressing plates 509, the side pressing plates 509 can slide up and down relative to the side baffles 508, the side pressing plates 509 are connected with a support moving frame 506, the support moving frame 506 is located below the lower cartridge opening, the side baffles 508 are connected with a horizontal driving element 504, the horizontal driving element 504 can drive the horizontal movement of the side baffles 508 and the side pressing plates 509 connected with the side baffles 508, the support moving frame 506 is connected with a vertical driving element 505, the vertical driving element 505 can drive the vertical movement of the support moving frame 506 and the side pressing plates 509 connected with the support moving frame 506; the bottom of both sides of the cartridge storage cylinder 501 is provided with an avoiding opening, the side baffles 508 and the side pressing plates 509 are located at the avoiding opening, which ensures the smooth movement of the side baffles 508 and the side pressing plates 509 and avoids the interference between parts. The side baffles 508 are connected with a baffle frame 502, the baffle frame 502 comprises a side plate 5021 and a front plate 5022, the side plate 5021 is located at the side of the cartridge storage cylinder 501, the front plate 5022 is located at the front of the cartridge storage cylinder 501, the horizontal driving element 504 is connected with the front plate 5022, because the side baffles 508 are located at both sides of the cartridge storage cylinder 501, it is difficult to use one horizontal driving element 504 to drive, therefore, the baffle frame 502 is arranged, which is bent to the front of the cartridge storage cylinder 501, so that one horizontal driving element 504 can synchronously drive the side baffles 508 at both sides, at the same time, the baffle frame 502 also plays a role in providing a mounting position. Correspondingly, the side pressing plates 509 are connected with a pressing plate frame 503, the pressing plate frame 503 comprises a vertical sliding plate 5031 and a horizontal sliding plate 5032, the side plate 5021 is provided with a vertical sliding rail 510, the vertical sliding plate 5031 is slidingly connected with the vertical sliding rail 510. The bottom of the support moving frame 506 is provided with a horizontal sliding rail 511, the horizontal sliding plate 5032 is slidingly connected with the horizontal sliding rail, which ensures the smooth horizontal movement of the side pressing plates 509, the horizontal driving element 504 drives the movement of the baffle frame 502, and then drives the movement of the side baffles 508 and the pressing plate frame 503, at this time, the horizontal sliding rail 511 provides a guiding role for the horizontal movement, at the same time, the pressing plate frame 503 and the support moving frame 506 are connected together, when the support moving frame 506 moves downward, the pressing plate frame 503 will move downward along the vertical sliding rail 510, thereby realizing that the side pressing plates 509 can move horizontally with the baffle frame 502 and move up and down with the support moving frame 506. The side baffles 508 and the side pressing plates 509 are located at the same height in the initial state, because the gap between the side edges of the stacked packaging boxes is small, this arrangement can ensure that the side baffles 508 and the side pressing plates 509 are simultaneously clamped into the gap between the side edges of two packaging boxes.Two sides of the support moving frame 506 are provided with side support plates 507, which are located below the side pressing plates 509, the side pressing plates 509 press the side edges of the packing boxes downward to the side support plates 507, the side edges of the packing boxes are clamped between the side support plates 507 and the side pressing plates 509, which avoids the movement of the packing boxes, ensures the accurate position of the packing boxes, and plays a positioning role. In use, the dumpling packing boxes are stacked together and placed in the box storage cylinder 501, the side edges of the packing boxes are blocked by the side stop plates 508 on both sides, thereby supporting the stacked packing boxes to prevent them from falling downward, when the box is needed, the transverse driving member 504 drives the side stop plates 508 and the side pressing plates 509 on both sides to move outward, no longer clamping the edges of the packing boxes, the stacked packing boxes fall downward by a certain distance and are supported on the support moving frame 506, the transverse driving member 504 drives the side stop plates 508 and the side pressing plates 509 on both sides to move inward, so that the side stop plates 508 and the side pressing plates 509 are clamped between the first packing box below and the second packing box below, thereby supporting the packing box above the first packing box below, then the vertical driving member 505 drives the support moving frame 506 to move downward, the side pressing plates 509 move downward, the side pressing plates 509 press the first packing box below, thereby making the packing box separate from the stacked state and become independent, the support moving frame 506 and the side pressing plates 509 move downward together and are supported on the support moving frame 506, waiting for the mechanical hand to take them out, in this way, the above-mentioned actions are repeated to realize the continuous taking out of the single packing box, thereby also reducing the action of the mechanical hand, only horizontally moving to clamp the packing box below and take it out, realizing the simple and efficient taking out of the packing box.

[0047] wherein, for example, Figures 20 to 24As shown, the cover storage container 6 includes a cover storage cylinder 601 and a fixing frame 605 located in front of the bottom of the cover storage cylinder 601, the lower part of the cover storage cylinder 601 is provided with a cover outlet, the cover outlet is provided with a movable pull plate 610, the upper part of the movable pull plate 610 is provided with a protrusion 611, the protrusion 611 has two, the two protrusions 611 are arranged on the movable pull plate 610, the two protrusions 611 are arranged on the movable pull plate 610, the two protrusions 611 are arranged on the movable pull plate 610, the two protrusions 611 are arranged on the movable pull plate 610, the two protrusions 611 are arranged on the movable pull plate 610, the two protrusions 611 are arranged on the movable pull plate 610, the two protrusions 611 are arranged on the movable pull plate 610, the two protrusions 611 are arranged on the movable pull plate 610, the two protrusions 611 are arranged on the movable pull plate 610, the twoWhen in use, the convex 611 on the movable pull plate 610 is clamped into the groove of the box cover, the Y-axis driving member 403 can drive the movable pull plate 610 to move forward, the convex 611 is clamped at the cross rib, and then the box cover is moved forward, the box cover at the upper part is blocked in the storage cover cylinder 601 by the limiting plate 602, when the movable pull plate 610 moves to the position between the side support plates 609 with the box cover, the side of the box cover is supported on the side support plates 609, then the movable pull plate 610 is reset, i.e. retreats to below the stacked box cover, at this time, the X-axis driving member 604 drives the side support plates 609 to move outward, so that the box cover falls on the packing box, then the mechanical hand continues to move upward, drives the packing box and the box cover to move upward, and the box cover is pressed to the horizontal bottom surface of the fixing frame 605, the pressing force makes the box cover and the packing box tightly engaged.

[0048] In addition, as shown in Figure 25 The delivery device 8 includes a delivery rack, a plurality of delivery boxes 801 and delivery cover plates 802 are installed on the delivery rack, a lower rack 803 is arranged on the delivery box 801, an upper rack 804 is arranged on the delivery cover plate 802, the upper rack 804 and the lower rack 803 are connected through the gear 805, and the telescopic driving assembly 806 is connected to the delivery box 801. The telescopic driving assembly 806 is a screw nut transmission structure. The delivery box 801 is driven to move through the screw nut transmission structure, the lower rack 803 fixed on the delivery box 801 moves, and then the rack rotates to drive the upper rack 804 to move. Since the upper rack 804 is fixed on the delivery cover plate 802, the delivery cover plate 802 moves, so that the delivery cover plate 802 is opened or closed on the delivery box 801, and is located at the rear when being closed. The mechanical hand places the packing box containing dumplings into the delivery box 801, and the packing box moves forward when delivering, so that the delivery cover plate is deviated from the delivery box 801, and the packing box in the delivery box 801 is exposed, which is convenient for customers to see and take away. Specific embodiment 2

[0050] The specific embodiment provides an automatic packaging and selling method, and the automatic packaging and selling cabinet in the specific embodiment 1 is used, and the method further includes the following steps.

[0051] A1: The dumpling conveying device 2 drives the dumpling conveying box to move to the discharging port 11 of the dumpling storage box 1, and the dumpling storage box 1 discharges dumplings into the dumpling conveying box;

[0052] A2: The dumpling conveying device 2 drives the dumpling conveying box containing dumplings to move to the mechanical hand, and places the dumpling conveying box on the mechanical hand;

[0053] A3: The mechanical hand drives the dumpling feeding box to move above the cooking pot 410, and the mechanical hand makes the upper part and the lower part of the dumpling feeding box staggered, so as to make the dumplings in the dumpling feeding box enter the cooking pot 410;

[0054] A4: The mechanical hand drives the dumpling feeding box to return, and the dumpling feeding device 2 takes back the dumpling feeding box from the mechanical hand;

[0055] A5: The mechanical hand moves to the storage box container 5, the storage box container 5 falls down a packing box, and the mechanical hand extends to clamp the packing box;

[0056] A6: The mechanical hand drives the packing box to move to in front of one of the cooking pots 410, the mechanical hand is connected to the cooking pot 410, moves downward to pull the cooking pot 410 to make the cooking pot 410 overturn by a certain angle, the cooked dumplings in the cooking pot 410 fall into the packing box on the mechanical hand, the mechanical hand moves to be disconnected from the cooking pot 410, and the cooking pot 410 is reset;

[0057] A7: The mechanical hand moves to the storage cover container 6 with the packing box containing the cooked dumplings, the storage cover container 6 falls down a box cover, the box cover is above the mechanical hand, the mechanical hand moves upward, the packing box is tightly pushed onto the box cover, the packing box is buckled with the box cover, and the packing is completed;

[0058] A8: The mechanical hand drives the packed packing box to move to the temporary storage rack 7, and places the packing box on the temporary storage rack 7;

[0059] A9: When the user comes to take the dumplings, the mechanical hand places the packing box on the temporary storage rack 7 on the delivery device 8, and the delivery device 8 sends out the packing box.

[0060] More specifically, in step A2, the dumpling feeding box contains raw dumplings, the dumpling feeding device 2 feeds the dumpling feeding box to make the dumpling feeding box above the placement plate 306, then descends, the limiting structure on the bottom plate 202 passes through the through hole 312 of the placement plate 306, the fixed fork driving part 304 drives the fixed fork 316 to move to make the fixed fork 316 clamped on the limiting structure to fix the position of the bottom plate 202, the clamping jaw 310 clamps the box body 201, and the clamping jaw 310 drives the box body 201 to move forward under the driving of the front and rear translation driving part, the box body 201 and the bottom plate 202 are slowly staggered, the box body 201 pushes the dumplings to move forward, and the raw dumplings fall through the gap between the box body 201 and the bottom plate 202 after the staggering and enter the dumpling cooking pot.

[0061] In step A5, the mechanical arm reaches the packing box position under the driving of the left-right translation mechanism 301 and the lifting mechanism 302, and the dumpling packing boxes are stacked together and placed in the box storage cylinder 501. The side edges of the packing boxes are blocked by the side stop plates 508 on both sides, thereby supporting the stacked packing boxes to prevent them from falling down. When the box is needed, the lateral driving member 504 drives the side stop plates 508 and the side pressure plates 509 on both sides to move outward, so that the packing boxes are no longer blocked by the edges. The stacked packing boxes fall down a certain distance and are supported on the support moving frame 506. The lateral driving member 504 drives the side stop plates 508 and the side pressure plates 509 to move inward, so that the side stop plates 508 and the side pressure plates 509 are clamped between the first packing box below and the second packing box below, thereby supporting the packing box above the first packing box below. Then, the vertical driving member 505 drives the support moving frame 506 to move downward, and the side pressure plates 509 move downward together with the support moving frame 506. The side pressure plates 509 press the first packing box below, thereby making the packing box separate from the stacked state. The support moving frame 506 and the side pressure plates 509 move downward together and are supported on the support moving frame 506, waiting for the mechanical arm to take them out. In this way, the above-mentioned actions are repeated to realize the continuous taking out of the single packing box. The jaw opening and closing driving member 309 drives the jaw 310 to open. The jaw 310 is driven by the forward and backward translation driving member to move forward, and then clamps and moves the packing box to the placement plate 306.

[0062] In step A6, the shaft driving member 403 drives the rotating shaft 408 to rotate. The first connecting member 413 on the rotating shaft 408 rotates together with the rotating shaft 408. The shaft driving member 403 drives the first connecting member 413 to knock the hinged rod 414, so that the hinged rod 414 drives the cooking pot 410 to move. Since the first connecting member 413 has multiple corresponding to the cooking pot 410, multiple cooking pots 410 can be driven to rotate at the same time, so that the cooking pot 410 shakes and the dumplings in the cooking pot 410 are more evenly distributed to prevent sticking together. After the dumplings are cooked, the lid driving member 402 drives the rear end of the pot cover 409 to rotate around the hinge point on the rack 401, thereby completing the opening of the pot cover 409. Then, the prong forward and backward driving member 314 drives the prong head 315 to move forward, so that the prong head 315 protrudes and is inserted into the insertion hole of the cooking pot 410 corresponding thereto. Under the driving of the lifting mechanism 302, the prong head 315 moves downward, thereby pulling the cooking pot 410 to overturn by a certain angle.

[0063] In step A7, the protrusion 611 on the moving pull plate 610 is clamped into the groove of the box cover, the Y-axis driving member 403 can drive the moving pull plate 610 to move forward, the protrusion 611 is clamped into the horizontal rib, and then the box cover is moved forward, the box cover in the upper part is blocked in the storage cover cylinder 601 by the limiting plate 602, when the moving pull plate 610 moves with the box cover to the position between the side support plates 609, the side of the box cover is supported on the side support plates 609, then the moving pull plate 610 is reset, i.e. retreats to below the stacked box cover, at this time, the X-axis driving member 604 drives the side support plates 609 to move outward, so that the box cover falls on the packing box, then the mechanical hand continues to move upward, drives the packing box and the box cover to move upward, and the box cover is on the horizontal bottom surface of the fixing frame 605, the top force makes the box cover and the packing box tightly clamped.

[0064] The terms "upper", "lower", "outer", "inner", and the like (if any) in the description and the claims of the application and in the above drawings are used for the distinction of relative positions and do not have to be given a qualitative meaning. It should be understood that the data thus used can be interchanged in appropriate cases, so that the embodiments of the application described herein can be implemented in an order other than that illustrated or described herein. Furthermore, the terms "comprise" and "have" and any variations thereof are intended to cover non-exclusive inclusion.

[0065] The above description of disclosed embodiments enables a person skilled in the art to implement or use the application. Various modifications to these embodiments will be apparent to a person skilled in the art, and the general principles defined herein can be implemented in other embodiments without departing from the spirit or scope of the application. Therefore, the application will not be limited to these embodiments shown herein, but will conform to the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. An automatic packaging vending machine, comprising a dumpling storage box, a dumpling conveying device, a transfer device, a storage container, a storage lid container, a dumpling cooking device, a temporary storage rack, and a dispensing device, characterized in that, The dumpling storage box is equipped with a discharge port, and the dumpling conveying device is equipped with a dumpling conveying box. The dumpling conveying device can move the dumpling conveying box from the refrigerator discharge port to the transfer device. The dumpling conveying box has a split structure; the dumpling conveying box includes a split box body and a base plate. The box body has a vertically continuous structure, and the box body is slidably connected to the base plate. The base plate is equipped with a limit structure; the transfer device includes a left-right translation mechanism, and a lifting mechanism is slidably connected to the left-right translation mechanism. The lifting mechanism is slidably connected to a robotic arm, which can misalign the dumpling conveyor box, allowing the dumplings to fall through the gap created by the misalignment. The robotic arm includes a support frame, on which a gripper assembly is mounted. The gripper assembly is connected to a gripper opening / closing drive and a gripper forward / backward translation drive. The gripper opening / closing drive opens and closes the gripper assembly, and the gripper forward / backward translation drive moves the gripper assembly forward and backward. A placement plate with through holes is provided on the support frame. A material box fixing fork assembly is provided below the placement plate. The limiting structure can pass through the through hole on the placement plate and be engaged by the material box fixing fork assembly. A fork assembly is also provided on the support frame. The fork assembly includes a fork head and a fork front and rear drive component. The fork head is connected to the fork front and rear drive component, which can drive the fork head to move horizontally back and forth. The dumpling cooking device includes a frame and a cooking pot. A rotating shaft is mounted on the frame. A rotation drive assembly is connected to the rotating shaft. Multiple first connecting parts are fixed on the rotating shaft. The rotation drive assembly can drive the rotating shaft to rotate, thereby driving the first connecting member to rotate. A sliding assembly is also connected to the frame. The sliding assembly is connected to the cooking pot through the second connecting member. The sliding assembly is provided with a plug interface. The first connecting member is close to the second connecting member. The second connecting member includes a hinge rod and a hinge plate. The hinge plate is rotatably mounted on the rotating shaft. The hinge plate is hinged to the cooking pot. One end of the hinge rod is connected to the sliding assembly. The other end of the hinge rod passes over the rotating shaft from above and is hinged to the hinge plate or the cooking pot. The storage box container, the storage lid container, the dumpling cooking device, the temporary storage rack, and the shipping device are all within the travel range of the robotic arm. The robotic arm can pick up the packaging box from the storage box container and move it to the dumpling cooking device. When the robotic arm cooperates with the dumpling cooking device, it flips the dumpling cooking device so that the dumplings in the dumpling cooking device are poured into the packaging box on the robotic arm. It can also move the packaging box to the storage lid container so that the lid can be fastened to the packaging box to complete the packaging.

2. The automatic packaging vending machine as described in claim 1, characterized in that, The storage container includes a storage cylinder with a lower opening at the bottom. Side baffles are provided on both sides of the storage cylinder, and side pressure plates are connected to the side baffles. The side pressure plates can slide up and down relative to the side baffles. A support frame is connected to the side pressure plates and is located below the lower opening. A horizontal drive member is connected to the side baffles, which can drive the side baffles on both sides to move horizontally, and the side baffles will drive the side pressure plates connected to them to move horizontally. A vertical drive member is connected to the support frame, which can drive the support frame to move vertically, and the support frame will drive the side pressure plates connected to it to move vertically.

3. The automatic packaging vending machine as described in claim 1, characterized in that, The storage container includes a storage cylinder and a fixing frame. The fixing frame is located at the bottom front of the storage cylinder. The lower part of the storage cylinder is provided with a cap outlet. A movable pull plate is provided at the cap outlet. A protrusion is provided on the upper part of the movable pull plate. Opening and closing frames are provided on both sides of the fixing frame. Side support plates are provided on the opening and closing frames. An X-axis drive component is connected to the opening and closing frame. The X-axis drive component can drive the opening and closing frame to move in the left and right direction. A Y-axis drive component is connected to the movable pull plate. The Y-axis drive component can drive the movable pull plate to move in the front and back direction. The movable pull plate is located between the side support plates on both sides.

4. The automatic packaging vending machine as described in claim 1, characterized in that, The shipping device includes a shipping rack, on which multiple shipping boxes and shipping covers are installed. Each shipping box is provided with a lower rack, and the shipping cover is provided with an upper rack. The upper and lower racks are connected by gear meshing. A telescopic drive assembly is connected to the shipping box.

5. The automatic packaging vending machine as described in claim 1, characterized in that, The hopper fixing fork assembly includes a fixing fork and a fixing fork drive, wherein the fixing fork is connected to the fixing fork drive.

6. The automatic packaging vending machine as described in claim 1, characterized in that, The cooking pot is a plurality of pots, which are arranged at intervals on the frame. The cooking pots are arranged vertically with their openings facing upwards. The front baffle of the cooking pot is an arc-shaped plate.

7. The automatic packaging vending machine as described in claim 6, characterized in that, The rotating shaft is located at the upper front end of the frame, the front baffle of the cooking pot is higher than the rotating shaft, a support block is provided on the frame, the support block is located at the front of the cooking pot, and the support block has an arc corresponding to the front baffle of the cooking pot.

8. An automatic packaging and vending method, comprising the automatic packaging and vending machine according to any one of claims 1-7, characterized in that, It also includes the following steps: A1: The dumpling conveyor moves the dumpling conveyor box to the outlet of the dumpling storage box, and the dumplings fall from the dumpling storage box into the dumpling conveyor box; A2: The dumpling conveyor moves the dumpling conveyor box containing dumplings to the robotic arm and places the dumpling conveyor box onto the robotic arm; A3: The robotic arm moves the dumpling conveyor box above the cooking pot, and the robotic arm also separates the upper and lower parts of the dumpling conveyor box, so that the dumplings in the dumpling conveyor box can be put into the cooking pot. A4: The robotic arm drives the dumpling conveyor box back, and the dumpling conveying device retrieves the dumpling conveyor box from the robotic arm; A5: The robotic arm moves to the storage container, a packaging box falls from the storage container, and the robotic arm extends to pick up the packaging box; A6: The robotic arm moves the packaging box to one of the cooking pots, connects to the cooking pot, moves downwards and pulls the cooking pot to flip it at a certain angle, and the cooked dumplings in the cooking pot fall into the packaging box on the robotic arm. The robotic arm then moves away from the cooking pot and returns to its original position. A7: The robotic arm moves the packaging box containing cooked dumplings to the storage container. A lid is lowered from the storage container, so that the lid is above the robotic arm. The robotic arm moves upward and presses the packaging box tightly against the lid, so that the packaging box and the lid are locked together, and the packaging is completed. A8: The robotic arm moves the packaged boxes to the temporary storage rack and places the boxes on the rack; A9: When the user comes to pick up the dumplings, the robotic arm places the packaging box on the temporary storage rack onto the shipping device, and the shipping device delivers the packaging box.

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