Air track low temperature preform point flexible feeding system and method

Abstract

The present application belongs to the technical field of aerial material transportation, and particularly relates to an aerial track type low-temperature prefabricated package point flexible feeding system and a feeding method. The feeding system comprises an aerial track module, a stuffing barrel, a feeding module, a communication module and a control module. The aerial track module comprises an aerial track and a plurality of shuttles, the shuttles are movably arranged on the aerial track, the aerial track is provided with a plurality of adjustable position parking points, the stuffing barrel is arranged below the shuttle, a lifting module is arranged between the stuffing barrel and the shuttle, the feeding module is arranged on the stuffing barrel, the feeding module is configured to open or close the feeding of the stuffing barrel, and the control module is in communication connection with the aerial track module, the stuffing barrel and the feeding module through the communication module.

Description

Technical Field

[0001] This invention belongs to the field of aerial material transportation technology, specifically relating to an aerial track-type low-temperature prefabricated package flexible feeding system and feeding method. Background Technology

[0002] The food industry is a typical labor-intensive industry, with its production process involving various raw materials, semi-finished products, and finished products, posing significant challenges to material flow between different workstations and workshops. To meet consumer demand for diverse styles and flavors of chilled pre-made buns, the existing production process is gradually shifting from traditional large-volume orders to multi-variety, small-batch production. In this context of flexible production, forming machines can produce multiple types of buns by switching between different fillings and production processes. Traditional filling feeding, primarily done manually, cannot meet the demands of large-scale automated production. Furthermore, since forming machines typically require different types of fillings to process different varieties of buns, this switching of raw materials necessitates a flexible feeding system. Common solutions for long-distance filling transport include pipeline transport and overhead rail transport. However, pipeline transport has limited adaptability to the flow properties of different filling types, and frequent switching of filling types is cumbersome. Traditional overhead rail transport systems are less flexible, mostly only capable of transporting single-variety raw materials, and are unsuitable for the frequent switching and flexible feeding requirements in chilled pre-made bun production. Summary of the Invention

[0003] To overcome the shortcomings of existing technologies, this invention provides a flexible feeding system for low-temperature pre-made buns with an aerial track, which solves the problems of limited adaptability of pipeline transportation to different types of fillings, the troublesome frequent switching of filling types, and the poor flexibility of traditional aerial track conveying systems, which are not suitable for the flexible feeding requirements of frequent switching in the production process of low-temperature pre-made buns.

[0004] One aspect of the present invention provides an aerial track-type low-temperature pre-made bun flexible feeding system, comprising: an aerial track module, a filling bucket, a feeding module, a communication module, and a control module; The air track module includes an aerial track and several shuttle cars, which are movably mounted on the aerial track; the aerial track is provided with several adjustable parking points; The filling hopper is located below the shuttle car, and a lifting module is connected between the filling hopper and the shuttle car; the feeding module is located on the filling hopper, and the feeding module is configured to open or close the feeding of the filling hopper. The control module is connected to the air track module, the filling bucket, and the feeding module via the communication module.

[0005] In one embodiment of the present invention, the control module includes a data receiving unit and a path planning unit; The data receiving unit is used to acquire the material requirement information of the target molding machine, the status information of the filling barrel, and the current battery level of the shuttle car transmitted by the communication module. The path planning unit is configured to generate an optimal running path based on the material demand information of the target molding machine, the status information of the filling barrel, and the current power of the shuttle, and to generate an action command for a shuttle based on the optimal running path. The communication module sends the action command to the corresponding shuttle, so that the shuttle operates according to the action command.

[0006] In one embodiment of the present invention, the aerial track includes a main track and a secondary track, wherein at least two main tracks are provided, and the secondary tracks are provided between two adjacent main tracks; A steering module is rotatably provided at the connection between the main track and the secondary track. The steering module is provided with a transition track connecting the main track and the secondary track, which is used to allow the shuttle to switch between the main track and the secondary track.

[0007] In one embodiment of the present invention, the aerial track is provided with a charging area, a feeding area, a replenishment area, and an idle area. The parking points are located on the secondary track, and the parking points include at least a charging parking point, a feeding parking point, a replenishment parking point, and an idle parking point. The charging parking point is located on one side of the feeding parking point, the replenishment parking point is located on the other side of the feeding parking point, and the idle parking point is located between the feeding parking point and the charging parking point or between the feeding parking point and the replenishment parking point.

[0008] In one embodiment of the present invention, the shuttle is provided with an obstacle avoidance device on one side of the direction of travel. The obstacle avoidance device is used to identify the relative distance between the current shuttle and the shuttle in front, and to suspend the operation of the current shuttle when the relative distance is less than the safe distance. The obstacle avoidance device is electrically connected to the communication module, and sends a pause operation information to the control module through the communication module when the shuttle is paused. The obstacle avoidance device is one or more of the following: infrared obstacle avoidance device, ultrasonic obstacle avoidance device, laser obstacle avoidance device, or visual obstacle avoidance device.

[0009] In one embodiment of the present invention, the shuttle is equipped with a drive assembly for running the shuttle along the aerial track; A rack is provided on the track surface of the aerial track, and a gear is provided at the output end of the drive component. The gear meshes with the rack and is used to drive the shuttle car along the aerial track through meshing transmission when the drive component is running. Alternatively, the output end of the drive component may be configured as a rotating wheel, which abuts against the track surface of the aerial track.

[0010] In one embodiment of the present invention, an identification tag is provided at the parking point, and the shuttle car is provided with an identification device corresponding to the identification tag; wherein, the identification tag is any one of RFID tag, barcode or QR code, and the identification device is correspondingly set as RFID reader or camera module.

[0011] In one embodiment of the present invention, the fixing component of the lifting module is connected to the shuttle car, and the lifting component of the lifting module is connected to the filling bucket; wherein, the lifting module is a chain lifting module or a screw lifting module; The feeding module includes a connecting component and a rotating component. The connecting component is connected to the lifting component of the lifting module. The filling bucket is disposed on the rotating component. The rotating component is connected to the connecting component in a transmission manner. It is used to synchronously drive the filling bucket to flip when the rotating component rotates, so that the filling bucket tilts to feed or reset. The filling hopper is equipped with a shielding module, which is rotatably mounted at the opening of the filling hopper and is connected to the feeding module for dispensing filling. The shielding module is used to remove the shielding module's cover when the filling hopper is filled.

[0012] In one embodiment of the present invention, the filling container is further provided with a residual material sensor, which is located on the side of the shielding module facing the filling container or inside the filling container. The filling container is equipped with a wireless communication unit, and the remaining material sensor is electrically connected to the communication module through the wireless communication unit to acquire the status information of the filling container and transmit it to the control module.

[0013] In one embodiment of the present invention, a flexible feeding method for cryogenic prefabricated package points via an aerial track is also provided, which can be used in any of the above-mentioned aerial track-type cryogenic prefabricated package point flexible feeding systems. The method includes: The status information of key equipment is monitored in real time through the communication module. The status information includes the current power of the shuttle, the filling information of the forming equipment, and the filling capacity in the material cylinder. The system monitors whether the control requirements in the status information have reached the set trigger threshold, and determines the shuttle's destination based on the detection results. Based on the destination and status information, multiple shuttles are coordinated and scheduled using a path planning method to determine the optimal running path for each shuttle. Based on the optimal running path, action commands are sent to each shuttle car through the communication module, and the shuttle car autonomously runs to the destination parking point and performs the predetermined operation; During operation, the shuttle car uses a tag reader to acquire identification tags on the track to determine whether it has reached its destination parking point.

[0014] The aerial track-type low-temperature prefabricated package flexible feeding system and feeding method provided by this invention can achieve the following beneficial effects: 1. The filling barrel is transported by an air rail module for feeding, which does not occupy ground space and does not affect the flow of people and materials in the workshop; and by setting multiple adjustable docking points, it can adapt to feeding scenarios with various fillings; after arriving at the docking point, the filling barrel is brought close to the forming machine cylinder and flipped for feeding through the lifting module and feeding module, which meets the needs of automated filling feeding and is suitable for automated production of multiple varieties and small batches.

[0015] 2. By setting up multiple shuttle cars, the system can adapt to the flexible production needs of multiple varieties and small batches, since the shuttle cars can move to different parking points on the track. It is convenient to switch between different feeding areas, and multiple shuttle cars can carry different varieties of fillings, which can effectively solve the problem that the existing technology can only transport a single variety of raw materials. Attached Figure Description

[0016] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on the structures shown in these drawings without creative effort.

[0017] Figure 1 A schematic diagram showing the layout of the aerial track-type low-temperature prefabricated package flexible feeding system of the present invention; Figure 2 This is a three-dimensional schematic diagram illustrating the automatic material feeding system of the shuttle vehicle according to the present invention. Figure 3 A top view schematic diagram showing the flexible feeding system for low-temperature prefabricated packages in an aerial track configuration according to the present invention. Figure 4 This is a schematic diagram of the structure of the shuttle vehicle of the present invention; Figure 5 A schematic diagram illustrating the composition of the aerial track-type low-temperature prefabricated package flexible feeding system of the present invention; Figure 6 A schematic diagram showing the composition of the control module of the present invention; Figure 7 A schematic flowchart illustrating the feeding method of the present invention.

[0018] The annotations in the attached figures are explained as follows: 1-Air track module; 11-Aerial track; 12-Shuttle car; 13-Main track; 14-Secondary track; 15-Steering module; 16-Obstacle avoidance device; 111-Charging area; 112-Feeding area; 113-Replenishing area; 114-Idle area; 1101-Charging parking point; 1102-Feeding parking point; 1103-Replenishing parking point; 1104-Idle parking point; 2-Filling bucket; 21-Shielding module; 3-Feeding module; 31-Connecting component; 32-Rotating component; 4-Communication module; 5-Control module; 51-Data receiving unit; 52-Path planning unit; 6-Lifting module. Detailed Implementation

[0019] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the scope of protection of the present invention.

[0020] Please refer to Figure 1-6 One embodiment of the present invention provides an aerial track-type low-temperature pre-made bun flexible feeding system, including: an aerial track module 1, a filling bucket 2, a feeding module 3, a communication module 4, and a control module 5; The air track module 1 includes an aerial track 11 and several shuttle cars 12, the shuttle cars 12 being movably mounted on the aerial track 11; the aerial track 11 is provided with several adjustable parking points; The filling hopper 2 is located below the shuttle car 12, and a lifting module 6 is connected between the filling hopper 2 and the shuttle car 12; the feeding module 3 is located on the filling hopper 2, and the feeding module 3 is configured to open or close the feeding of the filling hopper 2. The control module 5 is communicatively connected to the air track module 1, the filling bucket 2, and the feeding module 3 through the communication module 4.

[0021] In this embodiment, the automated transport and feeding of fillings is achieved through the automated overhead track 11 and shuttle 12, reducing the need for manual handling and feeding, and lowering the labor intensity of workers. At the same time, the automatic feeding of various fillings adapts to the flexible production needs of multiple varieties and small batches, and can quickly respond to the production needs of different bun points on the production line. In addition, since the filling bucket 2 is located below the shuttle 12 and is fed through the lifting module 6, the dust and pollution of fillings during transportation can be reduced.

[0022] Please refer to Figure 5 and 6 In one embodiment of the present invention, the control module 5 includes a data receiving unit 51 and a path planning unit 52. The data receiving unit 51 is used to acquire the material requirement information of the target molding machine, the status information of the filling barrel 2, and the current power of the shuttle car 12 transmitted by the communication module 4. The path planning unit 52 is configured to generate an optimal running path based on the material demand information of the target molding machine, the status information of the filling hopper 2 and the current power of the shuttle 12, and generate an action command for a shuttle 12 based on the optimal running path. The communication module 4 sends the action command to the corresponding shuttle 12 so that the shuttle 12 operates according to the action command.

[0023] In this embodiment, by acquiring the material demand information of the target molding machine in real time, the system can ensure that it can respond in a timely manner and meet the specific needs of the molding machine. In addition, by receiving the status information of the filling tank 2 and the current power of the shuttle 12, the system can monitor the key parameters of the entire feeding process in real time. Furthermore, the path planning unit 52 can dynamically adjust the operation plan of the shuttle 12 according to the real-time data to achieve intelligent scheduling and avoid potential conflicts and collisions between the shuttles 12.

[0024] Please refer to Figure 1-4 In one embodiment of the present invention, the aerial track 11 includes a main track 13 and a secondary track 14, wherein at least two main tracks 13 are provided, and the secondary track 14 is provided between two adjacent main tracks 13. A steering module 15 is rotatably provided at the connection between the main track 13 and the secondary track 14. The steering module 15 is provided with a transition track connecting the main track 13 and the secondary track 14, which is used to allow the shuttle car 12 to switch between the main track 13 and the secondary track 14.

[0025] In this embodiment, the design of the main track 13 and the secondary track 14, the steering module 15 driven by the motor to rotate, and the transition track in the steering module 15, which is "T" shaped, enable the shuttle car 12 to switch flexibly between different tracks. In addition, the multiple main tracks 13 improve the system's transportation capacity and can handle more shuttle cars 12 at the same time.

[0026] In one embodiment of the present invention, the aerial track 11 is provided with a charging area 111, a feeding area 112, a replenishment area 113, and an idle area 114. The parking points are located on the secondary track 14, and the parking points include at least a charging parking point 1101, a feeding parking point 1102, a replenishment parking point 1103, and an idle parking point 1104. The charging parking point 1101 is located on one side of the feeding parking point 1102, the replenishment parking point 1103 is located on the other side of the feeding parking point 1102, and the idle parking point 1104 is located between the feeding parking point 1102 and the charging parking point 1101, or between the feeding parking point 1102 and the replenishment parking point 1103.

[0027] In this embodiment, by rationally setting up a charging area 111, a feeding area 112, a replenishment area 113, and an idle area 114 on the aerial track 11, as well as corresponding parking points, the efficient scheduling and management of the shuttle 12 is achieved; and each parking point is equipped with independent identifiable identification content (such as number and location information), which makes it easy for the shuttle 12 to accurately stop at a specific parking point.

[0028] In one embodiment of the present invention, the shuttle 12 is provided with an obstacle avoidance device 16 on one side of the direction of travel. The obstacle avoidance device 16 is used to identify the relative distance between the current shuttle 12 and the shuttle 12 in front, and to suspend the operation of the current shuttle 12 when the relative distance is less than the safe distance. The obstacle avoidance device 16 is electrically connected to the communication module 4, and sends a pause operation information to the control module 5 through the communication module 4 when the shuttle car 12 is paused. The obstacle avoidance device 16 is one or more of the following: infrared obstacle avoidance device, ultrasonic obstacle avoidance device, laser obstacle avoidance device, or visual obstacle avoidance device.

[0029] In this embodiment, the obstacle avoidance device 16 can monitor the distance between the shuttle 12 and the shuttle 12 in front in real time. When the distance is less than the safe distance, it automatically stops the operation of the current shuttle 12, effectively preventing collision accidents and ensuring the safety of personnel and equipment.

[0030] Please refer to Figure 4In one embodiment of the present invention, the shuttle 12 is provided with a drive assembly for running the shuttle 12 along the aerial track 11. A rack is provided on the track surface of the aerial track 11, and a gear is provided at the output end of the drive component. The gear meshes with the rack and is used to drive the shuttle car 12 along the aerial track 11 through meshing transmission when the drive component is running. Alternatively, the output end of the drive component may be configured as a rotating wheel, which abuts against the track surface of the aerial track 11.

[0031] In this embodiment, the meshing transmission of rack and pinion can provide greater friction, ensuring the stability of the shuttle 12 during operation. At the same time, when stopping at the parking point, it can achieve self-positioning through meshing to avoid slippage.

[0032] In one embodiment of the present invention, an identification tag is provided at the parking point, and the shuttle 12 is provided with an identification device corresponding to the identification tag; wherein, the identification tag is any one of RFID tag, barcode or QR code, and the identification device is correspondingly set as RFID reader or camera module.

[0033] In this embodiment, the identification tag provides a unique identifier for each parking point, allowing the shuttle 12 to accurately identify its own location and reducing time losses caused by inaccurate positioning or delays in manual operation.

[0034] Please refer to Figure 1 and 3 In one implementation scenario of this embodiment, the aerial track 11 is designed to pass through areas such as a molding machine and manual material replenishment areas, and several parking points are set on the track, including four types: idle parking point 1104, material feeding parking point 1102, material replenishment parking point 1103, and charging parking point 1101. An RFID tag is set at each parking point of the aerial track 11, and different types of parking point information are stored through a custom encoding method. Simultaneously, an RFID reader is installed at the bottom of the shuttle 12. When the shuttle 12 is running on the track, the RFID reader obtains the RFID tag information on the track, identifies the current parking point information, and determines whether it has reached the destination parking point. If the shuttle 12 reaches the destination parking point, it stops moving forward and performs corresponding actions such as idle, material feeding, material replenishment, and charging.

[0035] In one embodiment of the present invention, the fixing component of the lifting module 6 is connected to the shuttle 12, and the lifting component of the lifting module 6 is connected to the filling bucket 2; wherein, the lifting module 6 is a chain lifting module or a screw lifting module; The feeding module 3 includes a connecting component 31 and a rotating component 32. The connecting component 31 is connected to the lifting component of the lifting module 6. The filling bucket 2 is disposed on the rotating component 32. The rotating component 32 is connected to the connecting component 31 in a transmission manner. It is used to synchronously drive the filling bucket 2 to flip when the rotating component 32 rotates, so that the filling bucket 2 tilts to feed or reset. The filling hopper 2 is provided with a shielding module 21, which is rotatably disposed at the opening of the filling hopper 2 and is connected to the feeding module 3 for dispensing filling. The shielding module 21 is used to remove the shielding of the filling hopper 2 when the filling is being fed.

[0036] In this embodiment, a chain lifting module is used, in which the motor is mounted on a fixed component. The motor rotor meshes with the chain for transmission, and the other end of the chain is connected to the lifting component. Thus, the height of the lifting component is raised or lowered by the extension and retraction of the chain when the motor is running. Alternatively, a screw lifting module is used, in which the motor mounted on the fixed component transmits the height of the fixed component to a screw, thereby achieving precise lifting control of the filling hopper 2. The filling hopper 2 can be raised to a suitable height as needed to accommodate the feeding operation of shaping machines of different heights and sizes. In addition, the shielding module 21 is used to prevent the filling from splashing out or becoming contaminated during the transportation process before feeding.

[0037] In one embodiment of the present invention, the filling hopper 2 is further provided with an excess material sensor, which is disposed on the side of the shielding module 21 facing the filling hopper 2 or disposed inside the filling hopper 2. The filling hopper 2 is equipped with a wireless communication unit. The remaining material sensor is electrically connected to the communication module 4 through the wireless communication unit to acquire the status information of the filling hopper 2 and transmit it to the control module 5.

[0038] In this embodiment, the residual material information is transmitted to the control module 5 through the wireless communication unit. The system can understand the residual material status of each filling bucket 2 in a timely manner, thereby making timely replenishment decisions and avoiding production interruptions due to material shortage. At the same time, the control module 5 can optimize the scheduling plan of the shuttle car 12 based on the data provided by the residual material sensor, and prioritize the replenishment of filling buckets 2 with less residual material.

[0039] Please refer to Figure 7 In one embodiment of the present invention, a flexible feeding method for cryogenic prefabricated package points via an aerial track is also provided, which can be used in any of the above-described aerial track-type cryogenic prefabricated package point flexible feeding systems. The method includes: S10. Monitor the status information of key equipment in real time through the communication module. The status information includes the current power of the shuttle, the filling information of the forming equipment, and the filling capacity in the material cylinder. S20. Monitor whether the control requirements in the status information have reached the set trigger threshold, and determine the destination of the shuttle vehicle based on the detection results; S30. Based on the destination and the status information, coordinate and schedule multiple shuttles using a path planning method to determine the optimal running path for each shuttle. S40. Based on the optimal running path, send action commands to each shuttle car through the communication module, so that the shuttle car can autonomously run to the destination parking point and perform the predetermined operation. During operation, the shuttle car uses a tag reader to acquire identification tags on the track to determine whether it has reached its destination parking point.

[0040] In one implementation scenario of this embodiment, the control module first integrates information from the communication module, including the current battery level of each shuttle, the filling information of the forming machine, and the filling capacity in the filling hopper, to determine the destination of each shuttle. Further, the control module uses path planning to confirm the optimal running path for each shuttle, and the communication module sends instructions to the controller inside each shuttle to execute the corresponding action. The shuttle then autonomously runs to its destination parking point and begins the corresponding operation. Simultaneously, to avoid collisions between multiple shuttles on the track, obstacle avoidance devices are installed on the shuttles to detect the distance to the shuttle ahead in real time. If the distance is less than a safe distance, operation is suspended, thereby achieving a self-organized and coordinated operation mode for multiple shuttles to multiple destinations.

[0041] In one embodiment of the present invention, the shuttle autonomously travels to the destination parking point and performs predetermined operations, specifically including any one or more of the following: When the shuttle arrives at the feeding stop, the lifting device controls the filling barrel to move smoothly downward to the designated height, and the filling barrel is turned over by a motor to realize automatic material unloading.

[0042] Alternatively, appropriate shielding and assistive devices can be added to the filling container to adapt to the flow properties of different types of fillings, prevent fillings from spilling, and improve the efficiency of automatic dispensing.

[0043] Alternatively, after the filling is poured out, the lifting device controls the filling bucket to move smoothly upwards and stop when it reaches the designated position.

[0044] Alternatively, in order to maintain a reasonable filling capacity in all the filling bins carried by the shuttle cars, the filling bins that are low on filling need to be moved to the replenishment docking point. The filling bins are then lowered to a reasonable height by the lifting device, and ground personnel perform replenishment operations such as replacing the filling bins and adding filling, and update the data information of the filling bins (such as the content of the identifiable labels, which is used to enable the control module to obtain the remaining filling).

[0045] The above description is merely a preferred embodiment of the present invention and does not limit the patent scope of the present invention. Any equivalent structural transformations made using the contents of the present invention's specification and drawings under the inventive concept of the present invention, or direct / indirect applications in other related technical fields, are included within the patent protection scope of the present invention.

Claims

1. A flexible feeding system for prefabricated packages in an aerial track configuration, characterized in that, include: The system includes an air track module, a filling bucket, a feeding module, a communication module, and a control module. The air track module includes an aerial track and several shuttle cars, which are movably mounted on the aerial track; the aerial track is provided with several adjustable parking points; The filling hopper is located below the shuttle car, and a lifting module is connected between the filling hopper and the shuttle car; the feeding module is located on the filling hopper, and the feeding module is configured to open or close the feeding of the filling hopper. The control module is communicatively connected to the air track module, the filling bucket, and the feeding module through the communication module; The control module includes a data receiving unit and a path planning unit; the data receiving unit is used to acquire the material demand information of the target molding machine, the status information of the filling barrel, and the current power of the shuttle car transmitted by the communication module. The path planning unit is configured to generate an optimal running path based on the material demand information of the target molding machine, the status information of the filling barrel, and the current power of the shuttle, and to generate an action command for a shuttle based on the optimal running path. The communication module sends the action command to the corresponding shuttle, so that the shuttle operates according to the action command; The aerial track includes a main track and a secondary track. There are at least two main tracks, and the secondary tracks are arranged between two adjacent main tracks. A steering module is rotatably provided at the connection between the main track and the secondary track. The steering module is provided with a transition track connecting the main track and the secondary track, which is used to allow the shuttle to switch between the main track and the secondary track. The aerial track is equipped with a charging area, a feeding area, a replenishment area, and an idle area. The parking points are located on the secondary track and include at least a charging parking point, a feeding parking point, a replenishment parking point, and an idle parking point. The charging parking point is located on one side of the feeding parking point, the replenishment parking point is located on the other side of the feeding parking point, and the idle parking point is located between the feeding parking point and the charging parking point, or between the feeding parking point and the replenishment parking point. The fixing component of the lifting module is connected to the shuttle car, and the lifting component of the lifting module is connected to the filling bucket; wherein, the lifting module is a chain lifting module or a screw lifting module; The feeding module includes a connecting component and a rotating component. The connecting component is connected to the lifting component of the lifting module. The filling bucket is disposed on the rotating component. The rotating component is connected to the connecting component in a transmission manner. It is used to synchronously drive the filling bucket to flip when the rotating component rotates, so that the filling bucket tilts to feed or reset. The filling hopper is equipped with a shielding module, which is rotatably mounted at the opening of the filling hopper and is connected to the feeding module for dispensing filling. The shielding module is used to remove the shielding module's cover when the filling hopper is filled.

2. The aerial track-type low-temperature prefabricated package flexible feeding system as described in claim 1, characterized in that, The shuttle is equipped with an obstacle avoidance device on one side of the direction of travel. The obstacle avoidance device is used to identify the relative distance between the current shuttle and the shuttle in front, and to suspend the operation of the current shuttle when the relative distance is less than the safe distance. The obstacle avoidance device is electrically connected to the communication module, and sends a pause operation information to the control module through the communication module when the shuttle is paused. The obstacle avoidance device is one or more of the following: infrared obstacle avoidance device, ultrasonic obstacle avoidance device, laser obstacle avoidance device, or visual obstacle avoidance device.

3. The aerial track-type low-temperature prefabricated package flexible feeding system as described in claim 1, characterized in that, The shuttle is equipped with a drive assembly to enable it to run along the aerial track. A rack is provided on the track surface of the aerial track, and a gear is provided at the output end of the drive component. The gear meshes with the rack and is used to drive the shuttle car along the aerial track through meshing transmission when the drive component is running. Alternatively, the output end of the drive component may be configured as a rotating wheel, which abuts against the track surface of the aerial track.

4. The aerial track-type low-temperature prefabricated package flexible feeding system as described in claim 2, characterized in that, The parking spot is equipped with an identification tag, and the shuttle car is equipped with an identification device corresponding to the identification tag; wherein, the identification tag is any one of RFID tag, barcode or QR code, and the identification device is correspondingly set as RFID reader or camera module.

5. The aerial track-type low-temperature prefabricated package flexible feeding system as described in claim 1, characterized in that, The filling container is also equipped with an excess material sensor, which is located on the side of the shielding module facing the filling container or inside the filling container. The filling container is equipped with a wireless communication unit, and the remaining material sensor is electrically connected to the communication module through the wireless communication unit to acquire the status information of the filling container and transmit it to the control module.

6. A flexible feeding method for cryogenic prefabricated buns using an aerial track, applicable to the flexible feeding system for cryogenic prefabricated buns using an aerial track as described in any one of claims 1-5, characterized in that, The method includes: The status information of key equipment is monitored in real time through the communication module. The status information includes the current power of the shuttle, the filling information of the forming equipment, and the filling capacity in the material cylinder. The system monitors whether the control requirements in the status information have reached the set trigger threshold, and determines the shuttle's destination based on the detection results. Based on the destination and status information, multiple shuttles are coordinated and scheduled using a path planning method to determine the optimal running path for each shuttle. Based on the optimal running path, action commands are sent to each shuttle car through the communication module, and the shuttle car autonomously runs to the destination parking point and performs the predetermined operation; During operation, the shuttle car uses a tag reader to acquire identification tags on the track to determine whether it has reached its destination parking point.

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