Ground rail robot steamer feeding system and method

Abstract

The invention discloses a ground rail robot retort feeding system and method, and relates to the technical field of white spirit processing, the ground rail robot retort feeding system comprises a plurality of retort pots, and the retort pots are arranged at intervals in the linear direction; the ground rail system is located on one side of the retort pot and comprises a guide rail assembly, and the extending direction of the guide rail assembly is parallel to the arrangement direction of the retort pot; the material distribution platform is used for fixing the mechanical arm and receiving an instruction of the control system to drive the mechanical arm to move to a designated position; the identification system is movably mounted on the ground rail system and is used for identifying the position of the retort pot, determining the stopping positions of the material distribution platform and the material supply system and detecting the height of fermented grains scattered in the retort pot; and the mechanical arm is mounted on the distributing platform, is provided with multiple shafts, executes the action instruction sent by the control system and drives the distributing device at the tail end of the mechanical arm to move. The adaptability of the system to different retort pot layouts is greatly improved, and the problem that the traditional scheme is difficult to meet the retort feeding requirement of complex retort pot arrangement is solved.

Description

Technical Field

[0001] The present invention relates to the technical field of liquor processing, and in particular to a ground rail robot steaming system and method. Background Art

[0002] Robots are gradually being used and promoted to replace manual steaming. A robotic steaming system includes a robotic material distribution control system, a sensor system, and a feeding system. Due to the limited reach of the robot's arm, existing robotic steaming systems can only steam one pot or simultaneously steam two adjacent pots with close centers. They can also steam three pots arranged in a "pin" shape with close centers. However, they cannot steam two adjacent pots with distant centers or three or more pots arranged in a "straight line." Existing solutions typically use multiple robotic steaming systems to steam three or more pots arranged in a "straight line." This solution not only significantly increases equipment costs but also occupies a large amount of environmental space. Even some distillery production workshops with smaller spaces cannot support the installation of multiple robotic steaming systems, limiting the equipment automation upgrade and transformation of liquor companies. Summary of the Invention

[0003] In order to solve the problem that a single set of steamer loading robots cannot load steamer pots that are multiple or arranged far apart during the steamer loading process, the present invention provides a ground rail robot steamer loading system and method.

[0004] The technical solutions of the present invention are as follows:

[0005] The ground-rail robot steaming system includes:

[0006] A plurality of steamer pots are provided and arranged at intervals along a straight line;

[0007] The ground rail system is located on one side of the steamer pot and includes a guide rail assembly, and its extension direction is parallel to the arrangement direction of the steamer pot;

[0008] The material distribution platform is used to fix the robotic arm and is movably installed on the guide rail assembly. It receives instructions from the control system and drives the robotic arm to move to the specified position.

[0009] The identification system is movably installed on the ground rail system and is used to identify the position of the steamer pot, determine the docking position of the material distribution platform and the feeding system, and detect the height of the mash in the steamer pot;

[0010] The robotic arm is installed on the material distribution platform and is set to multi-axis. It executes the action instructions issued by the control system and drives the material distribution device at its end to move;

[0011] The distributing device is installed at the end of the robot. It is driven by the movement of the robot to receive the mash at the designated discharge port of the feeding system and spread the mash in the designated steamer.

[0012] The feeding system is located on the side of the ground rail system away from the steamer pot, can move along the arrangement direction of the steamer pot, and has two feeding ports distributed along the moving direction. The feeding system receives instructions from the control system to determine the feeding direction;

[0013] The control system marks the position of each steamer pot according to a number of spaced-apart steamers; controls the identification system to move to the corresponding position and stop in sequence according to the steamer pot position information; controls the movement of the feeding system and selects the discharge port based on the docking position of the identification system; controls the movement of the material distribution platform based on the selected discharge port, and plans the path for the robotic arm to drive the material distribution device to receive the material at the corresponding discharge port and to spread the material to the corresponding steamer pot; stops spreading the material to the steamer pot until the height threshold is reached based on the mash height fed back by the identification system.

[0014] The specific design of the feeding system is that the feeding system includes a chain plate feeder that can move along the direction of the parallel guide rail assembly, and its conveying chain plate is driven by a power device to move in both directions, and the two discharge ports are located at both ends of the conveying chain plate in the length direction.

[0015] In order to facilitate the movement of the conveyor, two conveying rails parallel to the ground rail system are provided on the side away from the steamer pot, and a base frame is provided on the two conveying rails. The base frame is driven by a driving device to move along the length direction of the conveying rail, and the chain feeder is installed on the base frame.

[0016] In order to facilitate the storage of mash and feeding the feeding system, a cache hopper is provided on the side of the chain feeder away from the ground rail system, and a chain feeder is provided in the cache hopper, which extends out of one side of the cache hopper and is higher than the chain feeder.

[0017] In order to break up the mash sent out from the buffer hopper and ensure the quality of the mash in the steamer pot, a breaking roller is installed across the chain feeder. The breaking roller is driven to rotate by a breaking motor connected to one side of the roller, and a plurality of breaking rods are installed on the outer edge of the breaking roller.

[0018] In order to facilitate the control of each system, it also includes: a wireless communication module, which is installed on the material distribution platform, identification system, robotic arm, material distribution device, feeding system, chain feeder and control system for information interaction and instruction transmission.

[0019] The specific design of the identification system is that the identification system includes a base slidably mounted with a guide rail assembly, a rotating rocker arm is mounted on the base through a bracket, and a height visual sensor capable of identifying the steamer pot and detecting the mash that has been sprinkled in the steamer pot is mounted at the end of the rotating rocker arm.

[0020] The method for loading the steamer with a ground rail robot, using the above-mentioned steamer loading system, comprises the following steps:

[0021] S1: Based on the positions of several steamer pots, determining the corresponding positions of the material distribution platform, the identification system, and the feeding system for each steamer pot when steaming, as well as the discharge port of the feeding system corresponding to each steamer pot;

[0022] S2: Based on the size of the steamer pot collected by the recognition system, the amount of steamer required for the steamer pot is calculated. Based on the maximum amount that the distribution device can accommodate, the number of times the distribution platform and the robotic arm drive the distribution device to move to the feeding system is calculated;

[0023] S3: Select the steamer to be steamed, and control the material distribution platform, identification system and feeding system to move to the corresponding steamer position;

[0024] S4: Based on the selected steamer, the robot arm is controlled to drive the material distribution device to the corresponding material discharge port to fill it with mash, and the recognition end of the recognition system is controlled to move to the top of the steamer;

[0025] S5: Based on the perception information of the recognition system, the robot arm is controlled to drive the material distribution device to move to the selected steamer to spread the material. After all the materials are spread, the material distribution device is controlled to return to the discharge port to receive the materials. The recognition system detects that the height of the mash in the steamer has reached the maximum and stops spreading the materials.

[0026] S6: The recognition end of the control recognition system is reset, and the fabric platform is controlled to return to the Home point.

[0027] When each steamer is placed on the steamer, two Home points are calibrated, marked as Home1 and Home2, which correspond to the two discharge ports of the feeding system when the feeding device receives the material. After the feeding platform moves to the Home point, the initial state of the robotic arm is that its horizontal projection is within the area where the ground rail system is located.

[0028] In step S3, after selecting the steamer to be steamed, the position of the identification system is first determined. If it is in the steamer position of the corresponding steamer, the material distribution platform is directly controlled to move to the corresponding Home point. If it is not in the loading position of the corresponding steamer, the identification end of the identification system is first reset, and then the material distribution device is moved to the corresponding position, and then the material distribution platform is controlled to move to the corresponding Home point.

[0029] The beneficial effects of the present invention are as follows: the present invention is a ground rail robot steamer loading system and method, which is different from the traditional robot steamer loading system which is limited by the arm span. The present invention can perform steamer loading operations on multiple steamer pots arranged at intervals in a straight line through the sliding cooperation of the ground rail system and the cloth platform, as well as the movable feeding system and identification system. Whether it is two adjacent steamer pots with far centers, or three or more steamer pots arranged in a "line", they can all be covered, which greatly improves the system's adaptability to different steamer pot layouts and solves the problem that traditional solutions are difficult to meet the steamer loading requirements of complex steamer pot arrangements; traditionally, multiple sets of robot steamer loading systems are required for steaming multiple steamer pots arranged in a "line", while a set of ground rail robot steamer loading systems of the present invention can complete the steaming task of multiple steamer pots, reducing the number of equipment purchases and significantly reducing equipment costs. This system also eliminates the significant space required to install multiple sets of equipment, making it particularly suitable for distillery production workshops with limited space. It provides a low-cost, space-saving solution for upgrading and renovating equipment automation for liquor companies. Based on information such as the location of the steamer and the amount of mash required, the system automatically calculates the movement frequency and path of the distribution platform and robotic arm, rationally arranging the feed system's discharge port, reducing idle travel and waiting time. Furthermore, by setting a home point, the material distribution device's material receiving process is optimized, making the steaming operation more efficient and orderly, further improving overall production efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0030] By reading the detailed description of the preferred embodiment below, the solutions and advantages of the present application will become clear to those skilled in the art. The accompanying drawings are only for illustrating the preferred embodiment and are not to be considered as limiting the present invention.

[0031] In the attached figure:

[0032] Figure 1 This is a schematic diagram of the overall structure of this scheme;

[0033] Figure 2 This is a partial structural diagram of this scheme;

[0034] Figure 3 This is a schematic diagram of the cache hopper location;

[0035] The components represented by the reference numerals in the figure are:

[0036] 1. Steamer; 2. Ground rail system; 21. Guide rail assembly; 22. Limit plate; 3. Distribution platform; 4. Robotic arm; 5. Identification system; 51. Base; 52. Bracket; 53. Rotating rocker; 54. Visual sensor; 6. Distribution device; 7. Feeding system; 71. Feeding port; 72. Conveyor chain; 73. Power unit; 8. Conveyor guide rail; 9. Base frame; 10. Drive device; 11. Buffer hopper; 12. Chain feeder; 13. Scattering roller; 14. Scattering motor; 15. Scattering rod. DETAILED DESCRIPTION

[0037] The exemplary embodiments of the present disclosure will be described in more detail below with reference to the accompanying drawings. It should be noted that these embodiments are provided to enable a more thorough understanding of the present disclosure and to fully convey the scope of the present disclosure to those skilled in the art. The present disclosure can be implemented in various forms and should not be limited by the embodiments described herein.

[0038] Example

[0039] As mentioned in the background technology, the current steaming technology usually adopts robots to replace manual labor for automatic operation, and an existing set of robots can usually only steam one steamer pot or two adjacent steamers and steamers distributed in a triangular shape in sequence. In view of the large number of steamers arranged in a straight line in the factory, it is usually necessary to set up multiple groups of robots. On the one hand, it increases the investment cost, and on the other hand, some factories do not support the installation of multiple sets of robots, which restricts the development of liquor companies. Therefore, the inventors have improved the existing steaming system and designed a new steaming system and a matching steaming method, which are described in detail below with reference to the drawings.

[0040] The ground rail robot steamer system provided in this embodiment is combined with Figure 1 The core of the system is to realize the automated loading of multiple steamer pots 1 arranged in a straight line through modular integrated design. The steamer pots 1 are arranged in a straight line along the production line. The specific number of steamer pots 1 and the center distance between adjacent steamer pots 1 can be flexibly adjusted according to the layout of the workshop to meet the arrangement requirements of steamer pots 1 of different specifications. The ground rail system 2 serves as a mobile carrier and is arranged on one side of the steamer pot 1. It includes a guide rail assembly 21, which includes two parallel linear guide rails. The guide rails are made of high-strength aluminum alloy profiles with hardened surfaces to improve wear resistance. Their extension direction is parallel to the arrangement direction of the steamer pots 1. The length of the guide rails can be customized according to the number of steamer pots 1.

[0041] In this solution, it includes a material distribution platform 3, which is slidably installed through a slider and a guide rail assembly 21. A dual-drive servo motor is installed at the bottom of the platform. The motor output shaft engages with the guide rail rack through a synchronous belt to achieve precise movement of the platform along the guide rail. In order to limit the material distribution platform 3 at both ends to avoid excessive sliding, limit plates 22 higher than the material distribution platform are installed at both ends of the guide rail assembly 21. This material distribution platform 3 is used to fix the robotic arm 4, and the robotic arm 4 is multi-axis. The base 51 of the robotic arm 4 is rigidly connected to the platform by bolts, and receives instructions from the control system to drive the robotic arm 4 to move to the specified position. In addition, a material distribution device 6 is installed at the end of the robotic arm 4. The working radius and load capacity of the robotic arm 4 are selected according to the actual working conditions, and the action instructions issued by the control system are executed to drive the material distribution device 6 at its end to move. The material distribution device 6 is connected to the steamer 1 and the material is spread on the steamer pot 1 by the drive of the robotic arm 4.

[0042] On the basis of the above structure, the present invention also designs an identification system 5, which is movably installed on the ground rail system 2, and is used to identify the position of the steamer pot 1, determine the parking position of the material distribution platform 3 and the feeding system 7, and detect the height of the mash spread in the steamer pot 1. The identification system 5 can determine the position, size and other information of each steamer pot 1 and send the information to the control system for storage. In addition, it can monitor the height of the mash spread in the steamer pot 1 in real time during the steaming process, and feedback to the control system to stop spreading the material after it is full. Specifically, the identification system 5 includes a base 51 on which the guide rail assembly 21 is slidably installed, and the base 51 can be It is installed by sliding with the slider and the guide rail assembly 21, and the base 51 can be driven to move along the guide rail assembly 21 by a servo motor and other structures. A rotating rocker 53 is installed on the base 51 through a bracket 52. In this solution, a servo motor is installed on the top of the bracket 52 to drive the rotation of the rocker. A visual sensor 54 is installed at the end of the rotating rocker 53. The visual sensor 54 serves as an identification end and can identify the steamer pot 1 and detect the height of the mash sprinkled in the steamer pot 1. The design of the rotating rocker 53 can drive the visual sensor 54 to move above the steamer pot 1 to ensure the identification of the steamer pot 1 and the monitoring of the material surface.

[0043] In this embodiment, a feeding system 7 is also designed, combined with Figure 2, used to feed the material distribution device 6, which is located on the side of the ground rail system 2 away from the steamer pot 1 and can move along the arrangement direction of the steamer pot 1. There are two material discharge ports 71 distributed along the movement direction. The feeding system 7 receives the instruction of the control system to determine the feeding direction. By setting two material discharge ports 71 and cooperating with the movable feeding system 7, the feeding system 7 can be moved to the vicinity of the corresponding multiple steamer pots 1 when the steamer is put on. The design of the two material discharge ports 71 makes it possible for a single movement of the feeding system 7 to meet the feeding needs of multiple steamer pots 1, reducing the number of movements of the feeding system 7 when feeding multiple steamer pots 1. Regardless of whether the adjacent steamer pots 1 are far apart or close to each other when the steamer pots 1 are arranged, as long as the feeding system 7 is controlled to move to the middle position of the two steamer pots 1, the two material discharge ports 71 can respectively realize the feeding of the two adjacent steamer pots 1. Specifically, the feeding system 7 includes a plurality of feed ports 71 that can be moved along parallel guides. The chain plate feeder moves in the direction of the rail assembly 21. In this solution, the chain plate feeder is installed on the base frame 9, and two conveying guide rails 8 parallel to the ground rail system 2 are arranged under the base frame 9. Specifically, two groups of driving rollers and driven rollers are respectively arranged at the front and rear ends of the base frame 9. The driving rollers are driven to rotate by a driving device 10 such as a servo motor, and the driven rollers rotate along with it, thereby realizing the movement of the base frame 9 along the conveying guide rails 8, and then the chain plate feeder is moved to a position close to the loading steamer pot 1 when different steamers 1 are steamed. Moreover, the conveying chain plate 72 is driven by a power device 73 to move in both directions. The two discharge ports 71 are located at both ends of the conveying chain plate 72 in the length direction, which can realize forward and reverse conveying. The chain plate surface is designed with anti-slip corrugations to prevent the mash from slipping during transportation. The corresponding discharge port 71 can be selected according to the position of the steamer pot 1, so that the arrangement number and spacing of the steamer pot 1 are more flexible and changeable.

[0044] Optionally, the visual sensor 54 of the recognition system 5 generally includes an infrared camera and a three-dimensional camera. The infrared camera senses the steam condition, and the three-dimensional camera senses the flatness and thickness of the material surface. In order to convert the sensing data of the infrared camera and the three-dimensional camera into data in the robot coordinate system, it is necessary to calibrate the camera position. In this embodiment, a solution that can automatically calibrate the camera parameters is designed for this purpose. A calibration needle is fixed on the material distribution device 4, and the coordinates are obtained by contacting the edge of the steamer pot 1 to calculate the center of the steamer pot 1, and the first tool coordinate system is established. The calibration plate is fixed on the material distribution device 4, with its central corner point as the tool point, and three other corner points selected to establish the third, fourth, and fifth tool coordinate systems. After heating the calibration plate, the tool point is moved to the center of the circle of the steamer pot 1. The center coordinates are offset according to a preset step size to obtain several offset coordinates. The tool point is repeatedly moved to multiple offset coordinates and photographed. The coordinates in the third, fourth, and fifth tool coordinate systems are read as world coordinates. The image acquisition cameras, including infrared cameras and 3D cameras, collect a sufficient number of images and corresponding world coordinates, identify the pixel coordinates of the calibration points, and use the Zhang Zhengyou algorithm to calculate the camera's internal and external parameters. This achieves automated camera calibration, reduces manual errors, improves parameter consistency, significantly improves calibration efficiency, and reduces labor, time, and economic costs.

[0045] In addition, combined Figure 3 A buffer hopper 11 is provided on the side of the chain plate feeder away from the ground rail system 2. The position of the buffer hopper 11 in this solution is fixed, and a chain plate feeder 12 is installed inside, located at the bottom of the buffer hopper 11. The outlet height of the feeder is higher than that of the chain plate feeder, forming a drop-type feeding structure. The chain plate feeder 12 can transport the mash in the buffer hopper 11 and drop it onto the chain plate feeder at its outlet. A scattering roller 13 is installed across the chain plate feeder 12. The scattering roller 13 is located at the position where the chain plate feeder 12 passes through the buffer hopper. The scattering roller 13 is driven to rotate by a scattering motor 14 connected to one side of the scattering roller 13, and a plurality of scattering rods 15 are installed on the outer edge of the scattering roller 13. When feeding, the scattering motor 14 drives the scattering roller 13 to rotate, and then drives the scattering rods 15 to scatter the block mash on the chain plate feeder 12 to ensure the uniformity of the distribution.

[0046] It should be noted that baffles are provided at both ends of the chain feeder and the end of the chain feeder 12, that is, the mash is blocked at the outlets of the two, so that the transported mash can fall vertically to the designated position to avoid splashing of the mash.

[0047] On the basis of the above system, this solution also includes a control system and a wireless communication module. The wireless communication module is arranged on the distribution platform 3, the identification system 5, the robotic arm 4, the distribution device 6, the feeding system 7, the chain plate feeder and the control system, and the communication module is also installed at the chain plate feeder 12 for information interaction and instruction transmission to ensure real-time transmission of instructions when multiple devices work together. The control system marks the position of each steamer pot 1 according to several spaced steamers 1; controls the identification system 5 to move to the corresponding position and stop according to the position information of the steamer pot 1; controls the feeding system 7 to move and select the discharge port 71 based on the stop position of the identification system 5; controls the distribution platform 3 to move based on the selected discharge port 71, and plans the path for the robotic arm 4 to drive the distribution device 6 to receive the material at the corresponding discharge port 71 and to spread the material to the corresponding steamer pot 1; stops spreading the material to the steamer pot 1 until the height threshold is reached based on the mash height feedback from the identification system 5.

[0048] The above is a description of the ground rail robot steaming system in this solution. The following is an introduction to the steaming method that supports this system.

[0049] The method for loading steamer with a ground rail robot, using the above-mentioned ground rail robot loading steamer system, comprises the following steps:

[0050] S1: Based on the positions of a plurality of retort pots 1, the corresponding positions of the material distribution platform 3, the identification system 5, and the feeding system 7 when each retort pot 1 is placed on the retort are determined, as well as the discharge port 71 of the feeding system 7 corresponding to each retort pot 1. The position coordinates of all retort pots 1 are scanned by the visual sensor 54 of the identification system 5. Based on a three-dimensional modeling algorithm, the corresponding relationship between the docking position of the material distribution platform 3, the detection position of the identification system 5, and the discharge port 71 of the feeding system 7 when each retort pot 1 is placed on the retort is determined;

[0051] S2: During data collection, the base 51 of the recognition system 5 is controlled to move along the guide rail assembly 21, and the rotating bracket 52 drives the visual sensor 54 to rotate to the position above the steamer pot 1 to collect the position and size of the steamer pot 1. Based on the size of the steamer pot 1 collected by the recognition system 5, the amount of steam required for the steamer pot 1 is calculated. Based on the maximum amount that the distribution device 6 can accommodate, the number of times the distribution platform 3 and the robotic arm 4 drive the distribution device 6 to move to the feeding system 7 is calculated;

[0052] S3: Select the steamer pot 1 to be steamed. Specifically, you can select them in sequence according to the arrangement direction of the steamer pots 1, or select a steamer pot 1 that needs to be steamed separately, control the distribution platform 3, the identification system 5 and the feeding system 7 to move to the corresponding steamer pot 1 position, and the scheme sets a Home point for the position of the distribution platform 3, that is, each steamer pot 1 is calibrated with two Home points when it is steamed, recorded as Home1 and Home2, which respectively correspond to the two discharge ports 71 of the feeding system 7 when the distribution device 6 receives the material, that is, the stop point of the distribution platform 3 when receiving the material and the symmetrical point relative to the chain feeder.

[0053] After selecting the steamer pot 1 to be steamed, first determine the position of the identification system 5. If it is in the steamer position corresponding to the steamer pot 1, directly control the distribution platform 3 to move to the corresponding Home point. If it is not in the loading position of the corresponding steamer pot 1, first reset the identification end of the identification system 5, that is, rotate the rotating rocker 53 until the projection is completely located in the area where the guide rail assembly 21 is located, then move the distribution device 6 to the corresponding position, and finally control the distribution platform 3 to move to the corresponding Home point.

[0054] S4: Based on the selected steamer pot 1, the robot arm 4 is controlled to drive the distribution device 6 to the corresponding discharge port 71 to fill it with mash. This is the discharge port 71 corresponding to the Home point. At this time, the chain plate feeder is opened, driving the conveyor chain plate 72 to move, causing the mash above it to fall into the distribution device 6 at the corresponding discharge port 71. The recognition end of the recognition system 5 is controlled to move to the top of the steamer pot 1 to ensure that the visual sensor 54 as the recognition end can monitor the loading of the mash.

[0055] S5: Based on the perception information of the recognition system 5, the robot arm 4 is controlled to drive the distribution device 6 to move to the selected steamer pot 1 to spread the material. The visual sensor 54 of the recognition system 5 scans the height of the mash in the steamer pot 1 in real time. The control system generates a spiral distribution trajectory based on the height data. The distribution device 6 discharges the material at a constant speed to ensure that the mash is evenly spread. After all the mash is spread, the distribution device 6 is controlled to return to the discharge port 71 to receive the material. The recognition system 5 detects that the height of the mash in the steamer pot 1 has reached the maximum and stops spreading the material.

[0056] S6: Control the identification end of the identification system 5 to reset, and control the distribution platform 3 to return to the Home point. The Home point at this time is the position of the distribution platform 3 when receiving the material in S3. After the single steamer pot 1 is steamed, the initial state of the robot arm 4 is that its projection in the horizontal direction is located in the area where the ground rail system 2 is located and the rotating rocker 53 is reset.

[0057] When placing the material in the next steamer pot 1, repeat steps S3-S6.

Claims

1. The ground rail robot steamer loading system is characterized by: include: A plurality of steamer pots are provided and arranged at intervals along a straight line; The ground rail system is located on one side of the steamer pot and includes a guide rail assembly, and its extension direction is parallel to the arrangement direction of the steamer pot; The material distribution platform is used to fix the robotic arm and is movably installed on the guide rail assembly. It receives instructions from the control system and drives the robotic arm to move to the specified position. The identification system is movably installed on the ground rail system and is used to identify the position of the steamer pot, determine the docking position of the material distribution platform and the feeding system, and detect the height of the mash in the steamer pot; The robotic arm is installed on the material distribution platform and is set to multi-axis. It executes the action instructions issued by the control system and drives the material distribution device at its end to move; The distributing device is installed at the end of the robot. It is driven by the movement of the robot to receive the mash at the designated discharge port of the feeding system and spread the mash in the designated steamer. The feeding system is located on the side of the ground rail system away from the steamer pot, can move along the arrangement direction of the steamer pot, and has two feeding ports distributed along the moving direction. The feeding system receives instructions from the control system to determine the feeding direction; The control system marks the position of each steamer pot according to a number of spaced-apart steamers; controls the identification system to move to the corresponding position and stop in sequence according to the steamer pot position information; controls the movement of the feeding system and selects the discharge port based on the docking position of the identification system; controls the movement of the material distribution platform based on the selected discharge port, and plans the path for the robotic arm to drive the material distribution device to receive the material at the corresponding discharge port and to spread the material to the corresponding steamer pot; stops spreading the material to the steamer pot until the height threshold is reached based on the mash height fed back by the identification system.

2. The ground rail robot steamer loading system according to claim 1, characterized in that: The feeding system includes a chain plate feeder that can move along the direction of the parallel guide rail assembly, and its conveying chain plate can move in two directions by being driven by a power device, and two discharge ports are located at both ends of the conveying chain plate in the length direction.

3. The ground rail robot steamer loading system according to claim 2, characterized in that: The side of the ground rail system away from the steamer pot is provided with two conveying rails parallel to it, and the two conveying rails are provided with a base frame, which is driven by a driving device to move along the length direction of the conveying rails, and the chain plate feeder is installed on the base frame.

4. The ground rail robot steamer loading system according to claim 2, characterized in that: A buffer hopper is provided on the side of the chain plate feeder away from the ground rail system, and a chain plate feeder is provided in the buffer hopper, which extends out of one side of the buffer hopper and is higher than the chain plate feeder.

5. The ground rail robot steamer loading system according to claim 4, characterized in that: A scattering roller is installed across the chain feeder. The scattering roller is driven to rotate by a scattering motor connected to one side of the scattering roller, and a plurality of scattering rods are installed on the outer edge surface of the scattering roller.

6. The ground rail robot steamer loading system according to claim 4, characterized in that: Also includes: The wireless communication module is installed in the material distribution platform, identification system, robotic arm, material distribution device, feeding system, chain plate feeder and control system for information interaction and instruction transmission.

7. The ground rail robot steaming system according to claim 1, characterized in that: The identification system includes a base slidably mounted with a guide rail assembly, a rotating rocker arm is mounted on the base via a bracket, and a height visual sensor capable of identifying a steamer pot and detecting the amount of mash sprinkled in the steamer pot is mounted at the end of the rotating rocker arm.

8. A method for loading steamer with a ground rail robot, characterized in that: The steamer system according to any one of claims 1 to 7 is applied, comprising the following steps: S1: Based on the positions of several steamer pots, determining the corresponding positions of the material distribution platform, the identification system, and the feeding system for each steamer pot when steaming, as well as the discharge port of the feeding system corresponding to each steamer pot; S2: Based on the size of the steamer pot collected by the recognition system, the amount of steamer required for the steamer pot is calculated. Based on the maximum amount that the distribution device can accommodate, the number of times the distribution platform and the robotic arm drive the distribution device to move to the feeding system is calculated; S3: Select the steamer to be steamed, and control the material distribution platform, identification system and feeding system to move to the corresponding steamer position; S4: Based on the selected steamer, the robot arm is controlled to drive the material distribution device to the corresponding material discharge port to fill it with mash, and the recognition end of the recognition system is controlled to move to the top of the steamer; S5: Based on the perception information of the recognition system, the robot arm is controlled to drive the material distribution device to move to the selected steamer to spread the material. After all the materials are spread, the material distribution device is controlled to return to the discharge port to receive the materials. The recognition system detects that the height of the mash in the steamer has reached the maximum and stops spreading the materials. S6: The recognition end of the control recognition system is reset, and the fabric platform is controlled to return to the Home point.

9. The method for steaming a ground rail robot according to claim 8, characterized in that: When each steamer is placed on the steamer, two Home points are calibrated, marked as Home1 and Home2, which correspond to the two discharge ports of the feeding system when the feeding device receives the material. After the feeding platform moves to the Home point, the initial state of the robotic arm is that its horizontal projection is within the area where the ground rail system is located.

10. The method for steaming a ground rail robot according to claim 9, characterized in that: In step S3, after selecting the steamer to be steamed, the position of the identification system is first determined. If it is in the steamer position of the corresponding steamer, the material distribution platform is directly controlled to move to the corresponding Home point. If it is not in the loading position of the corresponding steamer, the identification end of the identification system is first reset, and then the material distribution device is moved to the corresponding position, and then the material distribution platform is controlled to move to the corresponding Home point.

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