Floor robot decanting system and method

Abstract

The ground rail robot upper steaming system and method relates to the technical field of liquor processing, including steaming pots, the steaming pots are arranged in a straight line direction and are spaced apart; a ground rail system is located on one side of the steaming pots and includes a guide rail assembly, and the extension direction thereof is parallel to the arrangement direction of the steaming pots; a material distribution platform is used to fix a mechanical arm and receives instructions from a control system to drive the mechanical arm to move to a specified position; an identification system is movably installed on the ground rail system and is used to identify the positions of the steaming pots, determine the stopping positions of the material distribution platform and the feeding system, and detect the height of the fermented grains in the steaming pots; a mechanical arm is installed on the material distribution platform and is provided as a multi-axis, executes action instructions from the control system, and drives the position of a material distribution device at the end thereof to move. The adaptability of the system to different steaming pot layouts is greatly improved, and the problem that the traditional scheme is difficult to meet the complex steaming pot arrangement steaming demand is solved.

Description

TECHNICAL FIELD

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

[0002] Robots are gradually applied and popularized to replace manual steaming. A set of robot steaming system includes a robot distribution control system, a sensor system and a feeding system. Due to the limitation of the reach range of the robot arm, the existing set of robot steaming system can only steam one steaming pot or two steaming pots that are adjacent and have close centers, or three steaming pots that are in a "triangle" distribution and have close centers, but cannot steam two steaming pots that are adjacent but have far centers, or three or more steaming pots arranged in a "straight line". In the existing scheme, when steaming three or more steaming pots arranged in a "straight line", multiple sets of robot steaming systems are usually used. This solution not only greatly increases the equipment cost, but also occupies a lot of environmental space. Even some small liquor production workshops cannot support the installation of multiple sets of robot steaming systems, which limits the equipment automation upgrade of liquor enterprises. SUMMARY

[0003] To solve the problem that a single set of steaming robot cannot steam more or far apart steaming pots during the steaming process, the present application provides a ground rail robot steaming system and method.

[0004] The technical scheme of the present application is as follows:

[0005] The ground rail robot steaming system comprises:

[0006] A plurality of steaming pots are arranged in a straight line.

[0007] A ground rail system is located on one side of the steaming pots and comprises a guide rail assembly, and the extension direction of the ground rail system is parallel to the arrangement direction of the steaming pots.

[0008] A distribution platform is used to fix a mechanical arm and is movably installed on the guide rail assembly to receive instructions from a control system to move the mechanical arm to a specified position.

[0009] An identification system is movably installed on the ground rail system to identify the positions of the steaming pots, determine the docking positions of the distribution platform and the feeding system, and detect the height of the fermented grains in the steaming pots.

[0010] A mechanical arm is installed on the distribution platform and is provided as a multi-axis to execute action instructions from the control system to move the position of the distribution device at the end of the mechanical arm.

[0011] The cloth device is installed at the end of the robot, and is driven by the robot to complete the liquor dregs taking at the specified discharge port of the feeding system and the liquor dregs spreading in the specified retort.

[0012] The feeding system is located on the side of the ground rail system away from the retort, can move along the retort arrangement direction, and is provided with two discharge ports distributed along the moving direction.

[0013] The control system marks the position of each retort according to a plurality of interval arranged retorts, controls the identification system to stop at the corresponding position in turn according to the retort position information, controls the feeding system to move and select the discharge port based on the identification system stop position, controls the cloth platform to move based on the selected discharge port, and plans the path of the cloth device driven by the mechanical arm to receive the material at the corresponding discharge port and spread the material to the corresponding retort, and stops the material spreading to the retort until the height threshold is reached based on the liquor dregs height feedback of the identification system.

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

[0015] In order to facilitate the movement of the conveyor, the side of the ground rail system away from the retort is provided with two conveying guide rails parallel to it, and a chassis is arranged on the two conveying guide rails, and the chassis is driven by a driving device to move along the length direction of the conveying guide rail, and the chain plate feeder is installed on the chassis.

[0016] In order to facilitate the storage of liquor dregs and supply the feeding system, the side of the chain plate feeder away from the ground rail system is provided with a buffer hopper, and a chain plate feeder is arranged in the buffer hopper, which extends out of the side of the buffer hopper and is higher than the chain plate feeder.

[0017] In order to be able to scatter the liquor dregs sent out by the buffer hopper, ensure the quality of the retort in the retort, a scattering roller is installed across the chain plate 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.

[0018] In order to facilitate the control of each system, it also includes a wireless communication module arranged on the cloth platform, the identification system, the mechanical arm, the cloth device, the feeding system, the chain plate feeder and the control system, which is used for information interaction and instruction transmission.

[0019] The specific design of the identification system is that the identification system includes a base slidingly installed with the guide rail assembly, a rotating swing rod is installed on the base through a support, and a visual sensor capable of identifying the retort and detecting the height of the spread liquor dregs in the retort is installed at the end of the rotating swing rod.

[0020] The application discloses a ground rail robot upper distillation method and an upper distillation system.

[0021] S1: based on the positions of the plurality of distillation pots, determining the positions of the material distribution platform, the identification system and the feeding system corresponding to each distillation pot and the discharge port of the feeding system corresponding to each distillation pot;

[0022] S2: based on the size of the distillation pot collected by the identification system, calculating the amount of the distillation pot required for upper distillation, and based on the maximum amount contained by the material distribution device, calculating the number of times of moving the material distribution platform and the mechanical arm to the feeding system;

[0023] S3: selecting a distillation pot to be upper distilled, and controlling the material distribution platform, the identification system and the feeding system to move to the position of the corresponding distillation pot;

[0024] S4: based on the selected distillation pot, controlling the mechanical arm to drive the material distribution device to the corresponding discharge port to fill the fermented grains, and controlling the identification end of the identification system to move to the upper part of the distillation pot;

[0025] S5: based on the sensing information of the identification system, controlling the mechanical arm to drive the material distribution device to move to the selected distillation pot to spread the material, and controlling the material distribution device to return to the discharge port to receive the material after the spreading is completed, until the identification system detects that the height of the fermented grains in the distillation pot reaches the maximum, and the spreading is stopped;

[0026] S6: controlling the identification end of the identification system to reset, and controlling the material distribution platform to return to the Home point.

[0027] Each distillation pot is calibrated with two Home points, namely a Home1 point and a Home2 point, which correspond to two discharge ports of the feeding system when the material distribution device receives the material, and after the material distribution platform moves to the Home point, the initial state of the mechanical arm is that the projection thereof in the horizontal direction is located in the area of the ground rail system.

[0028] In step S3, after the distillation pot to be upper distilled is selected, firstly, the position of the identification system is judged, if the identification system is located at the upper distillation position of the corresponding distillation pot, the material distribution platform is directly controlled to move to the corresponding Home point, if the identification system is not located at the upper distillation position of the corresponding distillation pot, the identification end of the identification system is reset first, then the material distribution device is moved to the corresponding position, and finally the material distribution platform is controlled to move to the corresponding Home point.

[0029] The present application has the advantages that: the present application is a ground rail robot steaming system and method, which is different from the traditional robot steaming system limited by arm span. The present application can perform steaming operation on multiple steaming pots arranged in a linear direction through the sliding cooperation of the ground rail system and the material distribution platform, as well as the movable feeding system and the identification system. Whether it is two steaming pots with adjacent but distant centers or three or more steaming pots arranged in a linear type, the present application can cover them, greatly improving the adaptability of the system to different steaming pot layouts and solving the problem that the traditional scheme cannot meet the steaming demand of complex steaming pot arrangement. The present application can complete the steaming task of multiple steaming pots with one set of ground rail robot steaming system, reducing the number of equipment purchases and significantly reducing equipment costs. At the same time, a large amount of space required for the installation of multiple sets of equipment is avoided, which is especially suitable for small space distillery production workshops, providing a low-cost and space-saving solution for the automatic upgrading and transformation of liquor enterprise equipment. The system automatically calculates the movement times and paths of the material distribution platform and the mechanical arm according to the steaming pot position, liquor mash demand and other information, reasonably arranges the selection of the feeding port of the feeding system, and reduces the empty travel and waiting time of the equipment. At the same time, by setting the Home point to optimize the material distribution device receiving process, the steaming operation is more efficient and orderly, further improving the overall production efficiency. BRIEF DESCRIPTION OF DRAWINGS

[0030] The scheme and advantages of the present application will become clear to those skilled in the art by reading the detailed description of the preferred embodiments below. The drawings are only for the purpose of illustrating the preferred embodiments and are not considered as limiting the present application.

[0031] In the drawings:

[0032] Figure 1 It is a schematic diagram of the overall structure of the present scheme;

[0033] Figure 2 It is a schematic diagram of part of the structure of the present scheme;

[0034] Figure 3 It is a schematic diagram of the buffer hopper position;

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

[0036] 1, steaming pot; 2, ground rail system; 21, guide rail assembly; 22, limit plate; 3, material distribution platform; 4, mechanical arm; 5, identification system; 51, base; 52, support; 53, rotating swing rod; 54, vision sensor; 6, material distribution device; 7, feeding system; 71, discharge port; 72, conveying chain plate; 73, power device; 8, conveying guide rail; 9, undercarriage; 10, driving device; 11, buffer hopper; 12, chain plate feeder; 13, scattering roller; 14, scattering motor; 15, scattering rod. DETAILED DESCRIPTION

[0037] Exemplary embodiments of the present disclosure will be described in greater detail below with reference to the accompanying drawings. It should be noted that these embodiments are provided so that the present disclosure can be more thoroughly understood and so that the scope of the present disclosure can be completely conveyed to those skilled in the art, and the present disclosure can be implemented in various forms, and should not be limited by the embodiments set forth herein.

[0038] Embodiments

[0039] As mentioned in the background, the current distillation technology is usually automatically performed in the form of replacing manual work with robots, and a set of existing robots can usually only sequentially distill one distillation pot or two adjacent distillation pots and distill the distillation pots arranged in a triangular shape. For more distillation pots arranged in a linear shape in a factory, multiple sets of robots usually need to be set up, which on the one hand increases the investment cost, and on the other hand, the installation of multiple sets of robots is not supported in some factories, which limits the development of liquor enterprises. Therefore, the inventors improve the existing distillation system and design a new distillation system and a matching distillation method, which will be described in detail below in combination with the drawings.

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

[0041] In the present solution, a material distribution platform 3 is included and is slidably installed with the guide rail assembly 21. A double-drive servo motor is installed at the bottom of the platform, the output shaft of the motor is engaged with the guide rail rack through a synchronous belt to realize precise movement of the platform along the guide rail. In order to limit the material distribution platform 3 at both ends and avoid excessive sliding, a limiting plate 22 higher than the guide rail assembly 21 is installed at both ends of the guide rail assembly 21. The material distribution platform 3 is used to fix a mechanical arm 4, and the mechanical arm 4 is multi-axis. The base 51 of the mechanical arm 4 is rigidly connected to the platform through bolts to receive the instruction of the control system and drive the mechanical arm 4 to move to a specified position. A material distribution device 6 is installed at the end of the mechanical arm 4. The working radius and load capacity of the mechanical arm 4 are selected according to the actual working conditions to execute the action instruction issued by the control system and drive the material distribution device 6 at the end to move. The material distribution device 6 is realized through the driving of the mechanical arm 4 to realize material receiving and material laying on the distillation pot 1.

[0042] On the basis of the above structure, the scheme also designs an identification system 5 movably installed on the ground rail system 2, which is used to identify the position of the retort 1, determine the stopping position of the cloth platform 3 and the feeding system 7, and detect the height of the spread wine lees in the retort 1. Through the identification system 5, the position, size and other information of each retort 1 can be determined and sent to the control system for storage, and the height of the spread wine lees in the retort 1 can be monitored in real time during the retorting process, and after the retort 1 is filled, the control system is fed back to stop the feeding. Specifically, the identification system 5 comprises a base 51 slidably installed on the guide rail assembly 21. The base 51 can be slidably installed on the guide rail assembly 21 through a sliding block, and can be driven to move along the guide rail assembly 21 through a servo motor and other structures. A rotary swing rod 53 is installed on the base 51 through a support 52. In this scheme, a servo motor is installed on the top of the support 52 to drive the rotation of the swing rod. A visual sensor 54 is installed at the end of the rotary swing rod 53. The visual sensor 54 can identify the retort 1 and detect the height of the spread wine lees in the retort 1 as an identification end. Through the design of the rotary swing rod 53, the visual sensor 54 can be moved above the retort 1 to ensure the identification of the retort 1 and the monitoring of the material surface.

[0043] In this embodiment, a feeding system 7 is also designed, which is combined with the cloth platform 3 and the retort 1 to realize the automatic feeding of the wine lees into the retort 1. Figure 2, for the cloth device 6 of the supply, which is located away from the retort 1 side of the ground rail system 2, can move along the retort 1 arrangement direction, two discharge ports 71 are distributed along the moving direction, the supply system 7 receives the instruction of the control system to determine the supply direction, by setting two discharge ports 71 and cooperating with the movable supply system 7, so that when retorting, the supply system 7 can be moved to the vicinity of the corresponding multiple retorts 1, the design of the two discharge ports 71 makes the single movement of the supply system 7 can meet the supply demand of multiple retorts 1, reduces the moving times of the supply system 7 when supplying multiple retorts 1, whether the retort 1 is arranged, the adjacent retort 1 is far apart or close, as long as the supply system 7 is controlled to move to the middle position of the two retorts 1, the two discharge ports 71 can realize the supply of two adjacent retorts 1 respectively, specifically, the supply system 7 includes a chain plate feeder capable of moving along the parallel guide rail assembly 21, in the present scheme, the chain plate feeder is installed on the chassis 9, two conveying guide rails 8 parallel to the ground rail system 2 are arranged below the chassis 9, specifically, two groups of driving rollers and driven rollers are arranged at the front and rear ends of the chassis 9 respectively, the driving rollers are driven to rotate by the driving device 10 such as servo motor, the driven rollers rotate with the driving rollers, the movement of the chassis 9 along the conveying guide rail 8 is realized, and then the chain plate feeder is moved to the position close to the feeding retort 1 when retorting different retorts 1, and the conveying chain plate 72 can move bidirectionally driven by the power device 73, 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-skid corrugation to prevent the sliding of fermented grains during conveying, the corresponding discharge port 71 can be selected according to the position of the retort 1, so that the arrangement number and interval of the retort 1 are more flexible and variable.

[0044] Optionally, the vision sensor 54 of the identification 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 data sensed by the infrared camera and the three-dimensional camera into data in the robot coordinate system, the camera position needs to be calibrated. In the present embodiment, a scheme capable of automatically calibrating the camera parameters is designed. The calibration needle is fixed on the material distribution device 4, and the coordinates are calculated by contacting the edge of the retort 1 to obtain the center of the retort 1, and a first tool coordinate system is established. The calibration plate is fixed above the material distribution device 4, and the center angle point thereof is taken as a tool point, and three other angle points are selected to establish third, fourth and fifth tool coordinate systems. After heating the calibration plate, the tool point is moved to the center of the retort 1, the center coordinates are offset by a predetermined step, a plurality of offset coordinates are obtained, the tool point is repeatedly moved to the plurality of offset coordinates and photographed, the coordinates in the third, fourth and fifth tool coordinate systems are read as world coordinates, the camera for image acquisition includes the infrared camera and the three-dimensional camera, a sufficient number of images and corresponding world coordinates are collected, the pixel coordinates of the calibration points are identified, and the camera internal and external parameters are calculated by using Zhang Zhengyou algorithm. The automation of camera calibration is realized, the manual error is reduced, the parameter consistency is improved, the calibration efficiency is greatly improved, and the labor, time and economic costs are reduced.

[0045] In addition, in combination with Figure 3 , the chain plate feeder is provided with a buffer hopper 11 away from the ground rail system 2. The position of the buffer hopper 11 in the present scheme is fixed, and a chain plate feeder 12 is installed inside the buffer hopper 11 and 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 fermented grains in the buffer hopper 11 can be dropped onto the chain plate feeder at the outlet thereof through the conveying of the chain plate feeder 12. 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 penetrates the buffer hopper. The scattering roller 13 is driven to rotate by a scattering motor 14 connected to one side thereof, and a plurality of scattering rods 15 are installed on the outer edge surface of the scattering roller 13. During feeding, the scattering motor 14 drives the scattering roller 13 to rotate, which in turn drives the scattering rods 15 to scatter the blocky fermented grains on the chain plate feeder 12, thereby ensuring the uniformity of the distribution.

[0046] It should be noted that baffle plates are provided at both ends of the chain plate feeder and the end of the chain plate feeder 12, that is, the fermented grains are blocked at the outlets of the two, so that the conveyed fermented grains can be vertically dropped to the designated position, avoiding splashing of the fermented grains.

[0047] On the basis of the above system, the scheme further includes a control system and a wireless communication module, the wireless communication module is arranged on the cloth platform 3, the identification system 5, the mechanical arm 4, the cloth 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, which is used for information interaction and instruction transmission, and ensures real-time transmission of instructions during collaborative work of multiple devices, wherein the control system marks the position of each retort 1 according to a plurality of interval arranged retorts 1; the identification system 5 is controlled to move to the corresponding position and stop according to the position information of the retort 1; the feeding system 7 is controlled to move and select the discharge port 71 based on the stop position of the identification system 5; the cloth platform 3 is controlled to move based on the selected discharge port 71, and the path of the mechanical arm 4 driving the cloth device 6 to receive material at the corresponding discharge port 71 and sprinkle material to the corresponding retort 1 is planned; the retort 1 is stopped from being sprinkled based on the height of the fermented grains fed back by the identification system 5 until the height threshold is reached.

[0048] The above is the description of the ground rail robot retort loading system in the scheme, and the retort loading method matched with the system will be introduced below.

[0049] The ground rail robot retort loading method applies the ground rail robot retort loading system described above, and includes the following steps:

[0050] S1: Based on the positions of a plurality of retorts 1, the corresponding positions of the cloth platform 3, the identification system 5 and the feeding system 7 for each retort 1 and the discharge port 71 of the feeding system 7 corresponding to each retort 1 are determined, the position coordinates of all retorts 1 are scanned by the visual sensor 54 of the identification system 5, the stop position of the cloth platform 3, the detection position of the identification system 5 and the corresponding relationship of the discharge port 71 of the feeding system 7 are determined based on a three-dimensional modeling algorithm when each retort 1 is loaded;

[0051] S2: When collecting, the base 51 of the identification system 5 is controlled to move along the guide rail assembly 21, and the rotating support 52 is driven to rotate the visual sensor 54 to be directly above the retort 1, the position and size of the retort 1 are collected, the amount required for loading the retort 1 is calculated based on the size of the retort 1 collected by the identification system 5, and the number of times that the cloth platform 3 and the mechanical arm 4 drive the cloth device 6 to move to the feeding system 7 is calculated based on the maximum amount contained by the cloth device 6;

[0052] S3: Select the retort pot 1 to be retorted, which can be selected in turn according to the arrangement direction of the retort pot 1, or a certain retort pot 1 that needs to be retorted is selected individually, and the control moves the material distribution platform 3, the recognition system 5 and the feeding system 7 to the position corresponding to the retort pot 1. The scheme sets a Home point for the position of the material distribution platform 3, that is, two Home points are calibrated when each retort pot 1 is retorted, which are denoted as Home1 point and Home2 point, and correspond to the two discharge ports 71 of the feeding system 7 when the material receiving of the material distribution device 6 is performed, that is, the stopping point of the material distribution platform 3 and the symmetry point relative to the chain plate feeder when the material is received.

[0053] After the retort pot 1 to be retorted is selected, the position of the recognition system 5 is first judged. If it is at the retorting position corresponding to the retort pot 1, the material distribution platform 3 is directly controlled to move to the corresponding Home point. If it is not at the feeding position corresponding to the retort pot 1, the recognition end of the recognition system 5 is first reset, that is, the rotating swing rod 53 is rotated to project completely within the area where the guide rail assembly 21 is located, and then the material distribution device 6 is moved to the corresponding position, and then the material distribution platform 3 is controlled to move to the corresponding Home point.

[0054] S4: Based on the selected retort pot 1, the mechanical arm 4 drives the material distribution device 6 to the corresponding discharge port 71 to receive the fermented grains, that is, the discharge port 71 corresponding to the Home point. At this time, the chain plate feeder is opened, the conveying chain plate 72 is driven to move, and the fermented grains above the conveying chain plate 72 fall into the material distribution device 6 at the corresponding discharge port 71. The recognition end of the recognition system 5 is moved above the retort pot 1 to ensure that the visual sensor 54 serving as the recognition end can monitor the feeding;

[0055] S5: Based on the sensing information of the recognition system 5, the mechanical arm 4 drives the material distribution device 6 to move into the selected retort pot 1 to spread the material. The visual sensor 54 of the recognition system 5 scans the height of the fermented grains in the retort pot 1 in real time, and the control system generates a spiral material distribution track according to the height data. The material distribution device 6 uniformly discharges to ensure that the fermented grains are uniformly spread. After the spreading is completed, the material distribution device 6 returns to the discharge port 71 to receive the material until the recognition system 5 detects that the height of the fermented grains in the retort pot 1 reaches the maximum and stops spreading the material.

[0056] S6: The recognition end of the recognition system 5 is reset, and the material distribution platform 3 returns to the Home point. The Home point at this time is the position of the material distribution platform 3 when receiving the material in S3. Moreover, after the retorting of a single retort pot 1 is completed, the initial state of the mechanical arm 4 is that the projection thereof in the horizontal direction is located within the area where the ground rail system 2 is located, and the rotating swing rod 53 is reset.

[0057] When the material spreading of the next retort pot 1 is performed, steps S3-S6 can be repeated.

Claims

1. A ground-rail robot steamer loading system, characterized in that, include: A steamer pot, wherein several steamer pots are provided and arranged at intervals along a straight line; The ground rail system, located on one side of the steamer, includes a guide rail assembly, and its extension direction is parallel to the arrangement direction of the steamer. The fabric platform is used to fix the robotic arm. It is movably mounted on the guide rail assembly and receives instructions from the control system to move the robotic arm to the designated position. The identification system, which is mounted on the ground rail system, is used to identify the position of the still, determine the stopping position of the material distribution platform and the feeding system, and detect the height of the mash already spread in the still. The robotic arm is mounted on the fabric platform and is configured as a multi-axis arm. It executes the motion commands issued by the control system and drives the fabric device at its end to move. The feeding device, installed at the end of the robot, is driven by the robot's movement to collect the mash at the designated feeding port of the feeding system and spread the mash in the designated still. The feeding system is located on the side of the ground rail system away from the pot, and can move along the arrangement direction of the pot. It 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 of the several steaming pots arranged at intervals; based on the position information of the steaming pots, it controls the identification system to move sequentially to the corresponding position and stop; based on the stopping position of the identification system, it controls the feeding system to move and select the feeding port; based on the selected feeding port, it controls the material distribution platform to move and plans the path for the robotic arm to drive the material distribution device to receive material at the corresponding feeding port and to distribute material to the corresponding steaming pot; based on the height of the mash fed back by the identification system, it stops distributing material to the steaming pot when the height threshold is reached.

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 conveyor chain plate can move bidirectionally driven by a power device, with two discharge ports located at both ends of the conveyor chain plate in the length direction.

3. The ground-rail robot steamer loading system according to claim 2, characterized in that, The ground rail system has two parallel conveying rails on the side away from the pot, and a base frame is installed on the two conveying rails. The base frame is driven by a drive device to move along the length 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, The chain plate feeder is provided with a buffer hopper on the side away from the ground rail system, and a chain plate feeder is provided inside the buffer hopper, which extends out of the buffer hopper and is set higher than the chain plate feeder.

5. The ground-rail robot steamer loading system according to claim 4, characterized in that, A dispersing roller is installed across the top of the chain plate feeder. The dispersing roller is driven to rotate by a dispersing motor connected to one side, and multiple dispersing rods are installed on the outer edge of the dispersing 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 fabric platform, identification system, robotic arm, fabric device, feeding system, chain feeder, and control system for information interaction and command transmission.

7. The ground-rail robot steamer loading system according to claim 1, characterized in that, The identification system includes a base that is slidably mounted to a guide rail assembly. A rotating arm is mounted on the base via a bracket. At the end of the rotating arm is a visual sensor capable of identifying the still pot and detecting the height of the mash already sprinkled inside the still pot.

8. A method for loading a steamer onto a ground-rail robot, characterized in that, The application of the steaming system as described in any one of claims 1-7 includes the following steps: S1: Based on the positions of several steamers, determine the corresponding positions of the material distribution platform, identification system, and feeding system when steaming each steamer, as well as the discharge port of the feeding system corresponding to each steamer; S2: Based on the size of the steamer pot collected by the recognition system, calculate the amount of steamer pot required. Based on the maximum capacity of the feeding device, calculate the number of times the feeding platform and the robotic arm drive the feeding device to move to the feeding system. S3: Select the steamer to be steamed, and control the material distribution platform, recognition system and material supply system to move to the corresponding steamer position; S4: Based on the selected still pot, control the robotic arm to drive the feeding device to the corresponding feeding port to fill it with mash, and control the recognition end of the recognition system to move above the still pot; S5: Based on the perception information of the recognition system, control the robotic arm to move the material spreading device to the selected still pot to spread the material. After all the material is spread, control the material spreading device to return to the feeding port to receive the material. Stop spreading the material when the recognition system detects that the height of the mash in the still pot has reached the maximum. S6: Resets the identification terminal of the control identification system and controls the fabric platform to return to the Home point.

9. The method for loading a steamer onto a ground-rail robot according to claim 8, characterized in that, Each steamer has two Home points, denoted as Home1 and Home2, when it is loaded. These correspond to the two discharge ports of the feeding system when the material is received by the material feeding device. After the material feeding platform moves to the Home point, the initial state of the robotic arm is that its horizontal projection is located in the area of ​​the ground rail system.

10. The method for loading a steamer onto 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 steaming position of the corresponding steamer, the material feeding platform is directly controlled to move to the corresponding Home point. If it is not in the feeding position of the corresponding steamer, the identification end of the identification system is first reset, then the material feeding device is moved to the corresponding position, and then the material feeding platform is controlled to move to the corresponding Home point.

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