Integrated system and method for uncovering, recovering, washing, and loading dishes in a dishwasher

Abstract

The application discloses a kind of uncovering dish-washing machine tableware recycling basket cleaning and shelving integrated processing system and method, including frame module, uncovering dish-washing machine, stacking module and storage module.Frame module contains dirty bowl collection frame, first execution component, first frame table and dishwashing frame, dirty bowl collection frame contains disordered dishware to be cleaned, first execution component is symmetrically arranged at its two sides, for grabbing dishware and regularizing placement to dishwashing frame, uncovering dish-washing machine is arranged at the right side of first frame table, receives dishwashing frame and executes standardization cleaning, stacking module contains second frame table and second execution component, second frame table is used to receive dishwashing frame after cleaning, and second execution component is used to place dishware in dishwashing frame, storage module includes first receiving platform and second receiving platform, respectively used for stacking qualified dishware and secondary centralized temporary storage turnover.The application realizes the continuous operation of dishware from recycling to storage, reduces the frequency of manual intervention, and improves the utilization rate of uncovering dish-washing machine.

Description

Technical Field

[0001] This invention belongs to the field of automation equipment technology, and more specifically, relates to an integrated system and method for the recycling, basketing, cleaning and shelving of tableware in a lid-opening dishwasher. Background Technology

[0002] The processing of tableware in catering establishments involves multiple stages, including collection, sorting, loading, washing, sorting after unloading, and shelving. During peak business hours, the amount of dirty tableware generated is concentrated, and bowls, plates, and other tableware are often piled up in a disorderly manner at the collection point, resulting in significant obstruction, diverse types, and large size differences, which significantly increases the difficulty of automatic gripping and posture adjustment. Furthermore, if there is a lack of effective coordination between the various processing stages, situations such as dishwashers sitting idle, frequent manual intervention, and tableware accumulation on-site can easily occur, reducing the utilization rate of the dishwasher equipment and consequently affecting the overall operational efficiency of the kitchen. Therefore, there is an urgent practical need for a comprehensive automated processing solution covering the entire process from collection to storage for top-loading dishwashers.

[0003] Regarding the aforementioned tableware processing flow, while existing technologies offer partial automation solutions for individual stages such as conveying, handling, gripping, or loading and unloading, these are mostly localized equipment or single-station assistance. Manual intervention at multiple points is still typically required, and there is a lack of unified process organization and collaborative control between the various devices, making it difficult to form a closed-loop integrated mechanical process structure from collection to storage. Specifically, the following shortcomings exist: ① At the collection end, tableware is disorderly mixed, obstructing each other, and varies greatly in type and size, making gripping, positioning, and posture adjustment difficult; even automating only the single gripping stage still requires frequent manual sorting and intervention before and after loading into the basket, making continuous unmanned processing impossible; ② Lid-top dishwashers have specific process requirements regarding the tilt posture, relative spacing, and orientation of tableware within the washing basket. Existing solutions only address basket positioning, loading density control, and prevention... The system suffers from several drawbacks: ① Insufficient adaptability to collision placement, making it difficult to reliably meet the demands of cleaning conditions; ② Pushing the basket into the machine and opening and closing the lid are key actions that interact with the dishwasher. These actions are space-constrained and involve safety interlocks. Existing technologies lack dedicated mechanisms and process controls that link with the dishwasher, resulting in manual completion of steps such as loading, closing, opening, and unloading; ③ After cleaning, unloading, cleaning quality assessment, secondary sorting and stacking, and shelving storage are often treated as independent steps. Existing solutions often require manual sorting, stacking, and handling, making it difficult for the system to form a seamless processing loop; ④ The lack of overall design in terms of workstation layout, cycle time organization, buffer management, and anomaly handling among the equipment in each stage can easily lead to problems such as mismatch in processing capacity between the front and back ends, waiting time, or congestion, affecting the overall efficiency and operational stability of the system. Summary of the Invention

[0004] To address the aforementioned deficiencies or improvement needs of existing technologies, this invention provides an integrated system and method for the recycling, basketing, cleaning, and shelving of tableware in a top-loading dishwasher. Through the collaborative work of a depth camera and a robotic arm, it achieves automatic identification, gripping, and basketing of tableware to be cleaned, as well as automatic unloading, quality inspection, stacking, and cross-platform transfer of cleaned tableware. Only initial tableware placement and assistance with the return of defective tableware require manual intervention, significantly reducing labor intensity and human error. During the cleaning process in the top-loading dishwasher, the robotic arm continuously completes the subsequent tableware basketing and buffering, preventing idle waiting. Simultaneously, transfer is triggered by quantity thresholds, enabling parallel stacking and transfer, improving the overall system's operational cycle time and continuous operation capability. By setting up a mechanism for the recycling and secondary cleaning of defective tableware, waste is avoided. Tableware is also categorized, stacked, and temporarily stored centrally, optimizing the workflow, improving tableware turnover efficiency and storage standardization, and adapting to integrated processing requirements.

[0005] To achieve the above objectives, according to one aspect of the present invention, an integrated processing system for dishware recycling, basket loading, washing, and shelving in a flip-top dishwasher is provided, comprising a basket loading module, a flip-top dishwasher, a stacking module, and a storage module; wherein... The framing module includes a dirty bowl collection frame, a first execution component, a first framing platform, and a washing frame. The dirty bowl collection frame is used to accommodate tableware that is stacked in a disordered manner and to provide a centralized storage carrier for the tableware. The first framing platform is arranged side by side in the horizontal direction on the right side of the dirty bowl collection frame, and several washing frames are provided on its top. The washing frames are used to position and support the tableware to be washed. The first execution component is symmetrically arranged on both sides of the dirty bowl collection frame to accurately grab the tableware to be washed in the dirty bowl collection frame and arrange it neatly in the washing frame. The hinged dishwasher is arranged horizontally side by side on the right side of the first loading platform. Its inlet end is connected to the first loading platform to receive the dish rack loaded with dishes to be cleaned, and to perform standardized cleaning operations on the dishes in the dish rack to remove contaminants such as oil and food residue from the surface of the dishes, so as to form qualified cleaned dishes. The stacking module includes a second mounting platform and a second execution component. The second mounting platform is arranged horizontally side by side on the right side of the top-loading dishwasher and is connected to the outlet end of the top-loading dishwasher. It is used to temporarily support the dish rack after washing. The second execution component is symmetrically arranged on both sides of the second mounting platform. It is used to remove the dish rack after washing from the outlet end of the top-loading dishwasher and to stack the washed tableware into the storage module. The storage module includes a first storage platform and a second storage platform. The first storage platform is located on the right side of the second framing platform and is used to receive and stack the cleaned tableware that has passed inspection. The second storage platform is located side by side on the right side of the first storage platform and is used to receive the stacked qualified tableware pushed from the first storage platform by the second execution component, so as to realize the secondary centralized temporary storage and turnover of qualified tableware.

[0006] Furthermore, the framing module also includes a first depth camera and a second depth camera. The first depth camera is fixedly installed on the top of the dirty dish collection frame via an L-shaped bracket, with its lens facing the area where the dishes to be washed are stacked inside the dirty dish collection frame, for collecting image data of the dishes to be washed inside the dirty dish collection frame and generating accurate first gripping pose information. The second depth camera is fixedly installed on the top left side of the top of the lid-type dishwasher via an L-shaped cantilever bracket, with its lens facing the dish rack on the first framing platform, for real-time detection of the loading status of the dishes to be washed inside the dish rack.

[0007] Furthermore, the first execution component includes a first robotic arm and a second robotic arm, both of which are equipped with grippers at their ends. The first robotic arm is fixedly mounted on the rear side of the dirty bowl collection frame via a bracket, and the second robotic arm is correspondingly fixedly mounted on the front side of the dirty bowl collection frame via a bracket. The two are symmetrically arranged on both sides of the dirty bowl collection frame and are both connected to the first depth camera signal.

[0008] Furthermore, the first and second robotic arms establish signal connections with the second depth camera and the flip-top dishwasher. The first and second robotic arms can receive the loading status signal generated by the second depth camera in real time. When a loading status signal indicating that the dish rack is loaded is received, the first and second robotic arms stop grabbing. When the flip-top dishwasher is detected to be in an acceptable state, the second robotic arm first accurately pushes the dish rack loaded on the first loading platform to the accepting position of the flip-top dishwasher. After the dish rack is in place, the second robotic arm closes the lid of the flip-top dishwasher.

[0009] Furthermore, during the dishwashing operation of the top-loading dishwasher, the first robotic arm and the second robotic arm continuously receive the first grasping pose information generated by the first depth camera, and place the subsequent dishes to be washed in the dirty dish collection box into the new dishwashing box.

[0010] Furthermore, the stacking module also includes a third depth camera and a fourth depth camera. The third depth camera is fixedly installed on the top right side of the top of the hinged dishwasher via an L-shaped cantilever bracket, with its lens facing the outlet end of the hinged dishwasher. It is used to collect image data of the tableware in the washing frame after washing, and then generate the second gripping posture information. The fourth depth camera is fixedly installed on the top of the right side of the extended cantilever end of the second loading platform, with its lens facing upward. It is used to accurately identify and determine the cleaning effect of the tableware and distinguish between qualified and unqualified tableware.

[0011] Furthermore, the second execution component includes a third robotic arm and a fourth robotic arm, both of which are equipped with grippers at their ends. The third robotic arm is fixedly installed on the rear side of the second framing platform via a bracket, and the fourth robotic arm is correspondingly fixedly installed on the front side of the second framing platform via a bracket. The two are symmetrically arranged on both sides of the second framing platform and are both connected to the third depth camera. They are able to receive the second grasping pose information generated by the third depth camera, grasp the tableware in the washing basket on the second framing platform after washing, and neatly stack them on the first storage platform. The fourth robotic arm establishes a signal connection with the top-loading dishwasher, enabling it to detect the washing status of the dishwasher in real time. When it detects that the top-loading dishwasher has completed the dishwashing operation and is ready to be unloaded, the fourth robotic arm extends into the top-loading dishwasher to grab the washed dish rack and smoothly transfer it to the preset workstation of the second racking platform, preparing for subsequent dish grabbing and stacking operations.

[0012] Furthermore, during the process of placing qualified tableware onto the first storage platform, the third and fourth robotic arms simultaneously record the number of tableware placed. When the recorded number of tableware reaches a preset threshold, the transfer conditions are met, and the third and fourth robotic arms smoothly transfer the neatly placed qualified tableware to the preset temporary storage station on the second storage platform, completing the cross-platform transfer of qualified tableware.

[0013] Furthermore, the storage module also includes a non-conforming dirty bowl collection frame, which is fixedly installed behind the third and fourth robotic arms. It is used to receive and collect tableware that has been identified as unconforming by the fourth depth camera. The unconforming tableware held inside the non-conforming dirty bowl collection frame is transferred to the dirty bowl collection frame with manual assistance so that it can re-enter the secondary cleaning process.

[0014] According to a second aspect of the present invention, a method for integrated processing of dishware collection, basket cleaning, and racking in a top-loading dishwasher is provided, which is implemented using the aforementioned integrated processing system for dishware collection, basket cleaning, and racking in a top-loading dishwasher, and includes the following steps: S100: When the tableware to be washed is placed into the dirty bowl collection box, the first depth camera collects image data of the tableware to be washed in the dirty bowl collection box in real time, generates the corresponding first grasping pose information, and transmits it synchronously to the first robotic arm and the second robotic arm. After receiving the first grasping pose information, the first robotic arm and the second robotic arm start in concert and, according to the first grasping pose information, pick up the tableware to be washed from the dirty bowl collection box and place it into the dishwashing box. S200: The second depth camera detects the loading status of the dishwashing frame in real time. When the second depth camera detects that the dishwashing frame has reached the preset loading completion condition and the flip-top dishwasher is in the machine-ready state, the second robotic arm pushes the loaded dishwashing frame from the first loading platform to the machine-ready station of the flip-top dishwasher, closes the lid of the flip-top dishwasher, and starts the washing operation of the flip-top dishwasher. S300: After the top-loading dishwasher starts the cleaning operation, the first robotic arm and the second robotic arm continue to receive the first grasping posture information generated by the first depth camera, accurately grab the remaining dishes to be cleaned in the dirty dish collection box, and neatly place them in the new dish washing box. When the top-loading dishwasher completes the current cleaning operation and is in the state of being ready to be put into the machine, the second robotic arm pushes the loaded new dish washing box from the first loading platform to the inlet station of the top-loading dishwasher, closes the lid of the top-loading dishwasher, and triggers it to start a new round of cleaning operation. S400: After the top-loading dishwasher finishes washing the dishes, the fourth robotic arm extends into the top-loading dishwasher to pull out the dish rack after washing and place it in the preset position of the second racking table. The third depth camera collects image data of the washed dishes in the dish rack in real time, generates the second grasping pose information, and transmits it to the third and fourth robotic arms. S500: The third and fourth robotic arms use the second grasping posture information to pick up the washed tableware in the dishwashing basket. When the tableware passes through the detection area of ​​the fourth depth camera, the fourth depth camera detects the washing qualification status of the tableware in real time. If the detection determines that the washing is not qualified, the third and fourth robotic arms place the unqualified tableware in the unqualified dirty bowl collection basket. Subsequently, with manual assistance, the unqualified tableware in the unqualified dirty bowl collection basket is transferred to the dirty bowl collection basket and re-enters the washing process. If the detection determines that the washing is qualified, the tableware is stacked in order according to the tableware type on the first storage platform. S600: When the third and fourth robotic arms are stacking qualified tableware onto the first storage platform, they simultaneously record the number of tableware that has been stacked. When the number of tableware recorded reaches a preset threshold, the transfer conditions are met. The third and fourth robotic arms work together to smoothly transfer the neatly stacked qualified tableware on the first storage platform to the preset temporary storage station on the second storage platform, thus completing the cross-platform transfer of qualified tableware.

[0015] In summary, compared with the prior art, the above-described technical solutions conceived by this invention can achieve the following beneficial effects: 1. The integrated processing system for dishware recycling, basket loading, cleaning, and racking of the dishwasher of the present invention achieves automatic identification, grabbing, and basket loading of dishware to be cleaned through the collaborative work of a depth camera and a robotic arm. After cleaning, the dishware is automatically unloaded, quality inspected, stacked, and transferred across platforms. Only manual labor is required to complete the initial dishware loading and the return of unqualified dishware, which greatly reduces the intensity of manual labor and human error.

[0016] 2. The integrated processing system for tableware recycling, basket loading, cleaning, and racking in the open-top dishwasher of the present invention adopts a parallel operation mode. During the cleaning process of the open-top dishwasher, the robotic arm continuously completes the subsequent tableware loading and buffering, avoiding idle waiting of the equipment; at the same time, the transfer is triggered by the quantity threshold, realizing the parallel stacking and transfer, which significantly improves the overall operation cycle and continuous operation capability of the system.

[0017] 3. The integrated processing system for dishware recycling, basket loading, cleaning, and shelving in the open-top dishwasher of the present invention uses a depth camera to accurately generate grasping posture information, ensuring that the robotic arm's gripping, basket loading, stacking, and transfer actions are precise and avoiding damage to the dishware; loading status detection and cleaning quality detection effectively prevent problems such as equipment jamming and incomplete cleaning, improving operational safety and reliability.

[0018] 4. The integrated processing system for tableware recycling, basket loading, cleaning, and shelving of the dishwasher of the present invention avoids waste of unqualified tableware by setting up a mechanism for recycling and secondary cleaning of unqualified tableware, while realizing the classification, stacking, and centralized temporary storage of tableware, optimizing the operation process, improving the turnover efficiency and storage standardization of tableware, and adapting to the needs of integrated processing. Attached Figure Description

[0019] Figure 1 This is a three-dimensional structural diagram of an integrated processing system for dishware recycling, basket loading, cleaning, and shelving in a dishwasher according to an embodiment of the present invention. Figure 2 This is a schematic elevation view of an integrated processing system for dishware recycling, basket loading, cleaning, and shelving in a dishwasher according to an embodiment of the present invention. Figure 3 This is a schematic diagram of a process for an integrated method of dishware recycling, basket loading, cleaning, and shelving in a dishwasher according to an embodiment of the present invention.

[0020] In all the accompanying drawings, the same reference numerals denote the same technical features, specifically: 1-dirty dish collection box, 2-first depth camera, 3-first robotic arm, 4-second robotic arm, 5-first framing platform, 6-dishwashing box, 7-second depth camera, 8-lift-top dishwasher, 9-second framing platform, 10-third robotic arm, 11-fourth robotic arm, 12-third depth camera, 13-fourth depth camera, 14-unqualified dirty dish collection box, 15-first storage platform, 16-second storage platform. Detailed Implementation

[0021] To make the objectives, technical solutions, and advantages of this invention clearer, the invention will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative and not intended to limit the invention. Furthermore, the technical features involved in the various embodiments of this invention described below can be combined with each other as long as they do not conflict with each other.

[0022] It should be noted that if the embodiments of the present invention involve directional indicators (such as up, down, left, right, front, back, etc.), the directional indicators are only used to explain the relative positional relationship and movement of the components in a certain specific posture (as shown in the figure). If the specific posture changes, the directional indicators will also change accordingly.

[0023] Furthermore, if the embodiments of this invention involve descriptions such as "first" or "second," these descriptions are for descriptive purposes only and should not be construed as indicating or implying their relative importance or implicitly specifying the number of technical features indicated. Therefore, a feature defined with "first" or "second" may explicitly or implicitly include at least one of those features. Additionally, the technical solutions of the various embodiments can be combined with each other, but this must be based on the ability of those skilled in the art to implement them. If the combination of technical solutions is contradictory or impossible to implement, it should be considered that such a combination of technical solutions does not exist and is not within the scope of protection claimed by this invention.

[0024] In this patent, the terms "comprising," "including," or any other variations thereof are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising..." does not exclude the presence of additional identical elements in the process, method, article, or apparatus that includes said element.

[0025] Example 1 like Figure 1-2As shown, this embodiment of the invention provides an integrated processing system for dishware recycling, basket loading, washing, and shelving in a top-loading dishwasher, including a framing module, a top-loading dishwasher 8, a stacking module, and a storage module. The framing module includes a dirty dish collection frame 1, a first execution component, a first framing platform 5, and washing frames 6. The dirty dish collection frame 1 is used to accommodate dishware that is stacked haphazardly, providing a centralized storage carrier for the dishware. The first framing platform 5 is arranged horizontally side-by-side on the right side of the dirty dish collection frame 1, and its top is provided with several washing frames 6, which are used for positioning and carrying dishes. The tableware awaiting washing provides a neat loading base for subsequent washing operations. The first execution components are symmetrically arranged on both sides of the dirty dish collection frame 1 to accurately grasp the tableware awaiting washing within the dirty dish collection frame 1, and after adjusting its posture, neatly place it in the washing frame 6, ensuring that the tableware loading posture is adapted to the washing process requirements of the hinged dishwasher 8. The hinged dishwasher 8 is arranged horizontally side-by-side on the right side of the first loading platform 5, with its inlet end correspondingly connected to the first loading platform 5, for receiving the washing frame 6 loaded with tableware awaiting washing and performing washing operations on the tableware awaiting washing within the washing frame 6. Standardized cleaning operations remove oil stains, food residue, and other contaminants from the surface of tableware, resulting in properly cleaned tableware. The stacking module includes a second loading platform 9 and a second execution component. The second loading platform 9 is horizontally arranged side-by-side on the right side of the hinged dishwasher 8, corresponding to the outlet end of the hinged dishwasher 8, and is used to temporarily support the dish rack 6 after cleaning. The second execution component is symmetrically arranged on both sides of the second loading platform 9, used to remove the cleaned dish rack 6 from the outlet end of the hinged dishwasher 8 and to place the cleaned tableware into the storage module. The storage module includes a first storage platform 15 and a second storage platform 16. The first storage platform 15 is located on the right side of the second framing platform 9 and is used to receive and stack the cleaned tableware that has passed inspection. It can be stacked in layers according to the type and specifications of the tableware for easy retrieval and transfer. The second storage platform 16 is located side by side on the right side of the first storage platform 15 and is used to receive the stacked qualified tableware pushed from the first storage platform 15 by the second execution component. This enables secondary centralized temporary storage and turnover of qualified tableware, improving the space utilization and turnover efficiency of tableware storage.By coordinating the framing module, the lid-type dishwasher 8, the stacking module, and the storage module, the technical pain points of "disorderly recycling, cumbersome basket loading, disconnect between washing and stacking, and chaotic temporary storage" in the traditional tableware processing process are completely solved. It realizes the full-process automation and standardization of tableware from recycling, basket loading, washing to temporary storage, greatly reducing manual intervention and lowering the intensity of manual labor and human error. Through the symmetrical arrangement of the first and second execution components, and the reasonable layout of the first framing platform 5 and the second framing platform 9, the travel distance for tableware grabbing and transfer is shortened, improving the system's operating cycle and overall processing efficiency. The modules are connected side by side in the horizontal direction, with a compact and reasonable overall layout, small footprint, and adaptability to various application scenarios such as commercial and household use. Moreover, each module can be independently debugged and maintained, reducing system operation and maintenance costs, and has good practicality and promotional value.

[0026] Furthermore, the framing module also includes a first depth camera 2 and a second depth camera 7. The first depth camera 2 is fixedly installed on the top of the dirty dish collection frame 1 via an L-shaped bracket, with its lens facing the area where the dishes to be washed are stacked inside the dirty dish collection frame 1. It is used to collect image data of the dishes to be washed inside the dirty dish collection frame 1, accurately identify the type of dishes, and estimate the spatial pose of the dishes in real time, thereby generating accurate first grasping pose information, providing a reliable positioning basis for the grasping action of the first execution component. The second depth camera 7 is fixedly installed on the top left side of the top of the lid-type dishwasher 8 via an L-shaped cantilever bracket, with its lens facing the dishwashing frame 6 on the first framing platform 5. It is used to detect the loading status of the dishes to be washed inside the dishwashing frame 6 in real time, including parameters such as the saturation of the dishes and the regularity of the loading posture, and generate a corresponding loading status signal based on the detection results, providing an accurate judgment basis for the action of pushing the dishwashing frame 6 into the lid-type dishwasher 8. By using depth cameras as visual inspection components, compared with traditional visual inspection methods, it has the advantages of high detection accuracy, fast response speed and strong anti-interference ability. It can effectively solve the technical pain points of grasping and positioning deviation and misjudgment of loading status in traditional framing operations. Through the coordinated cooperation of two depth cameras, the automation level of the framing module is improved, the manual intervention is reduced, and the human operation error is reduced. It provides reliable visual support for the efficient and stable operation of the entire integrated processing system, and improves the operational reliability and practicality of the system.

[0027] Furthermore, the first execution component includes a first robotic arm 3 and a second robotic arm 4, both of which are equipped with grippers at their ends. The first robotic arm 3 is fixedly installed on the rear side of the dirty bowl collection frame 1 by a bracket, and the second robotic arm 4 is correspondingly fixedly installed on the front side of the dirty bowl collection frame 1 by a bracket. The two are symmetrically arranged on both sides of the dirty bowl collection frame 1 and are both connected to the first depth camera 2. They can receive the first grasping posture information generated by the first depth camera 2 and, based on the first grasping posture information, coordinately execute the gripping and posture adjustment actions of the tableware to be washed, and accurately place different types of tableware to be washed into the dishwashing frame 6 on the first loading platform 5 according to the preset classification rules, so as to ensure that the tableware is loaded neatly and classified in an orderly manner. By adopting a symmetrical arrangement of dual robotic arms, compared with the traditional single robotic arm execution structure, it effectively breaks through the technical bottlenecks of low operation efficiency and limited operation coverage of single robotic arms. It realizes the coordinated linkage of the gripping and framing of tableware to be washed, and significantly improves the framing operation cycle and overall processing efficiency. Both robotic arms perform operations based on the first gripping posture information generated by the first depth camera 2, which can accurately match the type and spatial posture of the tableware to be washed, realize the precise gripping and posture adjustment of the tableware, and place the tableware in the washing frame 6 according to the type. This not only avoids the breakage and slippage of tableware during the gripping process, but also ensures the neatness and rationality of the framing, and provides a good foundation for the efficient cleaning of the subsequent top-loading dishwasher 8.

[0028] Furthermore, the first robotic arm 4 and the second robotic arm 4 establish signal connections with the second depth camera 7 and the flip-top dishwasher 8. The first robotic arm 4 and the second robotic arm 4 can receive the loading status signal generated by the second depth camera 7 in real time. When a loading status signal indicating that the dish rack 6 has been loaded is received, the first robotic arm 3 and the second robotic arm 4 stop grabbing. When the flip-top dishwasher 8 is detected to be in an in-machine state, the second robotic arm 4 first accurately pushes the dish rack 6 loaded on the first loading platform 5 to the in-machine station of the flip-top dishwasher 8. After the dish rack 6 is in place, the closing action of the lid of the flip-top dishwasher 8 is further executed to complete the in-machine preparation and trigger the flip-top dishwasher 8 to start the cleaning operation. Breaking the limitations of manual coordination between framing and machine cleaning, this system achieves automated linkage between the two, reducing manual intervention, operational errors, and labor intensity, and improving the system's automation level. The second robotic arm is multi-functional, eliminating the need for additional dedicated actuators, simplifying the system structure, reducing manufacturing costs and maintenance difficulty, and minimizing motion interference. Based on signal linkage, it precisely controls the timing of machine entry, avoiding problems such as incomplete cleaning and equipment jamming, ensuring accurate and safe operation. Optimized dual-robotic-arm collaborative logic enables parallel operation of framing and machine entry, shortening the cycle time, improving efficiency, and providing support for the continuous and stable operation of the system.

[0029] Furthermore, during the dishwashing operation of the top-loading dishwasher 8, the first robotic arm 3 and the second robotic arm 4 work together, continuously receiving the first grasping posture information generated by the first depth camera 2. They sequentially perform identification, grasping, posture adjustment, and loading actions on the subsequent dishes to be washed in the dirty dish collection frame 1, neatly placing the dishes into the new dishwashing frame 6 according to their type. After the dishwashing frame 6 is loaded, it enters a buffer state to await entry into the top-loading dishwasher 8, ready to be loaded immediately after the dishwasher 8 completes its current washing operation. This allows the loading and washing operations to be carried out in parallel, completely solving the problem of stagnation in the loading stage during dishwasher washing in traditional operations. This significantly reduces the dishwasher's idle waiting time and improves the overall system's cycle time and processing efficiency. The continuous collaborative operation of the two robotic arms ensures that the dishwashing frame 6 is buffered in a timely manner, guaranteeing the continuous and stable operation of the entire integrated system and avoiding operation interruptions. No manual supervision is required, further reducing human intervention and labor intensity, while ensuring the neatness of the loading, providing a reliable guarantee for the efficient execution of subsequent washing operations and improving the system's automation and intelligence level.

[0030] Furthermore, the stacking module also includes a third depth camera 12 and a fourth depth camera 13. The third depth camera 12 is fixedly installed on the top right side of the top of the hinged dishwasher 8 via an L-shaped cantilever bracket, with its lens facing the outlet end of the hinged dishwasher 8. It is used to collect image data of the tableware in the washing basket 6 after cleaning, accurately identify the type of the tableware after cleaning, and estimate its spatial pose in real time, thereby generating accurate second gripping pose information to provide a reliable positioning basis for the gripping and stacking action of the second execution component. The fourth depth camera 13 is fixedly installed on the top of the right extended cantilever end of the second mounting platform 9, with its lens facing upward. It is used to accurately identify and judge the cleaning effect of the tableware during the process of placing the tableware in the washing basket 6 on the second mounting platform 9 onto the first storage platform 15 by the second execution component, and to distinguish between qualified and unqualified tableware. By employing dual depth cameras in tandem, the technical pain points of grasping and positioning deviations and the inability to accurately determine the cleaning effect in traditional stacking processes are resolved, improving the operational accuracy and reliability of the stacking module. The third depth camera accurately generates the second grasping pose information, ensuring that the second execution component accurately grasps and orderly stacks the cleaned tableware, avoiding tableware damage and chaotic stacking. The fourth depth camera can quickly identify tableware cleaning defects, preventing unqualified tableware from flowing into the subsequent storage stage and ensuring the cleanliness of the tableware. No manual inspection and positioning are required, reducing human intervention, labor intensity, and operational errors. At the same time, the stacking operation process is optimized, improving operational efficiency and providing reliable visual support for the standardized and automated operation of the entire integrated processing system.

[0031] Furthermore, the second execution component includes a third robotic arm 10 and a fourth robotic arm 11, both of which are equipped with grippers at their ends. The third robotic arm 10 is fixedly installed on the rear side of the second framing platform 9 by a bracket, and the fourth robotic arm 11 is correspondingly fixedly installed on the front side of the second framing platform 9 by a bracket. The two are symmetrically arranged on both sides of the second framing platform 9, and both are connected to the third depth camera 12 by signal. They can receive the second grasping posture information generated by the third depth camera 12, and coordinate their actions according to the second grasping posture information to accurately grasp the tableware in the dishwashing basket 6 after washing on the second framing platform 9. After completing the posture adjustment, they are neatly stacked on the first storage platform 15. Employing a symmetrical dual-arm robotic structure, this system overcomes the limitations of traditional single-arm stacking, which suffers from low efficiency and limited coverage. It enables coordinated grabbing and stacking of cleaned tableware, significantly improving the stacking cycle time and overall efficiency. The dual arms are secured by a dedicated bracket, ensuring stable installation and even force distribution, preventing vibration and shifting during operation, guaranteeing the accuracy of grabbing and stacking, and reducing the risk of tableware breakage and slippage. Based on the second grabbing posture information, the two arms work collaboratively to ensure tableware is neatly placed according to type on the first storage platform 15, preventing stacking chaos. No manual intervention is required for grabbing and stacking, reducing human intervention and operational errors, lowering labor intensity, and optimizing the stacking process. It also works in conjunction with the dual depth cameras in the stacking module, providing a solid foundation for subsequent tableware storage and turnover, further enhancing the automation and standardization level of the integrated system.

[0032] Furthermore, the fourth robotic arm 11 establishes a signal connection with the top-loading dishwasher 8, enabling real-time monitoring of the dishwasher 8's cleaning status. When the top-loading dishwasher 8 detects that it has completed the dishwashing process and is ready to unload, the fourth robotic arm 11 performs a gripping and pulling action, precisely extending into the top-loading dishwasher 8 to grab the cleaned dish rack 6 and smoothly transfer it to the preset station on the second racking platform 9, preparing for subsequent dishwashing and stacking operations. This overcomes the limitations of traditional methods where the dish rack is manually pulled out after cleaning and the stacking operation is disconnected, achieving automated linkage between dish rack unloading and stacking operations, reducing manual intervention, and minimizing human error and labor intensity.

[0033] Furthermore, the third robotic arm 10 or the fourth robotic arm 11 in the second execution component is also configured to have the function of transferring qualified tableware across platforms, and to have a tableware placement quantity recording and threshold-triggered transfer mechanism; specifically, during the process of placing qualified tableware onto the first storage platform 15, the third robotic arm 10 and the fourth robotic arm 11 simultaneously record the number of tableware placed. When the recorded number of tableware reaches a preset threshold, the transfer condition is met, and the third robotic arm 10 and the fourth robotic arm 11 smoothly transfer the neatly stacked qualified tableware to the preset temporary storage station of the second storage platform 16, completing the cross-platform transfer of qualified tableware, which facilitates the subsequent retrieval of the cleaned tableware. After the transfer is completed, the recorded number of tableware is automatically cleared to zero, and a new round of tableware placement, quantity recording, and threshold-triggered transfer process is started. By adding a tableware quantity recording and threshold-triggered transfer mechanism, the transfer conditions are made more precise and controllable, avoiding the ambiguity of the traditional "full capacity judgment" and ensuring more standardized transfer timing, further improving the level of operational standardization. Setting a fixed quantity threshold as the transfer trigger condition, combined with a quantity clearing and restart mechanism, forms a closed-loop operation of "placement-recording-threshold triggering-transfer-clearing-restarting", ensuring that the tableware on the first storage platform 15 is neatly stacked and evenly distributed, avoiding low transfer efficiency caused by excessive stacking or insufficient quantity. It realizes the automated transfer of qualified tableware from the first storage platform 15 to the second storage platform 16, breaking the limitations of traditional manual transfer, reducing manual intervention, reducing labor intensity and human transfer errors, and avoiding damage and chaos during tableware transfer.

[0034] Furthermore, the storage module also includes a non-conforming dirty bowl collection box 14, which is fixedly installed behind the third robotic arm 10 and the fourth robotic arm 11. This box receives and collects tableware identified as unqualified by the fourth depth camera 13, enabling the separate storage of unqualified and qualified tableware. The non-conforming dirty bowl collection box 14 forms a return connection with the dirty bowl collection box 1. Unqualified tableware held inside the box is manually transferred to the dirty bowl collection box 1 for re-entering the secondary cleaning process, completing the closed-loop processing of unqualified tableware. This achieves accurate classification and standardized storage of the two types of tableware, effectively avoiding secondary contamination and ensuring the cleanliness of the tableware. The secondary cleaning path of unqualified tableware being manually returned to the dirty bowl collection box 1 completes the closed-loop operation of the system, avoiding idle waste of unqualified tableware and improving tableware utilization. The elimination of the need for manual sorting of mixed tableware reduces human intervention, labor intensity, and human error, while providing a neat and centralized storage base for secondary cleaning, further enhancing the standardization, normalization, and automation level of the integrated processing system.

[0035] Example 2 Combination Figure 1-2 ,like Figure 3As shown, this invention provides an integrated method for recycling, packing, washing, and shelving tableware in a top-loading dishwasher. This method utilizes the aforementioned integrated system for recycling, packing, washing, and shelving tableware in a top-loading dishwasher. The specific steps are as follows: S100: When the tableware to be washed is placed into the dirty bowl collection box 1, the first depth camera 2 collects image data of the tableware to be washed in the dirty bowl collection box 1 in real time, generates the corresponding first grasping posture information, and transmits it synchronously to the first robotic arm 3 and the second robotic arm 4. After receiving the first grasping posture information, the first robotic arm 3 and the second robotic arm 4 start in concert and, according to the first grasping posture information, pick up the tableware to be washed from the dirty bowl collection box 1 and place it into the dishwashing box 6. S200: The second depth camera 7 detects the loading status of the dishwashing frame 6 in real time. When the second depth camera 7 detects that the dishwashing frame 6 has reached the preset loading completion condition and the top-loading dishwasher 8 is in the machine-ready state, the second robotic arm 4 pushes the loaded dishwashing frame 6 from the first loading platform 5 to the machine-ready station of the top-loading dishwasher 8, closes the lid of the top-loading dishwasher 8, and starts the cleaning operation of the top-loading dishwasher 8. S300: After the top-loading dishwasher 8 starts the cleaning operation, the first robotic arm 3 and the second robotic arm 4 continue to receive the first grasping posture information generated by the first depth camera 2, accurately grab the remaining dishes to be cleaned in the dirty dish collection box 1, and neatly place them in the new dish washing box 6. When the top-loading dishwasher 8 completes the current cleaning operation and is in the state of being ready to be put into the machine, the second robotic arm 4 pushes the loaded new dish washing box 6 from the first loading platform 5 to the entry station of the top-loading dishwasher 8, and closes the lid of the top-loading dishwasher 8, triggering it to start a new round of cleaning operation. S400: After the top-loading dishwasher 8 finishes washing the dishes, the fourth robotic arm 11 extends into the top-loading dishwasher 8 to pull out the dish rack 6 after washing the dishes and place it in the preset position of the second loading platform 9. The third depth camera 12 collects image data of the washed dishes in the dish rack 6 in real time, generates the second grasping pose information, and transmits it to the third robotic arm 10 and the fourth robotic arm 11. S500: The third robotic arm 10 and the fourth robotic arm 11 grip the washed tableware in the dishwashing basket 6 according to the second grasping posture information. When the tableware passes through the detection area of ​​the fourth depth camera 13, the fourth depth camera 13 detects the qualified status of the tableware in real time. If the detection determines that the tableware is not qualified, the third robotic arm 10 and the fourth robotic arm 11 place the unqualified tableware in the unqualified dirty bowl collection basket 14. Subsequently, with manual assistance, the unqualified tableware in the unqualified dirty bowl collection basket 14 is transferred to the dirty bowl collection basket 1 and re-enters the washing process. If the detection determines that the tableware is qualified, it is placed on the first storage platform 15 in an orderly manner according to the tableware type. S600: When the third robotic arm 10 and the fourth robotic arm 11 are stacking qualified tableware onto the first storage platform 15, they simultaneously record the number of tableware that has been stacked. When the number of tableware recorded reaches a preset threshold, the transfer conditions are met. The third robotic arm 10 and the fourth robotic arm 11 work together to smoothly transfer the neatly stacked qualified tableware on the first storage platform 15 to the preset temporary storage station on the second storage platform 16, thus completing the cross-platform transfer of qualified tableware.

[0036] Those skilled in the art will readily understand that the above description is merely a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of the present invention should be included within the scope of protection of the present invention.

Claims

1. A comprehensive system for recycling, loading, washing, and shelving tableware in a lid-lifting dishwasher, characterized in that: Includes a framing module, a hinged dishwasher (8), a stacking module, and a storage module; among which, The framing module includes a dirty bowl collection frame (1), a first execution component, a first framing platform (5), and a dishwashing frame (6). The dirty bowl collection frame (1) is used to accommodate tableware that is stacked in a disordered manner and to provide a centralized storage carrier for the tableware. The first framing platform (5) is arranged side by side in the horizontal direction on the right side of the dirty bowl collection frame (1), and several dishwashing frames (6) are provided on its top. The dishwashing frames (6) are used to position and carry the tableware to be cleaned. The first execution component is symmetrically arranged on both sides of the dirty bowl collection frame (1) to accurately grab the tableware to be cleaned in the dirty bowl collection frame (1) and neatly place it in the dishwashing frame (6). The lid-type dishwasher (8) is arranged side by side in the horizontal direction on the right side of the first loading platform (5), and its inlet end is connected to the first loading platform (5) to receive the dish rack (6) loaded with tableware to be cleaned, and to perform standardized cleaning operations on the tableware to be cleaned in the dish rack (6) to remove contaminants such as oil stains and food residues on the surface of the tableware, and to form qualified cleaned tableware. The stacking module includes a second mounting platform (9) and a second execution component. The second mounting platform (9) is arranged side by side in the horizontal direction on the right side of the top-loading dishwasher (8), and is connected to the outlet end of the top-loading dishwasher (8) to temporarily support the washing rack (6) after cleaning. The second execution component is symmetrically arranged on both sides of the second mounting platform (9) to remove the washing rack (6) after cleaning from the outlet end of the top-loading dishwasher (8) and to stack the cleaned tableware into the storage module. The storage module includes a first storage platform (15) and a second storage platform (16). The first storage platform (15) is located on the right side of the second framing platform (9) and is used to receive and stack the cleaned tableware that has passed inspection. The second storage platform (16) is located side by side on the right side of the first storage platform (15) and is used to receive the stacked qualified tableware pushed from the first storage platform (15) by the second execution component, so as to realize the secondary centralized temporary storage and turnover of qualified tableware.

2. The integrated processing system for dishware recycling, basket loading, washing, and shelving in a lid-opening dishwasher according to claim 1, characterized in that, The framing module also includes a first depth camera (2) and a second depth camera (7). The first depth camera (2) is fixedly installed on the top of the dirty dish collection frame (1) by an L-shaped bracket, with its lens facing the area where the dishes to be washed are stacked inside the dirty dish collection frame (1). It is used to collect image data of the dishes to be washed inside the dirty dish collection frame (1) and generate accurate first gripping pose information. The second depth camera (7) is fixedly installed on the top left side of the top of the lid-type dishwasher (8) by an L-shaped cantilever bracket, with its lens facing the dish rack (6) on the first framing platform (5). It is used to detect the loading status of the dishes to be washed inside the dish rack (6) in real time.

3. The integrated processing system for dishware recycling, basket loading, washing, and shelving in a lid-lifting dishwasher according to claim 1, characterized in that, The first execution component includes a first robotic arm (3) and a second robotic arm (4), both of which are equipped with grippers at their ends. The first robotic arm (3) is fixedly installed on the rear side of the dirty bowl collection frame (1) by a bracket, and the second robotic arm (4) is fixedly installed on the front side of the dirty bowl collection frame (1) by a bracket. The two are arranged symmetrically on both sides of the dirty bowl collection frame (1) and are both connected to the first depth camera (2) by signal.

4. A dishwashing and cleaning integrated system for dish collection, basket loading, and racking in a lid-lifting dishwasher according to any one of claims 1-3, characterized in that, The first robotic arm (3) and the second robotic arm (4) establish signal connections with the second depth camera (7) and the flip-top dishwasher (8). The first robotic arm (3) and the second robotic arm (4) can receive the loading status signal generated by the second depth camera (7) in real time. When the loading status signal indicating that the dish rack (6) has been loaded is received, the first robotic arm (3) and the second robotic arm (4) stop grabbing. When the flip-top dishwasher (8) is detected to be in the state of being ready to be put into the machine, the second robotic arm (4) first accurately pushes the dish rack (6) loaded on the first loading platform (5) to the entry station of the flip-top dishwasher (8). After the dish rack (6) is in place, the second robotic arm (4) closes the lid of the flip-top dishwasher (8).

5. The integrated processing system for dishware recycling, basket loading, washing, and shelving in a lid-opening dishwasher according to claim 4, characterized in that, During the dishwashing operation performed by the lid-type dishwasher (8), the first robotic arm (3) and the second robotic arm (4) continuously receive the first grasping pose information generated by the first depth camera (2) and place the subsequent dishes to be washed in the dirty bowl collection box (1) into the new dishwashing box (6).

6. The integrated processing system for dishware recycling, basket loading, washing, and shelving in a lid-lifting dishwasher according to claim 1, characterized in that, The stacking module also includes a third depth camera (12) and a fourth depth camera (13). The third depth camera (12) is fixedly installed on the top right side of the top of the lid-type dishwasher (8) by an L-shaped cantilever bracket, with its lens facing the outlet end of the lid-type dishwasher (8). It is used to collect image data of the tableware in the washing frame (6) after cleaning, and then generate the second gripping posture information. The fourth depth camera (13) is fixedly installed on the top of the right side of the extended cantilever end of the second mounting platform (9), with its lens facing upward. It is used to accurately identify and judge the cleaning effect of the tableware and distinguish between qualified and unqualified tableware.

7. The integrated processing system for dishware recycling, basket loading, washing, and shelving in a lid-opening dishwasher according to claim 1, characterized in that, The second execution component includes a third robotic arm (10) and a fourth robotic arm (11), both of which are equipped with grippers at their ends. The third robotic arm (10) is fixedly installed on the rear side of the second framing platform (9) by a bracket, and the fourth robotic arm (11) is fixedly installed on the front side of the second framing platform (9) by a bracket. The two are symmetrically arranged on both sides of the second framing platform (9) and are both connected to the third depth camera (12) to receive the second grasping pose information generated by the third depth camera (12), and to pick up the tableware in the dishwashing basket (6) after washing on the second framing platform (9) and neatly place it on the first storage platform (15). The fourth robotic arm (11) establishes a signal connection with the top-loading dishwasher (8) and can detect the cleaning operation status of the top-loading dishwasher (8) in real time. When it is detected that the top-loading dishwasher (8) has completed the dishwashing operation and is in the ready-to-remove state, the fourth robotic arm (11) extends into the top-loading dishwasher (8) to grab the cleaned dish rack (6) and smoothly transfer it to the preset work position of the second racking platform (9) to prepare for the subsequent dish grabbing and stacking operation.

8. The integrated processing system for dishware recycling, basket loading, washing, and shelving in a lid-opening dishwasher according to claim 7, characterized in that, During the process of placing qualified tableware onto the first storage platform (15), the third robotic arm (10) and the fourth robotic arm (11) simultaneously record the number of tableware that has been placed. When the number of tableware recorded reaches a preset threshold, the transfer conditions are met. The third robotic arm (10) and the fourth robotic arm (11) then smoothly transfer the neatly placed qualified tableware to the preset temporary storage station of the second storage platform (16), thus completing the cross-platform transfer of qualified tableware.

9. The integrated processing system for dishware recycling, basket loading, washing, and shelving in a lid-lifting dishwasher according to claim 1, characterized in that, The storage module also includes a non-conforming dirty bowl collection box (14), which is fixedly set behind the third robotic arm (10) and the fourth robotic arm (11) to receive and collect tableware that has been identified and determined by the fourth depth camera (13) as unconforming. The unconforming tableware held in the non-conforming dirty bowl collection box (14) is transferred to the dirty bowl collection box (1) with manual assistance so that it can re-enter the secondary cleaning process.

10. A method for integrated processing of dishware collection, basket loading, washing, and shelving in a lid-opening dishwasher, characterized in that... The system is implemented using an integrated processing system for dishware recycling, basket loading, washing, and shelving in a lid-lifting dishwasher as described in any one of claims 1-9, characterized by comprising the following steps: S100: When the tableware to be cleaned is placed into the dirty bowl collection box (1), the first depth camera (2) collects the image data of the tableware to be cleaned in the dirty bowl collection box (1) in real time, generates the corresponding first grasping pose information, and transmits it synchronously to the first robotic arm (3) and the second robotic arm (4). After receiving the first grasping pose information, the first robotic arm (3) and the second robotic arm (4) start working together and, according to the first grasping pose information, pick up the tableware to be cleaned from the dirty bowl collection box (1) and place it into the dishwashing box (6). S200: The second depth camera (7) detects the loading status of the dish rack (6) in real time. When the second depth camera (7) detects that the dish rack (6) has reached the preset loading completion condition and the top-loading dishwasher (8) is in the machine-ready state, the second robotic arm (4) pushes the loaded dish rack (6) from the first loading platform (5) to the machine-ready station of the top-loading dishwasher (8) and closes the lid of the top-loading dishwasher (8). The top-loading dishwasher (8) starts the cleaning operation. S300: After the top-loading dishwasher (8) starts the cleaning operation, the first robotic arm (3) and the second robotic arm (4) continue to receive the first grasping posture information generated by the first depth camera (2), accurately grab the remaining dishes to be cleaned in the dirty dish collection box (1), and neatly place them in the new dish washing box (6). When the top-loading dishwasher (8) completes the current cleaning operation and is in the state of being ready to be put into the machine, the second robotic arm (4) pushes the loaded new dish washing box (6) from the first loading platform (5) to the entry station of the top-loading dishwasher (8), and closes the lid of the top-loading dishwasher (8) to trigger it to start a new round of cleaning operation. S400: After the top-loading dishwasher (8) finishes washing the dishes, the fourth robotic arm (11) extends into the top-loading dishwasher (8) to pull out the dish rack (6) after washing the dishes and place it in the preset position of the second racking table (9). The third depth camera (12) collects image data of the dishes after washing in the dish rack (6) in real time, generates the second grasping pose information, and transmits it to the third robotic arm (10) and the fourth robotic arm (11). S500: The third robotic arm (10) and the fourth robotic arm (11) grip the cleaned tableware in the dishwashing basket (6) according to the second grasping posture information. When the tableware passes through the detection area of ​​the fourth depth camera (13), the fourth depth camera (13) detects the cleanliness of the tableware in real time. If the detection determines that the cleanliness is not qualified, the third robotic arm (10) and the fourth robotic arm (11) place the unqualified tableware in the unqualified dirty bowl collection basket (14). Subsequently, the unqualified tableware in the unqualified dirty bowl collection basket (14) is transferred to the dirty bowl collection basket (1) with manual assistance and re-enters the cleaning process. If the detection determines that the cleanliness is qualified, the tableware is placed in an orderly manner on the first storage platform (15) according to the tableware type. S600: When the third robotic arm (10) and the fourth robotic arm (11) are stacking qualified tableware on the first storage platform (15), they simultaneously record the number of tableware that has been stacked. When the number of tableware recorded reaches the preset threshold, the transfer conditions are met. The third robotic arm (10) and the fourth robotic arm (11) work together to smoothly transfer the neatly stacked qualified tableware on the first storage platform (15) to the preset temporary storage station of the second storage platform (16), thus completing the cross-platform transfer of qualified tableware.

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