Multifunctional matrix type package point sorting system

Abstract

The utility model discloses a multifunctional matrix type package point sorting system, which belongs to the field of unmanned automatic vending machines and comprises a matrix type goods shelf, a roadway robot and a parallel robot. The matrix type container comprises freezers and steaming cabinets, and trays are arranged in the freezers and the steaming cabinets. The freezer and the steam cabinet are arranged in the moving path range of the roadway robot, and the roadway robot is used for transferring the trays. The parallel robot is used for grabbing materials in the tray. According to the fresh-keeping, steaming and sorting device, the trays containing the steamed stuffed buns in the freezer are transferred into the steaming cabinet through the roadway robot to be heated and processed, the trays containing the steamed stuffed buns in the steaming cabinet are taken out through the roadway robot, then the steamed stuffed buns on the trays are sorted through the parallel robot, automation of fresh-keeping, steaming and sorting work of the green steamed stuffed buns can be achieved, and the working efficiency is improved. And human intervention is not needed. The automatic processing and sorting system saves manual labor, so that the package point selling efficiency is greatly improved.

Description

Technical Field

[0001] The utility model belongs to the field of unmanned vending machines, and specifically relates to a multi-functional matrix-type bun sorting system. Background Art

[0002] Traditional bun processing technologies are independent of each other. From the loading, preservation, proofing, steaming to the sale of buns, all need to be completed by manual operation. This not only has low labor efficiency and a lot of repetitive labor, but also has potential food hygiene and safety hazards. With the progress of technology and the acceleration of people's living rhythm, vending machines have been widely used globally. From the earliest beverage vending machines to today's multi-functional and multi-category vending machines, the continuous innovation of technology has promoted the development of the vending industry. As a traditional Asian food, buns have become an emerging category in the vending machine market due to their convenience, deliciousness and diversity. Therefore, the bun vending machine is the future development direction to replace manual bun sales in street shops, roadside stores and community entrances.

[0003] The technical core of the bun vending machine mainly lies in the raw embryo refrigeration and preservation technology, the steam heating system and the intelligent control system. To ensure the freshness of buns, the buns put into the machine need to be raw embryos, and the machine needs to be equipped with a refrigeration system to keep the buns stored at the optimal temperature through constant temperature control. Before consumers choose to buy buns, the machine will automatically move the whole tray of raw embryo buns stored in the refrigerator to the steamer for steaming. After the buns in the steamer are steamed as a whole, the machine will automatically keep them warm waiting for sale. The control system needs to transfer the buns in each functional area, and finally the goods are taken away by the user. However, the current automation degree of the bun vending machine is not high enough, and many processes still need to be manually operated, which cannot meet the intelligent requirements. Content of the Utility Model

[0004] The purpose of the utility model is to provide a multi-functional matrix-type bun sorting system to solve the problems mentioned in the above-mentioned prior art.

[0005] Provide a multi-functional matrix-type bun sorting system, including:

[0006] A matrix-type shelf, which includes a freezer and a steamer. Trays are arranged in the freezer and the steamer. When loading, the staff will manually put the trays filled with raw embryo buns into the freezer layer by layer;

[0007] An aisle robot, the freezer and the steamer are respectively arranged within the moving path range of the aisle robot, and the aisle robot is used to transfer the trays;

[0008] A parallel robot, which is used to grab the materials in the tray.

[0009] Furthermore, it also includes a lifting mechanism, which is located within the grasping range of the parallel robot. The lane robot takes the tray containing the buns out of the steaming cabinet and temporarily stores it on the lifting mechanism, so that the parallel robot can sort the buns.

[0010] Furthermore, the lifting mechanism includes a lifting frame and an actuator, and the lifting frame is fixedly connected to the output end of the actuator. After the tray is placed on the lifting frame, the lifting frame can be raised and lowered by the actuator, thereby adjusting the height of the tray to match the height of the parallel robot, so as to facilitate the parallel robot to sort the packages.

[0011] Furthermore, the lane robot includes a driving rail, a column rail and a bidirectional fork, wherein the column rail is driven on the driving rail, and the bidirectional fork is driven on the column rail. The driving rail drives the column rail to move, and the position of the bidirectional fork relative to the matrix shelf in the horizontal direction can be adjusted; the column rail drives the bidirectional fork to move, and the position of the bidirectional fork relative to the matrix shelf in the vertical direction can be adjusted. The bidirectional fork is used to extend into the freezer or steamer to take out the pallet.

[0012] Furthermore, the bidirectional fork comprises a base rail and a transmission arm, wherein the base rail is driven on the column rail, and the transmission arm is driven on the base rail. The base rail can drive the transmission arm to move in the direction of the rail, thereby realizing the action of extending the transmission arm into or out of the matrix container, and then taking the pallet out of the matrix container.

[0013] Furthermore, the parallel robot includes a driving component, a mechanical arm and a mechanical gripper, and the mechanical gripper and the driving component are connected through the mechanical arm. The driving component is used to drive the mechanical arm to move and adjust the posture, and the mechanical arm then drives the mechanical gripper to align with the point where the package is to be picked up, so that the mechanical gripper can grab and sort.

[0014] Furthermore, the driving assembly is provided with two, the mechanical arm comprises two active arms and two driven arms, the output ends of the two driving assemblies are respectively fixedly connected to one end of the two active arms, the other ends of the two active arms are respectively hinged to one end of the two driven arms, and the other ends of the two driven arms are respectively hinged to the mechanical gripper. The angle between the two active arms and the two driven arms can be adjusted by the driving assembly to control the position of the mechanical gripper.

[0015] Furthermore, the refrigerator and steamer are provided with a plurality of cabinet doors and a plurality of drive motors on the side opposite to the lane robot, and a rotating shaft is provided on one side of the cabinet door, and the rotating shaft is fixedly connected to the output end of the drive motor. The drive motor drives the rotating shaft to rotate, thereby driving the cabinet door to rotate, so as to realize automatic opening and closing of the cabinet door.

[0016] Compared with the prior art, the beneficial effects of the present utility model are as follows:

[0017] In this application, the roadway robot transfers the tray containing the buns in the freezer to the steamer for heating and processing, and then takes out the tray containing the buns in the steamer. Then, the parallel robot sorts the buns on the tray, which can realize the automation of bun freshness preservation, steaming, and sorting without manual intervention. The automated processing and sorting system saves labor and greatly improves the selling efficiency of buns. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] In order to more clearly illustrate the technical solutions in the embodiments of the present drawings or the prior art, the following will briefly introduce the drawings required for use in the description of the embodiments or the prior art. Obviously, the following-described drawings are only some embodiments of the present drawings. For those of ordinary skill in the art, without creative efforts, other drawings can be obtained based on the structures shown in these drawings.

[0019] Figure 1 It is a schematic diagram of the overall structure of a multifunctional matrix bun sorting system;

[0020] Figure 2 It is a schematic diagram of the structure of the roadway robot provided by the present utility model;

[0021] Figure 3 It is a schematic diagram of the structure of the parallel robot provided by the present utility model;

[0022] Figure 4 It is a partial structure schematic diagram A of the sorting system;

[0023] Figure 5 It is a partial structure schematic diagram B of the sorting system.

[0024] In the figure: 1, matrix shelf; 11, freezer; 12, steamer; 13, tray; 14, cabinet door; 141, rotating shaft; 15, driving motor; 2, roadway robot; 21, driving guide rail; 22, column guide rail; 23, bidirectional forklift; 231, base guide rail; 232, transmission arm; 3, parallel robot; 31, driving component; 32, robotic arm; 321, active arm; 322, driven arm; 33, robotic gripper; 4, lifting mechanism; 41, lifting frame; 42, actuator. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0025] In order to make the objectives, technical solutions and advantages of the present application clearer and more understandable, the present application will be described and explained below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present application and are not used to limit the present application. Based on the embodiments provided by the present application, all other embodiments obtained by those of ordinary skill in the art without creative efforts belong to the scope of protection of the present application.

[0026] Obviously, the accompanying drawings in the following description are only some examples or embodiments of the present application. For those of ordinary skill in the art, without creative efforts, the present application can also be applied to other similar scenarios based on these drawings. In addition, it can also be understood that although the efforts made in such a development process may be complex and lengthy, for those of ordinary skill in the art related to the content disclosed in the present application, some design, manufacturing or production changes based on the technical content disclosed in the present application are only conventional technical means and should not be understood as the content disclosed in the present application being insufficient.

[0027] However, there will be cases where unnecessary detailed descriptions are omitted. For example, there are cases where detailed descriptions of well-known matters are omitted and repeated descriptions of actually identical structures are omitted. This is to avoid the following description becoming unnecessarily lengthy and to facilitate the understanding of those skilled in the art. In addition, the accompanying drawings and the following description are provided for those skilled in the art to fully understand the present application and are not intended to limit the subject matter recited in the claims.

[0028] Please refer to Figure 1 As shown, in an embodiment of the present utility model, a multi-functional matrix-type bun sorting system includes a matrix-type shelf 1, an aisle robot 2 and a parallel robot 3. The matrix-type shelf 1 includes a freezer 11 and a steam cabinet 12, and trays 13 are arranged in the freezer 11 and the steam cabinet 12. The freezer 11 and the steam cabinet 12 are respectively arranged within the moving path range of the aisle robot 2, and the aisle robot 2 is used to transfer the trays 13. The parallel robot 3 is used to grab the materials in the trays 13.

[0029] The freezer 11 adjusts the internal temperature through a refrigeration system, is used to store raw bun embryos, and keep the raw bun embryos fresh. On one side of the freezer 11 opposite to the aisle robot 2, there are cabinet doors 14 arranged in a matrix for the aisle robot 2 to extract the trays 13 inside the cabinet body. And on the side of the freezer 11 facing away from the aisle robot 2, there is also a door body for the staff to open to load the buns in the freezer 11. The sorting system can have two layout forms. One is with the aisle robot 2 as the boundary, and the freezer 11 and the steam cabinet 12 are respectively located on both sides of the aisle robot 2 and arranged opposite to each other; the other is that the freezer 11 and the steam cabinet 12 are both located on one side of the aisle robot 2.

[0030] Please refer to Figure 1 and Figure 5 As shown, the sorting system further includes a lifting mechanism 4. After the roadway robot 2 takes out the tray 13 filled with raw dim sum packages from the freezer 11, it pushes the tray 13 into the steaming cabinet 12 for steam steaming inside the steaming cabinet 12. Then, the roadway robot 2 takes out the steamed tray 13 from the steaming cabinet 12 and places it on the lifting mechanism 4. The lifting mechanism 4 is used to temporarily place the tray 13 to release the roadway robot 2 so that it can perform other tasks, while the parallel robot 3 sorts the dim sum on the tray 13 of the lifting mechanism 4. The parallel robot 3 is arranged at the top of the sorting system, and the lifting mechanism 4 is arranged at the top of the freezer 11 or the steaming cabinet 12, providing sufficient operating space for the parallel robot 3.

[0031] Specifically, the lifting mechanism 4 includes a lifting frame 41 and an actuator 42. The lifting frame 41 is fixedly connected to the output end of the actuator 42. After the roadway robot 2 holds the tray 13, it inserts the tray 13 into the lifting frame 41. The lifting frame 41 has a structure with a through bottom and card slots on both sides. After the tray 13 is located at the top of the lifting frame 41, the actuator 42 drives the lifting frame 41 to rise, and the tray 13 falls into the card slots of the lifting frame 41 and rises together with the lifting frame 41, while the roadway robot 2 disengages from the lifting frame 41 through the through hole at the bottom of the lifting frame 41. The lifting frame 41 drives the tray 13 to rise to a predetermined position, facilitating the parallel robot 3 to sort the dim sum in the tray 13.

[0032] Please refer to Figure 1 and Figure 2 As shown, the roadway robot 2 includes a driving guide rail 21, a column guide rail 22, and a two-way forklift 23. The driving guide rail 21 can drive the column guide rail 22 to move along the track, and is used to move the column guide rail 22 to the position of the tray 13 to be taken on the horizontal direction. The column guide rail 22 can drive the two-way forklift 23 to lift and lower, and is used to move the two-way forklift 23 to the position of the tray 13 to be taken on the vertical direction for precise positioning of the two-way forklift 23.

[0033] Specifically, the two-way forklift 23 includes a base guide rail 231 and a transmission arm 232. The base guide rail 231 cooperates with the column guide rail 22, and the column guide rail 22 drives the base guide rail 231 to move in the vertical direction. The base guide rail 231 can drive the transmission arm 232 to move along the track. When the transmission arm 232 is located at the position of the cabinet door 14 to be taken, the base guide rail 231 drives the transmission arm 232 to extend into the bottom of the tray 13. The column guide rail 22 drives the base guide rail 231 to rise a certain distance, and the transmission arm 232 lifts the tray 13 to disengage the tray 13 from the inner frame of the cabinet door 14. Then, the base guide rail 231 drives the transmission arm 232 to retract until the tray 13 is completely withdrawn from the cabinet door 14.

[0034] When the freezer 11 and the steamer 12 are located on both sides of the lane robot 2 and arranged opposite to each other, the tracks of the base rail 231 extend to the freezer 11 and the steamer 12 on both sides, respectively, so as to realize bidirectional picking and receiving. When the freezer 11 and the steamer 12 are both located on one side of the lane robot 2, the base rail 231 can only extend on this side. Therefore, the structure of the bidirectional fork 23 can realize the pallet 13 picking work under different arrangements of the freezer 11 and the steamer 12.

[0035] See also Figure 1 and Figure 3 As shown, the parallel robot 3 includes a driving assembly 31, a mechanical arm 32 and a mechanical gripper 33, and the mechanical gripper 33 is connected to the driving assembly 31 through the mechanical arm 32. The driving assembly 31 drives the mechanical arm 32 to complete steering, positioning and other actions, aligns the mechanical gripper 33 with the bag on the tray 13, and grabs the bag for sorting through the mechanical gripper 33.

[0036] The driving components 31 are provided with two, specifically motors, and the mechanical arm 32 includes two active arms 321 and two driven arms 322. The output ends of the two driving components 31 are respectively fixedly connected to one end of the two active arms 321, and the other ends of the two active arms 321 are respectively hinged to one end of the two driven arms 322, and the other ends of the two driven arms 322 are respectively hinged to the mechanical gripper 33. When the two driving components 31 drive the two active arms 321 to rotate at different speeds and different angles, the two active arms 321 respectively drive the two driven arms 322 to complete the rotation at different angles, so that the entire mechanical arm 32 can drive the mechanical gripper 33 to have a coverage range of each package point on the plane of the tray 13.

[0037] See also Figure 1 and Figure 4 As shown, a plurality of drive motors 15 are further provided on the side of the freezer 11 and the steamer 12 relative to the lane robot 2, and a rotating shaft 141 is provided on one side of the cabinet door 14, and the rotating shaft 141 is fixedly connected to the output end of the drive motor 15. The drive motor 15 is fixed on the cabinet body of the freezer 11 and the steamer 12. When the drive motor 15 drives the rotating shaft 141 to rotate, it simultaneously drives the cabinet door 14 to rotate around the rotating shaft 141, so as to realize the automatic opening and closing of the cabinet door 14 under the control of the control system. When the lane robot 2 performs the work of taking and storing the tray 13 for a specific cabinet door 14, the cabinet door 14 can be opened and closed automatically.

[0038] It should be noted that this application is not limited to the above-described embodiments. The above-described embodiments are merely examples, and embodiments having the same constitution as the technical idea and exhibiting the same effects within the scope of the technical solution of this application are all included in the technical scope of this application. In addition, within the scope of not departing from the gist of this application, various modifications that can be conceived by those skilled in the art to the embodiments, and other ways constructed by combining some constituent elements in the embodiments are also included in the scope of this application.

Claims

1. A multifunctional matrix-style bun sorting system, characterized in that, include: A matrix shelf (1) comprises a freezer (11) and a steamer (12), wherein the freezer (11) and the steamer (12) are provided with a tray (13); A tunnel robot (2), wherein the freezer (11) and the steamer (12) are respectively arranged within the moving path range of the tunnel robot (2), and the tunnel robot (2) is used to transfer the tray (13); A parallel robot (3), wherein the parallel robot (3) is used to grab materials in a tray (13).

2. The multifunctional matrix-style bun and pastry sorting system according to claim 1, wherein, It also includes a lifting mechanism (4), which is located within the grasping range of the parallel robot (3).

3. A multifunctional matrix-style bun and dim sum sorting system according to claim 2, characterized in that The lifting mechanism (4) comprises a lifting frame (41) and an actuator (42), and the lifting frame (41) is fixedly connected to the output end of the actuator (42).

4. A multifunctional matrix-style bun and dim sum sorting system according to claim 1, characterized in that, The lane robot (2) comprises a driving guide rail (21), a column guide rail (22) and a bidirectional fork (23); the column guide rail (22) is driven on the driving guide rail (21), and the bidirectional fork (23) is driven on the column guide rail (22).

5. A multifunctional matrix type bun and pastry sorting system according to claim 4, characterized in that, The bidirectional fork (23) comprises a base rail (231) and a transmission arm (232); the base rail (231) is driven on the column rail (22); and the transmission arm (232) is driven on the base rail (231).

6. A multi-functional matrix-style bun and dim sum sorting system according to claim 1, characterized in that, The parallel robot (3) comprises a driving assembly (31), a mechanical arm (32) and a mechanical gripper (33), and the mechanical gripper (33) is connected to the driving assembly (31) through the mechanical arm (32).

7. A multifunctional matrix type bun and dim sum sorting system according to claim 6, wherein The drive components (31) are provided with two, and the mechanical arm (32) comprises two active arms (321) and two driven arms (322), the output ends of the two drive components (31) are respectively fixedly connected to one end of the two active arms (321), the other ends of the two active arms (321) are respectively hinged to one end of the two driven arms (322), and the other ends of the two driven arms (322) are respectively hinged to the mechanical gripper (33).

8. A multifunctional matrix-style bun sorting system according to claim 1, wherein, A plurality of cabinet doors (14) and a plurality of drive motors (15) are provided on the side of the freezer (11) and the steamer (12) facing the lane robot (2); a rotating shaft (141) is provided on one side of the cabinet door (14); and the rotating shaft (141) is fixedly connected to the output end of the drive motor (15).

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