Automatic tableware sorting device

Abstract

The utility model relates to the technical field of tableware equipment, and discloses an automatic tableware sorting device which comprises a machine frame provided with a tableware picking mechanism; the tableware conveying belt is arranged on the rack in a penetrating manner and is positioned below the tableware picking mechanism; the visual detection element is arranged at the upstream of the tableware picking mechanism; the tableware storage frame is arranged on one side of the tableware conveying belt; the height detection element is located above the tableware storage frame and used for detecting the height of tableware in the tableware storage frame; the controller is electrically connected with the visual detection element, the tableware picking mechanism and the height detection element and used for controlling the tableware picking mechanism to pick up the tableware and place the tableware at the corresponding position in the tableware storage frame according to the position and shape information, collected by the visual detection element, of the tableware on the tableware conveying belt. And whether the tableware storage frame is full or not is judged according to the tableware height detected by the height detection element. The shape and the position of the tableware are obtained in advance through the visual detection element, and a foundation is laid for subsequent regional placement of the tableware.

Description

Technical Field

[0001] This utility model relates to the field of tableware equipment technology, specifically to an automatic tableware sorting device. Background Technology

[0002] Currently, after being washed by cleaning equipment, tableware still requires manual storage and organization. However, manual storage and organization is inefficient. To overcome the inefficiency caused by manual storage and organization, automated equipment is often used to perform the tableware storage operation.

[0003] While the application of automation equipment in practical operations can improve work efficiency to some extent, it cannot classify tableware as accurately as manual labor. Therefore, improving the accuracy of tableware classification while leveraging automation equipment to enhance work efficiency is crucial. Utility Model Content

[0004] In view of this, the present invention provides an automatic tableware sorting device to solve the problem that existing automatic tableware sorting devices cannot accurately classify tableware during the tableware storage process.

[0005] This utility model provides an automatic tableware sorting device, comprising:

[0006] The frame is equipped with a cutlery picking mechanism;

[0007] A tableware conveyor belt is installed through the frame and located below the tableware picking mechanism;

[0008] A visual detection element is located upstream of the tableware picking mechanism, along the conveying direction of the tableware conveyor belt;

[0009] A cutlery storage box is located on one side of the cutlery conveyor belt;

[0010] A height detection element is located above the cutlery storage frame and is used to detect the height of the cutlery inside the cutlery storage frame;

[0011] The controller is electrically connected to the vision detection element, the cutlery picking mechanism, and the height detection element, respectively. It is used to control the cutlery picking mechanism to pick up the cutlery and place it in the corresponding position in the cutlery storage box according to the position and shape information of the cutlery on the cutlery conveyor belt collected by the vision detection element, and to determine whether the cutlery storage box is full according to the height of the cutlery detected by the height detection element.

[0012] Beneficial Effects: This invention utilizes a visual detection element positioned upstream of the tableware conveyor belt to accurately collect the position and shape information of the tableware on the conveyor belt. Based on this information, the controller can not only control the tableware picking mechanism to accurately pick up tableware, but also control the tableware picking mechanism to stack tableware of the same shape in the same area of ​​the tableware storage box. This not only reduces the damage rate of tableware, but also ensures the accuracy of tableware classification. Furthermore, a height detection element is installed on the frame to continuously monitor the height of the tableware in the tableware storage box. Before the tableware storage box is full, the height detection element sends a signal to the controller that it is not full. The controller continues to control the tableware picking mechanism to pick up and stack tableware. When the tableware storage box is full, the height detection element sends a signal to the controller that the tableware is full, and the controller stops the tableware picking mechanism.

[0013] In one optional embodiment, a drive component is further included that is driven in conjunction with the cutlery storage frame. The drive component is electrically connected to the controller and is used to push out the cutlery storage frame when a signal is received that the cutlery storage frame is full.

[0014] Beneficial effects: When the drive unit receives a signal from the controller that the tableware storage box is full, it can automatically push out the full box, making the entire tableware sorting and storage process more automated and seamless. This reduces manual intervention and improves overall work efficiency.

[0015] In one alternative embodiment, the cutlery picking mechanism includes a three-axis module and picking elements mounted on the three-axis module.

[0016] Beneficial effects: The three-axis module enables the pickup element to move and position precisely in three-dimensional space. Specifically, based on the position and shape information of the tableware on the tableware conveyor belt collected by the vision detection element, it moves accurately above the target tableware through flexible adjustment of the three axes. This ensures that the pickup element can contact the tableware in the best posture and complete the pickup action, greatly improving the accuracy of tableware pickup.

[0017] In one optional embodiment, the three-axis module includes an X-axis robotic arm, a Y-axis robotic arm, and a Z-axis robotic arm arranged perpendicularly to each other. The X-axis robotic arm and the Z-axis robotic arm are perpendicular to the conveying direction of the tableware conveyor belt, and the Y-axis robotic arm is parallel to the conveying direction of the tableware conveyor belt. The picking element is mounted on the Z-axis robotic arm.

[0018] Beneficial effects: The X-axis, Y-axis, and Z-axis robotic arms are arranged perpendicularly in pairs, forming a complete three-dimensional coordinate system. Through the coordinated movement of these three robotic arms, the picking element can reach any position above the tableware conveyor belt, thus achieving comprehensive coverage of the entire working area in three-dimensional space. Furthermore, the X-axis and Z-axis robotic arms are perpendicular to the conveying direction of the tableware conveyor belt, while the Y-axis robotic arm is parallel to the conveying direction. This layout allows for more rational use of space and improves space utilization.

[0019] In one alternative embodiment, the height detection element is located above the central area of ​​the tableware storage frame and is mounted on the Y-axis robotic arm via a mounting bracket.

[0020] Beneficial effects: Placing the height detection element above the center area of ​​the cutlery storage box increases its information collection range, preventing cutlery near the edges from exceeding the preset height. Furthermore, mounting the height detection element on the Y-axis robotic arm allows it to move with the arm, achieving complete coverage of the cutlery storage box.

[0021] In one optional embodiment, the base plate is further included for supporting the tableware storage frame. The upper surface of the base plate is provided with a limiting frame surrounding the tableware storage frame and matching the tableware storage frame. The limiting frame has an opening that corresponds to one side wall of the tableware storage frame.

[0022] Beneficial effects: By setting a limiting frame on the base plate, the adjustment area of ​​the cutlery storage box on the base plate can be reduced, eliminating the need for operators to repeatedly adjust and try the box over a large area, thus effectively reducing the number of steps and time costs in the adjustment process. Secondly, since the limiting frame surrounds the cutlery storage box, it can restrict the movement of the box in the length and width directions of the base plate, ensuring that the box will not shift or deviate after precise positioning. Furthermore, compared to moving the cutlery storage box from the base plate to other locations, the opening in the limiting frame allows the box to be transferred by sliding, saving physical effort and reducing the workload of the operator.

[0023] In one optional embodiment, the limiting frame further includes limiting strips that correspond one-to-one with the other three side walls of the cutlery storage frame; a pair of opposing limiting strips extend at one end of the opening in a direction away from each other to form a flared opening, or a pair of opposing limiting strips are respectively connected to guide strips at one end of the opening, and a pair of guide strips extend in a direction away from each other to form a flared opening.

[0024] Beneficial effects: By setting limiting strips on the other three side walls of the cutlery storage frame, the frame still serves as a guide, allowing for initial positioning of the frame after it is placed inside. Furthermore, the openings and flares provide clear path guidance during installation and removal, eliminating the need for excessive time and effort for precise alignment. Simply push or pull the frame along the directions defined by the guide and limiting strips, greatly improving operational convenience and efficiency.

[0025] In one optional embodiment, the bottom surface of the tableware storage frame is provided with a first magnetic attractor, and the upper surface of the bottom plate is provided with a second magnetic attractor that attracts the first magnetic attractor. The second magnetic attractor is located within the limiting frame.

[0026] Beneficial effects: Since the first and second magnetic components are attracted together by magnetic force, there is no complex mechanical connection between them. Therefore, only a certain external force is needed to easily separate them and complete the handling of the tableware storage frame. Furthermore, compared to using complex mechanical structures for positioning, the method of positioning using the first and second magnetic components is simpler, easier to maintain, and lower in cost. Secondly, since the limiting frame can initially position the tableware storage frame, placing the second magnetic component within the limiting frame enables secondary positioning of the tableware storage frame, ensuring that the tableware storage frame is placed in the preset position on the base plate.

[0027] In one alternative embodiment, the bottom surface of the first magnetic component is flush with the bottom surface of the tableware storage frame, and the upper surface of the second magnetic component is flush with the upper surface of the base plate.

[0028] Beneficial effects: Setting the first and second magnetic components in the above manner prevents height differences between the first magnetic component and the bottom surface of the tableware storage frame, and between the second magnetic component and the upper surface of the base plate. This avoids interference between the first and second magnetic components and other structures during the positioning of the tableware storage frame, thus preventing any impact on their adsorption effect. Simultaneously, it ensures the flatness of the tableware storage frame on the base plate, preventing the frame from tilting during tableware storage.

[0029] In one optional embodiment, both the first magnetic element and the second magnetic element are multiple pairs. The multiple pairs of first magnetic elements are symmetrically arranged about the central axis of the bottom surface of the tableware storage frame, or are centrally symmetrical about the center of the bottom surface of the tableware storage frame. The multiple pairs of second magnetic elements correspond one-to-one with the multiple pairs of first magnetic elements.

[0030] Beneficial effects: Whether using an axially symmetrical or centrally symmetrical arrangement, this design not only ensures the tableware storage frame is evenly stressed in multiple directions but also improves the accuracy of its positioning on the base plate. Furthermore, compared to asymmetrical arrangements of multiple magnetic components, this application ensures that the first magnetic component on the bottom surface of the tableware storage frame quickly and accurately matches the corresponding second magnetic component on the base plate, regardless of whether the tableware storage frame is placed upright or inverted, thereby improving the success rate and stability of positioning. Attached Figure Description

[0031] To more clearly illustrate the specific embodiments of this utility model or the technical solutions in the prior art, the drawings used in the description of the specific embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of this utility model. For those skilled in the art, other drawings can be obtained from these drawings without creative effort.

[0032] Figure 1 This is a schematic diagram of the structure of an automatic tableware sorting device according to an embodiment of the present utility model.

[0033] Explanation of reference numerals in the attached figures:

[0034] 1. Frame; 2. Cutlery picking mechanism; 201. Three-axis module; 2011. X-axis robotic arm; 2012. Y-axis robotic arm; 2013. Z-axis robotic arm; 202. Picking element; 3. Cutlery conveyor belt; 4. Vision inspection element; 5. Cutlery storage box; 6. Height detection element; 601. Mounting bracket; 7. Base plate; 701. Limiting frame. Detailed Implementation

[0035] To make the objectives, technical solutions, and advantages of the embodiments of this utility model clearer, the technical solutions of the embodiments of this utility model will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this utility model, not all embodiments. Based on the embodiments of this utility model, all other embodiments obtained by those skilled in the art without creative effort are within the protection scope of this utility model.

[0036] After the cleaning equipment finishes cleaning the tableware, the subsequent storage and organization of the tableware is usually still done manually. This is because manual operation has limited speed, and workers are prone to fatigue during long hours, which can significantly impact work efficiency.

[0037] To address this issue, automated equipment is typically chosen to improve efficiency. However, when this equipment is actually put into operation, new problems arise. While it demonstrates certain advantages in improving efficiency, it falls significantly short of manual operation in terms of the accuracy of tableware sorting. When manually organizing and tidying tableware, staff can quickly and accurately identify different types based on their experience and observation skills. In contrast, automated equipment often results in tableware confusion during sorting.

[0038] To address this problem, this invention provides an automatic tableware sorting device. This device enables the tableware picking mechanism to accurately pick up tableware while simultaneously placing tableware of the same shape into the same area of ​​the tableware storage frame. This not only reduces the damage rate of tableware but also ensures the accuracy of tableware sorting.

[0039] The following is combined Figure 1 The following describes embodiments of the present invention.

[0040] According to an embodiment of this utility model, an automatic tableware sorting device is provided, such as... Figure 1 As shown, it includes: frame 1, tableware conveyor belt 3, vision inspection element 4, tableware storage box 5, height detection element 6, and controller.

[0041] Specifically, the frame 1 is equipped with a cutlery picking mechanism 2; the cutlery conveyor belt 3 passes through the frame 1 and is located below the cutlery picking mechanism 2; the vision detection element 4 is located upstream of the cutlery picking mechanism 2 along the conveying direction of the cutlery conveyor belt 3; the cutlery storage box 5 is located on one side of the cutlery conveyor belt 3; the height detection element 6 is located above the cutlery storage box 5 and is used to detect the height of the cutlery in the cutlery storage box 5; the controller is electrically connected to the vision detection element 4, the cutlery picking mechanism 2 and the height detection element 6 respectively, and is used to control the cutlery picking mechanism 2 to pick up the cutlery and place it in the corresponding position in the cutlery storage box 5 according to the position and shape information of the cutlery on the cutlery conveyor belt 3 collected by the vision detection element 4, and to determine whether the cutlery storage box 5 is full according to the height of the cutlery detected by the height detection element 6.

[0042] This embodiment utilizes a visual detection element 4 positioned upstream of the tableware conveyor belt 3 to accurately collect the position and shape information of the tableware on the conveyor belt 3. Based on this information, the controller can not only control the tableware picking mechanism 2 to accurately pick up tableware, but also control the tableware picking mechanism 2 to stack tableware of the same shape in the same area of ​​the tableware storage box 5. This not only reduces the damage rate of tableware, but also ensures the accuracy of tableware classification. Furthermore, a height detection element 6 is installed on the frame 1 to continuously detect the height of the tableware in the tableware storage box 5. Before the tableware storage box 5 is full, the height detection element 6 sends a signal to the controller that it is not full in real time. The controller continues to control the tableware picking mechanism 2 to pick up and stack tableware. When the tableware storage box 5 is full, the height detection element 6 sends a signal to the controller that the tableware is full, and the controller controls the tableware picking mechanism 2 to stop working.

[0043] Generally, the upstream equipment of the automatic tableware sorting device is a tableware cleaning device. After being cleaned by the tableware cleaning device, various tableware items are conveyed to the end of the tableware conveyor belt 3 of the automatic tableware sorting device, which is equipped with a vision detection element 4. Subsequently, in conjunction with other mechanisms within the automatic tableware sorting device, the tableware is sorted and stored. Specifically, the tableware sorting and storage process is as follows:

[0044] Along the conveying direction of the cutlery conveyor belt 3, cutlery is continuously transported. During this process, the vision detection element 4, located upstream of the cutlery picking mechanism 2, continuously acquires the position and shape information of the cutlery and promptly uploads this information to the controller. When the cutlery with recorded information is transported by the cutlery conveyor belt 3 to the area below the cutlery picking mechanism 2, the controller promptly controls the cutlery picking mechanism 2 to pick up the corresponding cutlery from the cutlery conveyor belt 3 and then places it at its relative position within the cutlery storage box 5. During this process, the height detection element 6 located on the frame 1 constantly monitors the height of the cutlery within the cutlery storage box 5. When the height detection element 6 detects that the height of the cutlery within the cutlery storage box 5 has reached the preset height, it promptly feeds this information back to the controller, which then controls the cutlery picking mechanism 2 to stop working. At this point, the cutlery storage box 5 can be removed.

[0045] Furthermore, since the tableware conveyor belt 3 transports multiple different types of tableware simultaneously, during the sorting and storage process, the controller will control the tableware picking mechanism 2 to place different tableware in designated areas based on the information collected by the vision detection element 4. Therefore, the height detection element 6 in this embodiment can also detect the height of tableware in different areas within the tableware storage box 5. Specifically, when the height of tableware in a certain area reaches a preset height, the controller will control the tableware picking mechanism 2 to stop picking up the tableware corresponding to that area and instead pick up tableware from other areas that are not yet full.

[0046] Understandably, the cutlery picking mechanism 2 requires a certain amount of time to complete one round of cutlery picking and placing. Therefore, if the cutlery conveyor belt 3 operates continuously, the cutlery picking mechanism 2 may not be able to transfer all the cutlery from the conveyor belt 3 to the cutlery storage box 5 in time. Therefore, when the cutlery moves from upstream to below the cutlery picking mechanism 2, the cutlery conveyor belt 3 needs to temporarily stop conveying the cutlery in order to transfer all the cutlery from the conveyor belt 3 to the cutlery storage box 5.

[0047] For example, a position detection sensor is also provided on the frame 1. Specifically, when the position detection sensor detects that the tableware for which the information is being collected has moved below the tableware picking mechanism 2, the controller will control the tableware conveyor belt 3 to stop working.

[0048] It is understandable that the distance between the visual detection element 4 and the cutlery picking mechanism 2 is fixed. Therefore, the working time of the cutlery conveyor belt 3 can be controlled according to the conveying speed of the cutlery conveyor belt 3 to ensure that the cutlery conveyor belt 3 can stop moving when the cutlery to be collected moves to below the cutlery picking mechanism 2.

[0049] It should be noted that the visual detection element 4 in this embodiment can be, but is not limited to, a visual camera, as long as it can accurately collect the position and shape information of the tableware. This invention does not impose specific limitations on this. Similarly, the height detection element 6 can be, but is not limited to, a height detection sensor.

[0050] According to one embodiment of this utility model, a driving component is further included, which is in transmission cooperation with the cutlery storage frame 5. The driving component is electrically connected to the controller and is used to push out the cutlery storage frame 5 when it receives a signal that the cutlery storage frame 5 is full. When the driving component receives the signal from the controller that the cutlery storage frame 5 is full, it can automatically push out the storage frame full of cutlery, making the entire cutlery sorting and storage process more automated and seamless. This reduces manual intervention and improves overall work efficiency.

[0051] It should be noted that the driving component in this embodiment may be, but is not limited to, a telescopic cylinder, a telescopic hydraulic cylinder, and a linear motor. For example, the fixed end of the telescopic cylinder is mounted on the frame 1, and the telescopic end of the telescopic cylinder is connected to the tableware storage frame 5 via a transmission component.

[0052] According to one embodiment of the present invention, such as Figure 1 As shown, the cutlery picking mechanism 2 includes a three-axis module 201 and a picking element 202 mounted on the three-axis module 201. The three-axis module 201 enables the picking element 202 to achieve precise movement and positioning in three-dimensional space. Specifically, based on the specific position and shape information of the cutlery on the cutlery conveyor belt 3 collected by the vision detection element 4, the mechanism moves accurately above the target cutlery through flexible adjustment along three axes, thereby ensuring that the picking element 202 can contact the cutlery in the best posture and complete the picking action, greatly improving the accuracy of picking up cutlery.

[0053] Specifically, the picking element 202 can be a suction cup or a gripper. The suction cup uses the principle of negative pressure adsorption to pick up the tableware. Therefore, when the suction cup adheres to the surface of the tableware, it generates a sufficient adsorption force to overcome the tableware's own weight. As can be seen, compared to grippers, suction cups do not require the preparation of various types of grippers in advance to adapt to the shape of the tableware, thus effectively reducing initial procurement costs. Furthermore, suction cups are generally made of rubber, so they generally do not damage the tableware during the picking process. Understandably, to prevent grippers from damaging the tableware, rubber structures can be incorporated into the grippers. This not only prevents damage from the grippers but also increases the friction between the grippers and the tableware, reducing the possibility of the tableware falling.

[0054] According to one embodiment of the present invention, such as Figure 1 As shown, the three-axis module 201 includes X-axis robotic arms 2011, Y-axis robotic arms 2012, and Z-axis robotic arms 2013 arranged perpendicularly in pairs. A pickup element 202 is mounted on one of these three robotic arms. It can be understood that the X-axis, Y-axis, and Z-axis robotic arms, arranged perpendicularly in pairs, constitute a complete three-dimensional coordinate system. Through the coordinated movement of these three robotic arms, the pickup element 202 can reach any position above the tableware conveyor belt 3, thereby achieving comprehensive coverage of the entire working area in three-dimensional space.

[0055] According to one embodiment of this utility model, the X-axis robotic arm 2011 and the Z-axis robotic arm 2013 are perpendicular to the conveying direction of the tableware conveyor belt 3, and the Y-axis robotic arm 2012 is parallel to the conveying direction of the tableware conveyor belt 3. The picking element 202 is mounted on the Z-axis robotic arm 2013. The X-axis and Z-axis robotic arms are perpendicular to the conveying direction of the tableware conveyor belt 3, and the Y-axis robotic arm is parallel to the conveying direction. This layout allows for more rational use of space and improves space utilization.

[0056] According to one embodiment of the present invention, a height detection element 6 is disposed above the central area of ​​the cutlery storage frame 5 and mounted on the Y-axis robotic arm 2012 via a mounting bracket 601. Distributing the height detection element 6 above the central area of ​​the cutlery storage frame 5 increases the information collection range of the height detection element 6 over the cutlery storage frame 5, preventing cutlery heights near the edges from exceeding a preset height. Furthermore, mounting the height detection element 6 on the Y-axis robotic arm 2012 allows the height detection element 6 to move with the Y-axis robotic arm 2012, thereby achieving complete coverage of the cutlery storage frame 5. According to one embodiment of the present invention, as... Figure 1 As shown, the system also includes a base plate 7 for supporting the cutlery storage frame 5. The upper surface of the base plate 7 is provided with a limiting frame 701 that surrounds and matches the cutlery storage frame 5. The limiting frame 701 has an opening that corresponds to one side wall of the cutlery storage frame 5. By setting the limiting frame 701 on the base plate 7, the adjustment area of ​​the cutlery storage frame 5 on the base plate 7 can be reduced, eliminating the need for operators to repeatedly adjust and experiment with the cutlery storage frame 5 over a large area, thus effectively reducing the operational steps and time costs during the adjustment process. Secondly, since the limiting frame 701 surrounds the cutlery storage frame 5, it can restrict the movement of the cutlery storage frame 5 in the length and width directions of the base plate 7, thereby ensuring that the cutlery storage frame 5 will not shift or deviate after precise positioning. In addition, compared to moving the cutlery storage box 5 from the base plate 7 to other locations, by setting an opening on the limiting frame 701, the cutlery storage box 5 can be transferred by sliding, which can save physical strength and reduce the labor intensity of operators.

[0057] According to one embodiment of this utility model, the limiting frame 701 further includes limiting strips corresponding to the other three side walls of the cutlery storage frame 5; a pair of opposing limiting strips extend from one end of the opening in a direction away from each other to form a flared opening, or a pair of opposing limiting strips are respectively connected to guide strips at one end of the opening, and a pair of guide strips extend in a direction away from each other to form a flared opening. By setting limiting strips on the other three side walls of the cutlery storage frame 5, the limiting frame 701 can still serve a guiding function. After the cutlery storage frame 5 is placed into the limiting frame 701, the initial positioning of the cutlery storage frame 5 can be completed. In addition, through the opening and flared opening, the cutlery storage frame 5 has a clear path guide during installation or removal, so there is no need to spend too much time and effort on precise alignment. It is only necessary to push or pull out the cutlery storage frame 5 along the direction determined by the guide strips and limiting strips, which greatly improves the convenience and efficiency of operation.

[0058] According to one embodiment of this utility model, the bottom surface of the cutlery storage frame 5 is provided with a first magnetic attractor, and the upper surface of the base plate 7 is provided with a second magnetic attractor that attracts the first magnetic attractor. The second magnetic attractor is located within the limiting frame 701. Since the first magnetic attractor and the second magnetic attractor are attracted together by magnetic force, there is no complex mechanical connection between them. Therefore, only a certain external force needs to be applied to easily separate them and complete the handling operation of the cutlery storage frame 5. In addition, compared with using a complex mechanical structure for positioning, the method of positioning using the first magnetic attractor and the second magnetic attractor is simple in structure, easy to maintain, and lower in cost. Secondly, since the limiting frame 701 can perform initial positioning of the cutlery storage frame 5, placing the second magnetic attractor within the limiting frame 701 can achieve secondary positioning of the cutlery storage frame 5, thereby ensuring that the cutlery storage frame 5 is placed at the preset position on the base plate 7.

[0059] According to one embodiment of this utility model, the bottom surface of the first magnetic suction member is flush with the bottom surface of the tableware storage frame 5, and the upper surface of the second magnetic suction member is flush with the upper surface of the base plate 7. By arranging the first and second magnetic suction members in this manner, a height difference can be prevented between the first magnetic suction member and the bottom surface of the tableware storage frame 5, and between the second magnetic suction member and the upper surface of the base plate 7. This avoids interference between the first and second magnetic suction members and other structures during the positioning of the tableware storage frame 5, thus preventing any impact on the adsorption effect between them. Simultaneously, it also ensures the flatness of the tableware storage frame 5 on the base plate 7, preventing the tableware storage frame 5 from tilting during tableware storage.

[0060] According to one embodiment of this utility model, there are multiple pairs of first and second magnetic components. The multiple pairs of first magnetic components are symmetrically arranged about the central axis of the bottom surface of the cutlery storage frame 5, or centrally symmetrically arranged about the center of the bottom surface of the cutlery storage frame 5. The multiple pairs of second magnetic components correspond one-to-one with the multiple pairs of first magnetic components. Whether using axial symmetry or central symmetry, this not only allows the cutlery storage frame to be evenly stressed in multiple directions, but also improves the accuracy of the cutlery storage frame's positioning on the base plate. Furthermore, compared to the asymmetrical arrangement of the multiple magnetic components, regardless of whether the cutlery storage frame is placed upright or in reverse, the first magnetic component on the bottom surface of the cutlery storage frame can quickly and accurately match the corresponding second magnetic component on the base plate, thereby improving the success rate and stability of positioning.

[0061] Although embodiments of the present invention have been described in conjunction with the accompanying drawings, those skilled in the art can make various modifications and variations without departing from the spirit and scope of the present invention, and such modifications and variations all fall within the scope defined by the appended claims.

Claims

1. An automatic tableware sorting device, characterized in that, include: The frame (1) is equipped with a cutlery picking mechanism (2); A tableware conveyor belt (3) is installed through the frame (1) and located below the tableware picking mechanism (2); The visual detection element (4) is located upstream of the tableware picking mechanism (2) along the conveying direction of the tableware conveyor belt (3); A tableware storage box (5) is provided on one side of the tableware conveyor belt (3); A height detection element (6) is located above the cutlery storage frame (5) and is used to detect the height of the cutlery inside the cutlery storage frame (5); The controller is electrically connected to the vision detection element (4), the tableware picking mechanism (2) and the height detection element (6) respectively. It is used to control the tableware picking mechanism (2) to pick up the tableware and place it in the corresponding position in the tableware storage box (5) according to the position and shape information of the tableware on the tableware conveyor belt (3) collected by the vision detection element (4), and to determine whether the tableware storage box (5) is full according to the height of the tableware detected by the height detection element (6).

2. The automatic tableware sorting device according to claim 1, characterized in that, It also includes a drive component that is in transmission cooperation with the cutlery storage box (5), the drive component being electrically connected to the controller, and used to push out the cutlery storage box (5) when a signal is received that the cutlery storage box (5) is full.

3. The automatic tableware sorting device according to claim 1, characterized in that, The cutlery picking mechanism (2) includes a three-axis module (201) and a picking element (202) mounted on the three-axis module (201).

4. The automatic tableware sorting device according to claim 3, characterized in that, The three-axis module (201) includes two X-axis robotic arms (2011), a Y-axis robotic arm (2012), and a Z-axis robotic arm (2013) arranged perpendicularly to each other. The X-axis robotic arm (2011) and the Z-axis robotic arm (2013) are perpendicular to the conveying direction of the tableware conveyor belt (3), and the Y-axis robotic arm (2012) is parallel to the conveying direction of the tableware conveyor belt (3). The picking element (202) is mounted on the Z-axis robotic arm (2013).

5. The automatic tableware sorting device according to claim 4, characterized in that, The height detection element (6) is located above the central area of ​​the tableware storage box (5) and is mounted on the Y-axis robotic arm (2012) via a mounting bracket (601).

6. The automatic tableware sorting device according to any one of claims 1 to 5, characterized in that, It also includes a base plate (7) for supporting the tableware storage frame (5). The upper surface of the base plate (7) is provided with a limiting frame (701) that surrounds the tableware storage frame (5) and matches the tableware storage frame (5). The limiting frame (701) has an opening that corresponds to one side wall of the tableware storage frame (5).

7. The automatic tableware sorting device according to claim 6, characterized in that, The limiting frame (701) also includes limiting strips that correspond one-to-one with the other three side walls of the tableware storage frame (5); a pair of opposing limiting strips are located at one end of the opening and extend in a direction away from each other to form an flared opening, or a pair of opposing limiting strips are located at one end of the opening and are respectively connected to guide strips, and a pair of guide strips extend in a direction away from each other to form an flared opening.

8. The automatic tableware sorting device according to claim 6, characterized in that, The bottom surface of the tableware storage frame (5) is provided with a first magnetic suction component, and the upper surface of the base plate (7) is provided with a second magnetic suction component that is attracted to the first magnetic suction component. The second magnetic suction component is located inside the limiting frame (701).

9. The automatic tableware sorting device according to claim 8, characterized in that, The bottom surface of the first magnetic component is flush with the bottom surface of the tableware storage frame (5), and the upper surface of the second magnetic component is flush with the upper surface of the base plate (7).

10. The automatic tableware sorting device according to claim 8, characterized in that, Both the first magnetic component and the second magnetic component are multiple pairs. The multiple pairs of first magnetic components are symmetrically arranged about the central axis of the bottom surface of the tableware storage frame (5), or are centrally symmetrical about the center of the bottom surface of the tableware storage frame (5). The multiple pairs of second magnetic components are arranged in one-to-one correspondence with the multiple pairs of first magnetic components.

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