CN110718024A

CN110718024A - Full-automatic sausage roasting device, vending machine and vending method

Info

Publication number: CN110718024A
Application number: CN201910960294.5A
Authority: CN
Inventors: 符小芸; 俞国华; 陆宇
Original assignee: Shanxi Chengou Intelligent Equipment Co Ltd
Current assignee: Beijing Chengou Technology Co.,Ltd.
Priority date: 2019-10-10
Filing date: 2019-10-10
Publication date: 2020-01-21

Abstract

The embodiment of the invention discloses a full-automatic sausage roasting device, a vending machine and a vending method, and relates to the technical field of automatic vending machines. Compared with the prior art, the vending machine realizes greater improvement in consumption experience, food safety and operation efficiency, and is more suitable for the use scene of the unmanned vending machine.

Description

Full-automatic sausage roasting device, vending machine and vending method

Technical Field

The embodiment of the invention relates to the technical field of automatic vending machines, in particular to a full-automatic sausage roasting device, a vending machine and a vending method.

Background

With the continuous maturity of the automatic selling technology, more and more commodities enter the purchasing scene of a consumer through the automatic selling machine, the automatic sausage selling machine not only can reduce the manpower occupation, but also can realize all-weather selling, the selling cost is reduced, the operation efficiency is improved, the basic principle of the existing sausage selling machine is that a mechanical arm takes out and transfers a sausage with a string of sausage labels from a low-temperature chamber to a baking chamber, after the sausage is baked to be mature, the mechanical arm transfers the sausage to a delivery device, although the automatic sausage selling is realized, the manual string of labels is needed, and the labels pass through two ends of the sausage, so that the speed of supplementing the sausage is reduced, the labels are easy to be accidentally injured, the sausage can not turn over during baking, and can not be heated evenly, meanwhile, the labels are also heated, if the sausage is directly delivered, the consumer can be easily scalded, in addition, the sausage can generate oil stain during heating, therefore, the heating mechanism in direct contact with the roast sausage needs to be cleaned frequently to prevent food contamination, and thus, although the existing roast sausage vending machine realizes the automatic roasting of the roast sausage, the existing roast sausage vending machine still has technical defects in the aspects of considering consumption experience, food safety and operation efficiency, and has a larger technical optimization space.

Disclosure of Invention

Therefore, the embodiment of the invention provides a full-automatic sausage roasting device, a vending machine and a vending method, and aims to solve the problems of low working efficiency, low safety, low automation degree and poor user experience of the conventional sausage roasting machine.

In order to achieve the above object, an embodiment of the present invention provides a full-automatic sausage roasting apparatus, including:

a substrate for providing a mounting base;

the storage device is used for keeping and storing the raw roasted sausages;

the mechanical arm device is arranged on the upper portion of the base plate and located below the storage device, the mechanical arm device comprises a first motion mechanism, a second motion mechanism, a third motion mechanism and a mechanical arm mechanism, the first motion mechanism is respectively connected with the second motion mechanism and the base plate, the first motion mechanism is used for driving the second motion mechanism, the third motion mechanism and the mechanical arm mechanism to reciprocate along the X direction, the second motion mechanism is connected with the third motion mechanism, the second motion mechanism is used for driving the third motion mechanism and the mechanical arm mechanism to reciprocate along the Z direction, the third motion mechanism is connected with the mechanical arm mechanism, the third motion mechanism is used for driving the mechanical arm mechanism to reciprocate along the Y direction, and the mechanical arm mechanism is used for grabbing and placing baked intestines;

the heating device is arranged on the upper part of the substrate and is used for heating the uncooked roasted sausage and preserving the heat of the cooked roasted sausage;

and the stringing device is used for storing and outputting the prods and is matched with the mechanical hand mechanism to finish stringing the cooked roasted sausages.

Further, storage device includes refrigeration cavity, at least one roast intestines storage cavity and at least one intestines mechanism of going out, roast intestines storage cavity sets up in the refrigeration cavity, go out intestines mechanism one-to-one and set up inside roast intestines storage cavity, it is used for exporting the roast intestines of giving birth to in the roast intestines storage cavity to go out intestines mechanism.

Furthermore, be provided with a plurality of refrigeration pieces on the outer wall of refrigeration cavity, refrigeration piece and the inside intercommunication of refrigeration cavity, the bottom of refrigeration cavity is provided with at least one roast intestines delivery outlet and at least one sealing door body that is used for the shutoff roast intestines delivery outlet.

Furthermore, the first movement mechanism comprises a first mounting plate extending along the X direction, two first mounting blocks, a first guide rail extending along the X direction, a first slide block, a first driving mechanism and a plurality of first position limiters, the first mounting plate is horizontally arranged and extends along the X direction, two ends of the first mounting plate are respectively connected with the base plate, the two first mounting blocks are arranged on the upper surface of the first mounting plate at intervals, the first guide rail is arranged on the upper surface of the first mounting plate and positioned between the two first mounting blocks, the first slide block is in sliding fit with the first guide rail, the first driving mechanism comprises a first driving motor, a first screw rod and a first screw rod nut, the first driving motor is arranged at one end of the first mounting plate, two ends of the first screw rod are respectively in one-to-one correspondence with the two first mounting blocks through bearings for rotating connection, a rotating shaft of the first driving motor is connected with the end part of one end of the first screw rod through a coupler; the first screw rod nut is arranged on the first sliding block and is in threaded fit with the first screw rod; a plurality of first position definer disposed on the first mounting plate, the first position definer for defining an extreme movement position of the first slide; the second movement mechanism comprises a second connecting block extending along the Z direction, a second guide rail extending along the Z direction, a second slide block, a second driving mechanism and a plurality of second position limiters, one side of the second connecting block is connected with the first sliding block, the second guide rail is arranged at the other side of the second connecting block, the second sliding block is in sliding fit with the second guide rail, a plurality of second position limiters are arranged on the second connecting block, the second position limiter is used for limiting the extreme movement position of the second slide block, the second driving mechanism comprises a second driving motor, a second lead screw and a second lead screw nut, the second driving motor is arranged at the lower end of the other side of the second connecting block, the lower end of the second lead screw is connected with a rotating shaft of the second driving motor, and the second lead screw nut is arranged on the second sliding block and is in threaded fit with the second lead screw; the third movement mechanism comprises a third connecting block, a third driving mechanism, a third guide rail extending along the Z direction, a third sliding block, a third connecting plate extending along the Z direction and a plurality of third position limiters, the third connecting block is connected with the second sliding block, and the third sliding block is arranged on the third connecting block; the third guide rail is arranged on one side of the third connecting plate and is in sliding fit with the third sliding block; a plurality of third position restrictors are arranged on the third connecting block, and the third position restrictors are used for limiting the extreme movement positions of the third connecting plate; the third driving mechanism comprises a third driving motor arranged on the third connecting block, a third rack arranged on the other side of the third connecting block, and a third tooth head arranged on a rotating shaft of the third driving motor and meshed with the third rack.

Further, the manipulator mechanism comprises a manipulator connecting block, two manipulators, an arm opening and closing assembly, a manipulator mounting seat, an arm rotating assembly and a plurality of distance detectors, the manipulator connecting block is connected with one end of the third connecting plate, the arm rotating assembly comprises an arm rotating motor, a connecting pin and a plurality of arm rotating limiters, the arm rotating motor is arranged on the manipulator connecting block, the connecting pin is in transition fit with one end of the third connecting plate, one end of the connecting pin is connected with a rotating shaft of the arm rotating motor through a coupler, the other end of the connecting pin is connected with the manipulator mounting seat, the manipulator mounting seat is of a groove-shaped structure, the inner surfaces of the two side walls of the manipulator mounting seat are respectively provided with a guide groove, the arm rotation limiter is arranged at one end of the third connecting plate and used for limiting the initial position of the manipulator mounting seat before rotation and the limit position of the manipulator mounting seat after rotation; the arm opening and closing assembly comprises two arm opening and closing racks, an arm opening and closing gear, an arm opening and closing motor and a plurality of arm opening and closing limiting devices, a shell of the arm opening and closing motor is connected with the manipulator mounting seat, and a rotating shaft of the arm opening and closing motor penetrates through the manipulator mounting seat in a rotatable mode and then is connected with the arm opening and closing gear; the two arm opening and closing racks are arranged in the two guide grooves in a one-to-one corresponding mode and are respectively meshed with the arm opening and closing gears, the two manipulators are connected with the two arm opening and closing racks in a one-to-one corresponding mode, and one side, close to each other, of each manipulator is provided with an arm stop pin and a through hole through which the arm stop pin can penetrate; the arm opening and closing limiting device is arranged on the manipulator mounting seat and used for limiting the maximum opening distance and the minimum closing distance of the two manipulators; the distance detector is arranged on the manipulator mounting seat and used for detecting whether the grippable roast intestines exist within a preset distance range.

Furthermore, the heating device comprises a conveniently-disassembled heating mechanism, a rotation driving mechanism, a collection box and a support frame, wherein the support frame is arranged at the upper part of the base plate, the conveniently-disassembled heating mechanism is arranged at the upper part of the support frame, the rotation driving mechanism is arranged on the side wall of the support frame and is connected with the conveniently-disassembled heating mechanism, and the rotation driving mechanism is used for driving the conveniently-disassembled heating mechanism to rotate so as to enable the roasted sausages to be uniformly heated; the collecting box is arranged at the lower part of the supporting frame and is used for collecting the waste sausages which are baked for a long time in the baking process.

Further, the device is signed to cluster is signed including signing a box mounting bracket, signing a box bottom plate, signing a box, two sign a box removal module and a cluster and sign removal module, sign a box mounting bracket and set up in the upper portion of base plate, sign a box bottom plate and set up in the upper end of signing a box mounting bracket, two sign a box removal module one-to-one and set up in the both ends of signing a box bottom plate, two sign a box removal module and sign a box and be connected respectively, sign a box removal module and be used for the cooperation to sign the box and remove the output in order to realize signing a son, the cluster is signed and is removed the subassembly and is signed with signing a box bottom plate, the cluster is signed and is removed the subassembly and be used for cooperating.

Correspondingly, the invention also provides a full-automatic sausage vending machine, which comprises a signal input device, a control device, an automatic door device and a machine body, wherein the full-automatic sausage vending machine also comprises the full-automatic sausage vending machine, the full-automatic sausage vending machine is the full-automatic sausage vending machine as described above, the machine body is provided with at least one opening and closing door and a sausage output window, a placing platform corresponding to the sausage output window is arranged in the machine body, the signal input device, the control device and the full-automatic sausage vending machine are all arranged in the machine body, the automatic door device is arranged on the machine body, and the automatic door device is used for closing and opening the sausage output window; the control device is respectively and electrically connected with the full-automatic sausage roasting device, the signal input device and the automatic door device, and the signal input device is used for inputting ordering information and payment information and sending the ordering information to the control device; the control device is used for controlling the full-automatic sausage roasting device to complete roasting of the sausage according to the received ordering information.

Correspondingly, the invention also provides a full-automatic roast sausage selling method, which comprises the following steps:

step a, a signal input device acquires ordering information and sends the ordering information to a control device;

b, the control device sends a label-out instruction to the mechanical arm device according to the received ordering information, and the mechanical arm mechanism pushes the label box under the coordination of the first movement mechanism, the second movement mechanism and the third movement mechanism according to the label-out instruction and outputs the intestinal labels;

c, the control device sends an sausage roasting instruction to the mechanical arm device, the mechanical arm device takes out the raw sausages from the storage device under the coordination of the first movement mechanism, the second movement mechanism and the third movement mechanism according to the sausage roasting instruction, and the raw sausages are placed on the heating device to be roasted to be mature;

and d, the control device sends out an sausage command to the mechanical arm device, the mechanical arm mechanism takes out the roasted sausage which is well roasted under the coordination of the first movement mechanism, the second movement mechanism and the third movement mechanism according to the sausage command, the prepared sausage label is stringed into the sausage under the coordination of the string label moving assembly, and the sausage with the stringed sausage label is transferred to the placing platform.

Further, before performing step a, step e may also be performed: the control device sends a label preparing instruction to the mechanical arm device, and the mechanical arm mechanism pushes the label box under the cooperation of the first movement mechanism, the second movement mechanism and the third movement mechanism according to the label preparing instruction and outputs the intestinal labels.

Further, before performing step d, step f may also be performed: the control device sends an intestine moving instruction to the mechanical arm device, and the mechanical arm mechanism transfers the roasted mature sausage to the heat preservation area under the coordination of the first movement mechanism, the second movement mechanism and the third movement mechanism according to the intestine moving instruction.

Further, when the step d is executed, if the heat preservation area has the roasted intestines, the control device sends an intestine outlet instruction to the mechanical arm device, the mechanical arm mechanism takes out the roasted intestines in the heat preservation area under the coordination of the first movement mechanism, the second movement mechanism and the third movement mechanism according to the intestine outlet instruction, and the prepared intestine labels are stringed into the roasted intestines under the coordination of the string label moving assembly, and then the roasted intestines with the stringed labels are transferred to the placing table; if no sausage exists in the heat preservation area, the control device sends out a sausage command to the mechanical arm device, the mechanical arm device takes out the sausage in the heating area under the cooperation of the first motion mechanism, the second motion mechanism and the third motion mechanism according to the sausage command, and strings the prepared sausage sticks into the sausage under the cooperation of the string stick moving assembly, and then transfers the string-stuck sausage to the placing table.

The embodiment of the invention has the following advantages: before work, a supplier respectively places the raw roasted sausages and the sausage labels in the roasted sausage storage cavity and the label box, and the supplier can quickly complete supplement due to the separation of the sausage labels and the raw roasted sausages; when the device works, a consumer inputs sausage information through the signal input device and finishes payment, the full-automatic sausage roasting device starts roasting the sausage after receiving the sausage information and transfers the mature sausage to the placing table, then the automatic door device is opened, the consumer can take out the sausage on the placing table, then the automatic door device is closed, and one-time selling is finished; after the heating device works, oil stains can be generated in the heating process of the roasted sausage to pollute the heating mechanism, so that in order to ensure the safety and the sanitation of the roasted sausage, maintenance personnel can quickly disassemble the conveniently disassembled heating mechanism to facilitate cleaning and disinfection, and in addition, oil drops and waste sausages in the oil containing disc and the collecting box can be conveniently cleaned, so that the sanitation of the processing environment of the roasted sausage is ensured; the full-automatic roast intestines of this embodiment are sold the machine and are realized automaticly at the baking in-process of roast intestines completely, have realized the unmanned on the process of selling of roast intestines completely, have realized the effectization completely on vending machine replenishment and clean maintenance, consequently, all realized great change in consumption experience, food safety and operation efficiency than prior art, more are fit for the unmanned use scene of selling the machine.

Drawings

In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below. It should be apparent that the drawings in the following description are merely exemplary, and that other embodiments can be derived from the drawings provided by those of ordinary skill in the art without inventive effort.

The structures, ratios, sizes, and the like shown in the present specification are only used for matching with the contents disclosed in the specification, so as to be understood and read by those skilled in the art, and are not used to limit the conditions that the present invention can be implemented, so that the present invention has no technical significance, and any structural modifications, changes in the ratio relationship, or adjustments of the sizes, without affecting the effects and the achievable by the present invention, should still fall within the range that the technical contents disclosed in the present invention can cover.

Fig. 1 is a schematic perspective view of a fully automatic sausage roasting apparatus according to an embodiment of the present invention;

fig. 2 is a schematic perspective view of a storage device according to an embodiment of the present invention;

fig. 3 is a schematic perspective view of a sausage storage cavity according to an embodiment of the present invention;

FIG. 4 is a schematic diagram of a side view of a sausage storage cavity according to an embodiment of the present invention;

FIG. 5 is a cross-sectional view taken along line A-A of FIG. 4;

FIG. 6 is a schematic structural diagram of an intestine discharging roller provided by the embodiment of the invention;

fig. 7 is a schematic front perspective view of a robot arm device according to an embodiment of the present invention;

fig. 8 is a rear perspective view of the arm device according to the embodiment of the present invention;

fig. 9 is a schematic perspective view of a robot mechanism according to an embodiment of the present invention;

fig. 10 is a schematic structural diagram of a heating device according to an embodiment of the present invention;

fig. 11 is a schematic perspective view of a string tag device according to an embodiment of the present invention;

fig. 12 is a schematic top view of a stringing device according to an embodiment of the present invention;

FIG. 13 is a schematic structural view of a fully automatic sausage vending machine according to an embodiment of the present invention;

fig. 14 is a schematic structural diagram of a fully automatic sausage vending machine body according to an embodiment of the present invention;

FIG. 15 is a flow chart of a fully automated sausage vending method according to an embodiment of the present invention;

description of reference numerals: 1. a full-automatic sausage roasting device; 11. a storage device; 111. a refrigeration cavity; 1111. a refrigeration plate; 1112. sealing the door body; 11121. a door body mounting part; 11122. a door body optical axis; 11123. a door spring; 11124. a linear bearing; 11125. a door body connecting piece; 11126. a sealing door; 112. a sausage storage cavity; 1121. a load-bearing tray; 1122. a weighing sensor; 113. a bowel exit mechanism; 1131. an intestine discharging motor; 1132. a sausage discharging roller; 11321. an eccentric small shaft; 1133. an intestinal outlet detector; 12. a robotic arm device; 121. a first movement mechanism; 1211. a first mounting block; 12121. a first guide rail; 12122. a first slider; 1213. a first drive mechanism; 12131. a first drive motor; 12132. a first lead screw; 12133. a first lead screw nut; 1214. a first position definer; 122. a second movement mechanism; 1221. a second connecting block; 12221. a second guide rail; 12222. a second slider; 1223. a second drive mechanism; 12231. a second drive motor; 12232. a second feed screw nut; 1224. a second position delimiter; 123. a third motion mechanism; 1231. a third connecting block; 12321. a third guide rail; 12322. a third slider; 1233. a third drive mechanism; 12331. a third drive motor; 12332. a third tooth head; 12333. a third rack; 1234. a third position delimiter; 1235. a third connecting plate; 124. a manipulator mechanism; 1241. a manipulator connecting block; 1242. a manipulator; 12421. an arm stop pin; 1243. an arm opening and closing component; 12431. an arm opening and closing rack; 12432. an arm opening and closing gear; 12433. an arm opening and closing motor; 12434. an arm opening and closing limiter; 1244. a manipulator mounting base; 1245. an arm rotation assembly; 12451. an arm rotation motor; 12452. an arm rotation limiter; 1246. a distance detector; 125. a substrate; 13. a heating device; 131. a detachable heating mechanism; 1311. a conveniently detachable mounting rack; 1312. a heat pipe assembly; 13121. a heat conducting pipe; 13122. a heat conduction pipe copper sleeve; 13123. pressing plates of copper sleeves; 13124. the heat conduction pipe chain wheel; 13125. an oil containing disc; 1313. a heating assembly; 13131. a heating plate; 13132. a heating plate mounting bar; 13133. a heating plate fixing plate; 13134. a temperature sensor; 132. a rotation driving mechanism; 1321. rotating the drive motor; 1322. a drive sprocket; 1323. a first driven sprocket; 1324. a second driven sprocket; 133. a collection box; 134. a support frame; 14. a string device; 141. a label box mounting rack; 142. a box bottom plate; 1421. mounting lugs; 1422. a label slot; 1423. a stopper; 143. a label box; 1431. fixing the ear; 1432. a box bottom switch; 1433. a signature box detector; 144. a cartridge moving assembly; 1441. a tag box defining block; 1442. the label box guides the optical axis; 1443. the pick box moves the linear bearing; 1444. a cartridge moving spring; 1445. a prod detector; 145. a string moving component; 1451. the string sticks guide optical axis; 1452. a string label linear bearing; 1453. a string moving spring; 1454. a string moving block; 1455. a limit screw; 15. a control device; 2. a signal input device; 3. an automatic door device; 31. a door opening motor; 32. a door body; 33. a door body detector; 34. taking an intestine detector; 4. a body; 5. a monitoring device; 6. a communication device; 7. and (6) placing the table.

Detailed Description

The present invention is described in terms of particular embodiments, other advantages and features of the invention will become apparent to those skilled in the art from the following disclosure, and it is to be understood that the described embodiments are merely exemplary of the invention and that it is not intended to limit the invention to the particular embodiments disclosed. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

As shown in fig. 1, the fully automatic sausage roasting device 1 comprises a base plate 125, a storage device 11, a mechanical arm device 12, a heating device 13 and a string tag device 14, wherein the base plate 125 is a plate-shaped structure, and the base plate 125 is used for providing a mounting base.

Storage device 11 is used for keeping fresh and the storage of living roast intestines, storage device 11 includes refrigeration cavity 111, at least one roast intestines storage cavity 112 and at least one play intestines mechanism 113, refrigeration cavity 111 is used for controlling the temperature of roast intestines storage area, in order to ensure the quality of roast intestines, generally for ensuring the normal work of refrigeration cavity 111, need set up an air duct with external connection, in order to ensure the heat dissipation of refrigeration cavity 111, be provided with a plurality of refrigeration pieces 1111 on the outer wall of refrigeration cavity 111, refrigeration piece 1111 communicates with the inside of refrigeration cavity 111, refrigeration piece 1111 is used for refrigerating in order to reduce and maintain the inside temperature of refrigeration cavity 111. In addition, in order to ensure the temperature inside the refrigeration cavity 111, the refrigeration cavity 111 is usually provided with a heat insulation layer to reduce heat exchange with the external environment, the bottom of the refrigeration cavity 111 is provided with two sausage output ports and two sealing door bodies 1112 for blocking the sausage output ports, and the number of the sausage output ports and the sealing door bodies 1112 is not limited to two, and may be one, three or more. The sausage storage cavity 112 is used for storing sausages, the sausage storage cavity 112 is disposed in the refrigeration cavity 111, in this embodiment, two sausage storage cavities 112 are disposed in the refrigeration cavity 111, the number of the sausage storage cavities 112 is not limited to two, and may be one, three or more, specifically determined according to the size of the space in the refrigeration cavity 111, sausages with different sizes and tastes may be placed in each sausage storage cavity 112 for selection by consumers, and the sizes of the storage cavities may be different according to the different size information of the sausages to be stored. In this embodiment, the number of the sausage discharging mechanisms 113 is two, the two sausage discharging mechanisms 113 are disposed inside the sausage storage cavity 112 in a one-to-one correspondence manner, the sausage discharging mechanisms 113 are configured to output raw sausages in the sausage storage cavity 112, and the sizes of the sausage discharging mechanisms 113 are different according to different size information of the sausages stored in the sausage storage cavity 112.

The mechanical arm device 12 is used for realizing the transmission and auxiliary matching of the baked sausage in each manufacturing process through the movement in the three-dimensional space, the mechanical arm device 12 is arranged on the upper part of the base plate 125, the mechanical arm device 12 is positioned below the storage device 11, the mechanical arm device 12 comprises a first motion mechanism 121, a second motion mechanism 122, a third motion mechanism 123 and a mechanical arm mechanism 124, the first motion mechanism 121 is respectively connected with the second motion mechanism 122 and the base plate 125, the first motion mechanism 121 is used for driving the second motion mechanism 122, the third motion mechanism 123 and the mechanical arm mechanism 124 to reciprocate along the X direction, the second motion mechanism 122 is connected with the third motion mechanism 123, the second motion mechanism 122 is used for driving the third motion mechanism 123 and the mechanical arm mechanism 124 to reciprocate along the Z direction, the third motion mechanism 123 is connected with the mechanical arm mechanism 124, the third motion mechanism 123 is used for driving the mechanical arm mechanism 124 to reciprocate along the Y direction, the manipulator mechanism 124 is used for grabbing and placing the roasted sausages;

the heating device 13 is arranged on the upper portion of the substrate 125, the heating device 13 is used for heating raw roasted sausages and preserving heat of cooked roasted sausages, the heating device 13 comprises a detachable heating mechanism 131, a rotation driving mechanism 132, a collection box 133 and a support frame 134, the support frame 134 is arranged on the upper portion of the substrate 125, the support frame 134 is used for providing an installation foundation for the detachable heating mechanism 131, the rotation driving mechanism 132 and the collection box 133, the detachable heating mechanism 131 is arranged on the upper portion of the support frame 134, the detachable heating mechanism 131 is in bolt connection with the support frame 134 so as to clean and disinfect the detachable heating mechanism 131, the detachable heating mechanism 131 can be divided into a heating area and a heat preservation area according to different temperatures during working, the heating area is used for roasting raw roasted sausages, and the heat preservation area is used for preserving heat of cooked roasted sausages. The rotation driving mechanism 132 is disposed on the side wall of the supporting frame 134 and connected to the detachable heating mechanism 131, and the rotation driving mechanism 132 is used for driving the detachable heating mechanism 131 to rotate, so that the sausage can be uniformly heated; the collecting box 133 is disposed at a lower portion of the supporting frame 134, and the collecting box 133 is used for collecting the waste intestine baked for a long time in the baking process.

The string label device 14 is used for storing and outputting labels, and is matched with the manipulator mechanism 124 to complete string labels on cooked sausage, the string label device 14 comprises a label box mounting frame 141, a label box bottom plate 142, a label box 143, two label box moving assemblies 144 and a string label moving assembly 145, the label box mounting frame 141 is arranged on the upper portion of the base plate 125, the label box bottom plate 142 is I-shaped and used for providing a mounting base for the label box 143, the two label box moving assemblies 144 and the string label moving assembly 145, and the label box bottom plate 142 is arranged at the upper end of the label box mounting frame 141. The two label box moving assemblies 144 are arranged at two ends of the label box bottom plate 142 in a one-to-one correspondence mode, the two label box moving assemblies 144 are respectively connected with the label box 143, the label box moving assemblies 144 are used for matching the label box 143 to move so as to achieve output of labels, the string label moving assemblies 145 are connected with the label box bottom plate 142, and the string label moving assemblies 145 are used for matching the manipulator mechanism 124 to complete string labels on the roasted sausages.

As shown in fig. 2 to 6, further, the sealing door body 1112 is configured to output raw roasted sausages inside the refrigeration cavity 111 and seal the refrigeration cavity 111 to guarantee the internal temperature, the sealing door body 1112 includes four door body installation parts 11121, two door body light axes 11122, two door body springs 11123, two linear bearings 11124, two door body connection parts 11125 and a sealing door 11126, the two door body light axes 11122 are arranged at the bottom of the refrigeration cavity 111 in parallel and at intervals, the two door body light axes 11122 are located at the periphery of the corresponding roasted sausages output port, two ends of each door body light axis 11122 are respectively connected with the bottom of the refrigeration cavity 111 through one door body installation part 11121, the sealing door 11126 is located between the two door body light axes 11122, the two door body connection parts 11125 are respectively connected with two ends of the sealing door 11126 in a one-to-one correspondence manner, each door body connection part 11125 is in sliding fit with its corresponding door body light axis 111, the two door body springs 11123 are sleeved on the outer periphery of the door body optical axis 11122 in a one-to-one correspondence manner and are used for providing extrusion resistance and rebounding the sealing door 11126 to ensure the sealing performance of the sealing door 11126; when the sealing door 11126 is pressed by external force (pushed by the manipulator mechanism 124), the linear bearing 11124 connected with the door body connecting piece 11125 presses the door body spring 11123 and moves backwards along the door body optical axis 11122, then the sealing door 11126 is opened, and when the external force disappears, the door body spring 11123 springs the linear bearing 11124 to drive the sealing door 11126 to return to the initial position, and the sealing door 11126 is closed.

It should be noted that, refrigeration piece 1111 can generate heat at refrigeration in-process self, for the normal clear of guaranteeing refrigeration process, generally need dispel the heat in order to guarantee its normal work to refrigeration piece 1111, and refrigeration piece 1111 installs in a sealed wind channel so that refrigeration piece 1111 dispels the heat in this embodiment.

It should be further noted that a sealable and sealable door is installed on the refrigerating cavity 111 to facilitate opening the refrigerating cavity 111 to supplement the sausage inside the sausage storage cavity 112;

furthermore, in order to detect whether the roast intestines or the approximate amount of the roast intestines are stored in the roast intestine storage cavity 112, the storage device 11 includes a load-bearing tray 1121 and a load cell 1122, the load cell 1122 is disposed on the bottom plate of the refrigeration cavity 111, the load-bearing tray 1121 is installed at the upper end of the load cell 1122, the load cell 1122 is electrically connected to the control device 15, the roast intestine storage cavity 112 is placed on the load-bearing tray 1121, the weight detected by the load cell 1122 after the self-weight of the load-bearing tray 1121 and the roast intestine storage cavity 112 is removed is the weight of the internal storage roast intestines, and the number of roast intestines can be calculated within a certain error range according to the weight of each roast intestine.

Furthermore, the sausage discharging mechanism 113 comprises a sausage discharging motor 1131, a sausage discharging roller 1132 and two sausage discharging detectors 1133, the sausage discharging motor 1131 is disposed at the lower portion of the outer side wall of the sausage storage cavity 112, the bottom of the sausage storage cavity 112 is provided with a sausage discharging opening, the sausage discharging roller 1132 is located in the sausage discharging opening, the sausage discharging roller 1132 is in a groove-shaped structure, two ends of the sausage discharging roller 1132 are respectively provided with a shaft end, one shaft end is provided with eccentric small shaft 11321, one end of the sausage discharging roller 1132 is connected with the rotating shaft of the sausage discharging motor 1131 after penetrating through one side wall of the sausage storage cavity 112, the other end of the sausage discharging roller 1132 is connected with the other side of the sausage storage cavity 112 in a rotating manner after penetrating through the other side of the sausage storage cavity 112, the two sausage discharging detectors 1133 are arranged on the outer surface of the other side of the sausage storage cavity 112, the eccentric small shaft 11321 is used for triggering the sausage detectors 1133, the sausage detectors 1133 are used for detecting the movement positions of the sausage rollers 1132, and the two sausage discharging detectors 1133 are respectively positioned on two sides of the other end of the sausage discharging roller 1132. Before operation, the eccentric small shaft 11321 is located at the position of the sausage outlet detector 1133 on one side, and one sausage in the sausage storage cavity 112 falls into the sausage outlet roller 1132; during operation, go out intestines motor 1131 and drive out intestines roller 1132 and rotate 180 degrees, go out intestines detector 1133 of the eccentric staff 11321 of intestines roller 1132 trigger the opposite side, go out intestines roller 1132 stall, roast intestines in going out intestines roller 1132 are sent out, go out intestines motor 1131 after a certain time and drive out intestines roller 1132 and rotate 180 degrees again and trigger out intestines detector 1133 of one side stall after the restart again, go out intestines roller 1132 and get back to initial position, once go out the intestines and accomplish.

As shown in fig. 7 to 8, the first motion mechanism 121 includes a first mounting plate extending in the X direction, two first mounting blocks 1211, a first guide rail 12121 extending in the X direction, two first mounting blocks 1211 disposed at intervals on an upper surface of the first mounting plate, a first guide rail 12121 disposed on the upper surface of the first mounting plate and between the two first mounting blocks 1211, a first driving mechanism 1213 disposed at one end of the first mounting plate, and a plurality of first position limiters 1214, the first mounting plate being horizontally disposed and extending in the X direction, the two ends of the first mounting plate being connected to the base plate 125, respectively, the two first mounting blocks 1211 being disposed at intervals on the upper surface of the first mounting plate, the first guide rail 12121 being disposed between the two first mounting blocks 1211, the first slider 12122 being in sliding fit with the first guide rail 12121, the first slider 12122 being slidable along the first guide rail 12121 with low resistance, the first driving mechanism 1213 including a first driving motor 12131, a first lead screw 12132, and a first lead screw 12133, the first driving motor 12131 disposed at one end of the first mounting plate, the two ends of the first lead, a rotating shaft of the first driving motor 12131 is connected with the end part of one end of the first screw rod 12132 through a coupler; the first lead screw nut 12133 is disposed on the first slider 12122 and is screw-fitted with the first lead screw 12132; a plurality of first position restrictors 1214 are provided on the first mounting plate, the first position restrictors 1214 serving to define the extreme movement positions of the first slider 12122; the number of the first position restrictors 1214 is generally not less than 2, and they are respectively installed at the movement limit position and the critical position of the first block 12122 for restricting the movement range or the critical position thereof.

When the first motion mechanism 121 works, the first driving motor 12131 rotates to drive the first lead screw 12132 to rotate, the first lead screw 12132 rotates to drive the first lead screw nut 12133 to move, the first lead screw nut 12133 moves to drive the second motion mechanism 122, the third motion mechanism 123 and the manipulator mechanism 124 to move along the X direction through the first slider 12122, when the first slider 12122 moves to the limit position, the first position limiters 1214 at the two ends are triggered, and then the first driving motor 12131 rotates reversely, so that the second motion mechanism 122, the third motion mechanism 123 and the manipulator mechanism 124 fixed on the first slider 12122 perform reciprocating motion within the interval range defined by the two first position limiters 1214.

The second moving mechanism 122 includes a second connecting block 1221 extending in the Z direction, a second guide 12221 extending in the Z direction, a second slider 12222, a second driving mechanism 1223, and a plurality of second position limiters 1224, the second connecting block 1221 has an L shape, one side of the second connecting block 1221 is connected to the first slider 12122, the second guide 12221 is disposed at the other side of the second connecting block 1221, the second slider 12222 is slidably engaged with the second guide 12221, the second slider 12222 is slidable along the second guide 12221 with a low resistance, the plurality of second position limiters 1224 are disposed on the second connecting block 1221, the second position limiters 1224 are configured to limit the limit movement position of the second slider 12222, the second driving mechanism 1223 includes a second driving motor 12231, a second lead screw, and a second lead screw nut 12232, the second driving motor 12231 is disposed at the lower end of the other side of the second connecting block 1221, the lower end of the second lead screw 12231 is connected to the rotating shaft of the second driving motor 12231, the second lead screw nut 12232 is arranged on the second slider 12222 and is in threaded fit with the second lead screw; the number of the second position definer 1224 is generally not less than 2, and is respectively installed at the movement limit position and the critical position of the second slider 12222 for defining the movement range or the critical position thereof.

It should be noted that the second driving motor 12231 and the second lead screw may be replaced by a lead screw motor, and the lead screw motor is generally a motor using a screw rod as an output shaft, and the lead screw motor has an advantage of saving more space.

When the second moving mechanism 122 works, the second driving motor 12231 drives the second lead screw to rotate, the second lead screw drives the second lead screw nut 12232 to move, and simultaneously drives the third moving mechanism 123 fixed to the second sliding block 12222 and the manipulator mechanism 124 to move in the Z direction, when the second sliding block 12222 moves to the limit position, the second position limiters 1224 at the two ends are triggered, and then the second driving motor 12231 rotates reversely, so that the third moving mechanism 123 fixed to the second sliding block 12222 and the manipulator mechanism 124 perform reciprocating motion within the range limited by the two second position limiters 1224.

The third moving mechanism 123 includes a third connecting block 1231, a third driving mechanism 1233, a third guide rail 12321 extending in the Z direction, a third slider 12322, a third connecting plate 1235 extending in the Z direction, and a plurality of third position limiters 1234, the third connecting block 1231 is L-shaped, the third connecting block 1231 is connected to the second slider 12222, and the third slider 12322 is disposed on the third connecting block 1231; the third guide rail 12321 is disposed at one side of the third connecting plate 1235, and is slidably engaged with the third slider 12322; a plurality of third position restrictors 1234 are disposed on the third connecting block 1231, the third position restrictors 1234 are used to restrict the limit movement position of the third connecting plate 1235, the third connecting plate 1235 is provided with two positioning blocks cooperating with the third position restrictors 1234, the third driving mechanism 1233 includes a third driving motor 12331 disposed on the third connecting block 1231, a third rack gear 12333 disposed on the other side of the third connecting plate 1235, and a third gear 12332 disposed on the rotating shaft of the third driving motor 12331 and engaged with the third rack gear 12333.

When the third moving mechanism 123 operates, the third driving motor 12331 drives the third toothed head 12332 to rotate, the third toothed head 12332 transmits the rotational power to the third rack 12333, so that the third rack 12333 and the robot mechanism 124 mounted on the third connecting plate 1235 move in the Y direction, when the third connecting plate 1235 moves to the limit position, the positioning block of the third connecting plate 1235 triggers the third position limiter 1234, and then the third driving motor 12331 rotates in the reverse direction, so that the third rack 12333 and the robot mechanism 124 mounted on the third connecting plate 1235 reciprocate within the range defined by the two third position limiters 1234.

As shown in fig. 9, the manipulator mechanism 124 includes a manipulator connection block 1241, two manipulators 1242, an arm opening and closing assembly 1243, a manipulator installation seat 1244, an arm rotation assembly 1245 and a plurality of distance detectors 1246, the manipulator connection block 1241 is connected to one end of the third connection plate 1235, the arm rotation assembly 1245 includes an arm rotation motor 12451, a connection pin and a plurality of arm rotation stoppers 12452, the arm rotation motor 12451 is disposed on the manipulator connection block 1241, the connection pin is in transition fit with one end of the third connection plate 1235, one end of the connection pin is connected to a rotation shaft of the arm rotation motor 12451 through a coupling, the other end of the connection pin is connected to the manipulator installation seat 1244, the manipulator installation seat 1244 is in a groove structure, two guide grooves are respectively disposed on inner surfaces of two side walls of the manipulator installation seat 1244, the arm rotation stopper 12452 is disposed at one end of the third connection plate 1235, and the arm rotation stopper 12452 is used for limiting an initial position of the manipulator installation seat 124 (ii) a The arm opening and closing assembly 1243 comprises two arm opening and closing racks 12431, an arm opening and closing gear 12432, an arm opening and closing motor 12433 and a plurality of arm opening and closing limiters 12434, wherein the shell of the arm opening and closing motor 12433 is connected with the manipulator mounting seat 1244, and the rotating shaft of the arm opening and closing motor 12433 is connected with the arm opening and closing gear 12432 after rotatably penetrating through the manipulator mounting seat 1244; the two arm opening and closing racks 12431 are arranged in the two guide grooves in a one-to-one correspondence manner and are respectively meshed with the arm opening and closing gear 12432, the two mechanical arms 1242 are connected with the two arm opening and closing racks 12431 in a one-to-one correspondence manner, one side, close to each other, of each of the two mechanical arms is respectively provided with an arm stop pin 12421 and a through hole through which the arm stop pin 12421 can pass, and the two arm stop pins 12421 are used for matching the two mechanical arms 1242 to grab the roasted sausage. The arm opening and closing limiter 12434 is arranged on the manipulator mounting base 1244, and the arm opening and closing limiter 12434 is used for limiting the maximum opening distance and the minimum closing distance of the two manipulators 1242; the distance detector 1246 is disposed on the manipulator mounting seat 1244, and the distance detector 1246 is configured to detect whether a graspable sausage exists within a predetermined distance range.

When the manipulator mechanism 124 works, the arm opening and closing motor 12433 drives the arm opening and closing gear 12432 to rotate, the arm opening and closing gear 12432 transmits rotary power to the arm opening and closing racks 12431 on the two sides, so that the arm opening and closing racks 12431 and the manipulator 1242 connected with the arm opening and closing racks move in opposite directions, when the manipulator 1242 triggers the arm opening and closing limiter 12434, the arm opening and closing motor 12433 stops rotating, and the manipulator 1242 is opened; when the roasted sausage enters the clamping area of the manipulator 1242, the arm opening and closing motor 12433 drives the arm opening and closing gear 12432 to rotate reversely, so that the arm opening and closing rack 12431 drives the manipulator 1242 connected with the arm opening and closing rack to move towards the direction of mutual approaching, when the manipulator 1242 triggers the arm opening and closing limiter 12434, the arm opening and closing motor 12433 stops rotating, and the roasted sausage is clamped; in addition, the rotation process of the manipulator 1242 is as follows: the arm rotation motor 12451 rotates the manipulator mounting seat 1244 and the manipulator 1242 mounted thereon from the initial arm rotation position 12452, when the arm rotation position limiter 12452 on the other side is triggered, the arm rotation motor 12451 stops rotating, and the manipulator 1242 rotates 180 degrees, and then the arm rotation motor 12451 continues to rotate the manipulator mounting seat 1244 and the manipulator 1242 mounted thereon until the arm rotation position limiter 12452 is triggered again, at which time the manipulator 1242 returns to the initial position.

As shown in fig. 10, the removable heating mechanism 131 includes a removable mounting bracket 1311, a heat pipe assembly 1312, and a plurality of heating assemblies 1313, the removable mounting bracket 1311 is disposed on the upper portion of the supporting frame 134 and is connected to the supporting frame 134 by screws for easy detachment, the removable mounting bracket 1311 is in a groove structure, and a plurality of through holes are disposed on two side walls of the removable mounting bracket 1311 at intervals. The heat pipe assembly 1312 is disposed on the removable rack 1311, the heat pipe assembly 1312 includes a plurality of heat pipes 13121, a plurality of heat pipe copper sleeves 13122, a copper sleeve pressing plate 13123 and a plurality of heat pipe sprockets 13124, the heat pipes 13121 are configured to conduct heat, the copper sleeve pressing plate 13123 is provided with a plurality of holes along a length direction thereof, the heat pipe copper sleeves 13122 are correspondingly disposed on an outer side of a side wall of the removable rack 1311, the heat pipe copper sleeves 13122 are coaxially disposed with corresponding through holes thereof, the heat pipe copper sleeves 13122 are generally used in a group of 2, axes of the two heat pipe copper sleeves are located on a same straight line, the copper sleeve pressing plate 13123 is disposed on a side of the side wall of the heat pipe copper sleeve 13122 far away from the removable rack 1311, the copper sleeve pressing plate 13123 is connected with a screw side wall of the removable rack 1311, and the copper sleeve pressing plate 131. A plurality of heat pipes 13121 are disposed at intervals in the detachable rack 1311, two ends of each heat pipe 13121 respectively penetrate through the heat pipe copper sleeves 13122 on two sides of the detachable rack 1311 and are in clearance fit with the heat pipe copper sleeves 13122 on two sides, a plurality of heat pipe sprockets 13124 are sleeved on two ends of each heat pipe 13121 in a one-to-one correspondence manner, an oil containing tray 13125 is disposed below each heat pipe 13121, an oil containing tray 13125 is disposed on the detachable rack 1311, and the oil containing tray 13125 is used for collecting oil stains dropped from baked intestines in a baking process,

heating element 1313 is configured to provide heat for baking the roasted sausage, and heating element 1313 includes a plurality of heating plates 13131, a plurality of heating plate installation rods 13132, two heating plate fixing plates 13133, and a plurality of temperature sensors 13134, where two heating plate fixing plates 13133 are respectively installed on two sides of detachable mounting bracket 1311, and a plurality of heating plate installation rods 13132 are inserted into heat pipe 13121 in one-to-one correspondence, a gap is reserved between heating plate installation rod 13132 and an inner wall of heat pipe 13121, heating plate 13131 is installed in an installation groove of heating plate installation rod 13132, so that heat is conducted out through heating plate installation rod 13132, and heating plate installation rod 13132 is fixed to heating plate fixing plate 13133 on one side; the plurality of temperature sensors 13134 are mounted on the plurality of heat patch mounting bars 13132 in a one-to-one correspondence, and the temperature sensors 13134 are configured to detect the temperature sensed by the heat patch mounting bars 13132.

Furthermore, the rotation driving mechanism 132 further includes a rotation driving motor 1321, a driving sprocket 1322, a first driven sprocket 1323, a second driven sprocket 1324, and a chain 1325, the rotation driving motor 1321 is installed inside the supporting frame 134, and the shaft end thereof penetrates through the supporting frame 134; the driving chain wheel 1322 is arranged at the shaft end of the rotary driving motor 1321 at the outer side of the support frame 134; the first driven sprocket 1323 is in clearance fit with the optical axis mounted on the support frame 134; the second driven sprocket 1324 is in clearance fit with the optical axis mounted on the support frame 134; the axes of the driving sprocket 1322, the first driven sprocket 1323 and the second driven sprocket 1324 are on the same plane; the chain 1325 is engaged with the driving sprocket 1322, the first driven sprocket 1323, the second driven sprocket 1324 sequentially, and the chain 1325 is tensioned by adjusting the mounting position of the rotation driving motor 1321 connected with the driving sprocket 1322;

further, in order to ensure that the collecting cassette 133 is placed at a designated position to collect the waste intestine, a collecting cassette position detector (not shown) is provided at a defined position where the collecting cassette 133 is placed to detect whether the collecting cassette 133 is placed in position;

it should be noted that in this embodiment, the heat pipe assemblies 1312 are generally not less than 2 groups and keep a certain gap, the sausage is generally placed in the gap area between 2 groups of heat pipe assemblies 1312, and each group of heat pipe assemblies 1312 is correspondingly provided with a heating assembly 1313; the temperature sensors 13134 can adjust the temperature defined by the temperature sensors, and in this embodiment, the heating assembly 1313 is divided into a heating zone and a soak zone, so the temperature defined by the corresponding temperature sensors 13134 is different, and generally speaking, the temperature defined by the heating zone temperature sensors 13134 is generally higher, and the temperature defined by the soak zone temperature sensors 13134 is lower.

Before operation, after the detachable heating mechanism 131 is mounted on the support frame 134, the heat pipe sprocket 13124 engages with the chain; when the device works, the rotation driving motor 1321 rotates to drive the driving sprocket 1322 and the chain 1325 mounted on the driving sprocket to rotate under the matching of the first driven sprocket 1323 and the second driven sprocket 1324, and simultaneously drives the heat pipe sprocket 13124 and the heat pipe 13121 connected with the heat pipe sprocket 13124 to rotate, so that the sausage placed on the heat pipe 13121 also rotates along with the heat pipe 13121, and the sausage can be uniformly heated; after the operation, the detachable mounting frame 1311 is opened to connect with the supporting frame 134, and the corresponding wires are disconnected, so that the detachable heating mechanism 131 can be taken out integrally to clean oil stains on the surface of the heat conducting pipe 13121 caused by baking the roasted sausage, thereby preventing the roasted sausage from being polluted due to repeated baking, and ensuring the cleanness and sanitation of the roasted sausage.

As shown in fig. 11 to 12, further, the label box base plate 142 is h-shaped, the label box base plate 142 is composed of two fixing portions arranged in parallel and a connecting portion for connecting the two fixing plates, two mounting ears 1421 are arranged on the sides of the two fixing portions away from each other at intervals, the mounting ears 1421 are generally arranged in 2 groups, wherein one end of one fixing portion is provided with a label slot 1422, one side of the fixing portion away from the other fixing portion is further provided with a stopper 1423, and the stopper 1423 seals the end of the label slot 1422 away from the other fixing portion.

Furthermore, the two sides of the label box 143 are provided with fixing lugs 1431, and the bottom of the label box 143 is provided with a box bottom switch 1432 for blocking the label to prevent the label from falling; a signature box detector 1433 is mounted on the signature box base plate 142, and detects whether there is a signature box 143 in the string signature device 14.

Furthermore, the label box moving assembly 144 includes two label box defining blocks 1441, two label box guiding optical axes 1442, two label box moving linear bearings 1443, two label box moving springs 1444, and a label detector 1445, the two label box guiding optical axes 1442 are correspondingly installed between the sets of installation lugs 1421, the two label box moving linear bearings 1443 are installed on the two label box guiding optical axes 1442 in a one-to-one correspondence manner, the two label box defining blocks 1441 are installed on the two label box moving linear bearings 1443 in a one-to-one correspondence manner, the two label box moving springs 1444 are sleeved on the guiding optical axes 1442 in a one-to-one correspondence manner, the label boxes 143 are respectively connected with the two label box defining blocks 1441 through the fixing lugs 1431 on both sides, the label detector 1445 is installed at one end of a fixing portion, and the label detector 1445 is used for detecting whether a label is taken out.

Furthermore, the string label moving assembly 145 includes two string label guiding optical axes 1451, two string label linear bearings 1452, a string label moving block 1454 and a limit screw 1455, the two string label guiding optical axes 1451 are disposed in parallel and spaced at one side of the connecting portion, two ends of the two string label guiding optical axes 1451 are connected to two fixing portions, two ends of the two string label guiding optical axes 1451 are respectively sleeved with a string label moving spring 1453, the two string label linear bearings 1452 are sleeved on the two string label guiding optical axes 1451 in a one-to-one correspondence manner, the string label linear bearings 1452 are disposed between the two string label moving springs 1453, the two string label linear bearings 1452 are both connected to the string label moving block 1454, and the string label moving block 1454 is also provided with a string label groove 1422; the limit screw 1455 is attached to the string moving block 1454, and keeps a certain distance from the string moving block 1454 during the intestinal piercing of the manipulator mechanism 124.

Before work, the box bottom switch 1432 is manually pushed, the box bottom switch 1432 of the label box 143 is closed, the sausage labels are placed in the label box 143, the label box 143 is placed in the string label device 14, the fixing lug 1431 is inserted into the label box limiting block 1441, and then the box bottom switch 1432 is opened; in operation, when the label box 143 is squeezed by external force (pushed by the manipulator mechanism 124), the label box moving linear bearing 1443 connected to the label box limiting block 1441 compresses the label box moving spring 1444 along the direction of the label box guiding optical axis 1442 to move the label box 143, when the label box 143 moves to the label groove 1422, a roast sausage label enters the label groove 1422 in the label box 143, and then the external force disappears, the label box moving spring 1444 rebounds the label box 143 to the initial position, and if the label detector 1445 does not detect the roast sausage label in the label groove 1422, the label discharging operation is repeated; after the sausage reaches the string label position, the manipulator mechanism 124 pushes the sausage label and contacts the limit screw 1455, so that the string label linear bearing 1452 on the string label moving block 1454 connected to the limit screw 1455 pushes the string label moving spring 1453 and moves along the string label guiding optical axis 1451, so that the sausage label is gradually inserted into the sausage, the sausage label is always in the label groove 1422 on the label box bottom plate 142 and the string label moving block 1454 and the sausage during the string label process, the sausage label can be always kept horizontal and is uniformly inserted into the sausage, after the string label is finished, the manipulator mechanism 124 clamps the string label-finished sausage and removes the pushing force, and the string label moving spring 1453 rebounds the string label moving block 1454 to the initial position.

As shown in fig. 13 to 14, correspondingly, the present invention further provides a full-automatic sausage vending machine, where the full-automatic sausage vending machine includes a signal input device 2, a control device 15, an automatic door device 3, a machine body 4 and a full-automatic sausage device 1, the full-automatic sausage device 1 is the full-automatic sausage device 1 according to the above embodiments, the machine body 4 is used to establish a working space and provide an installation foundation, the machine body 4 is provided with at least one opening and closing door and a sausage output window, preferably, the machine body 4 is provided with opening and closing doors on two sides and a rear side to facilitate opening the machine body 4 for maintenance or supplement of raw materials, and the machine body 4 is further provided with a heat dissipation opening to facilitate heat dissipation of internal devices. A placing table 7 corresponding to the sausage output window is arranged in the machine body 4, the signal input device 2, the control device 15 and the full-automatic sausage roasting device 1 are all arranged in the machine body 4, the automatic door device 3 is arranged on the machine body 4, and the automatic door device 3 is used for closing and opening the sausage output window; the control device 15 is respectively electrically connected with the full-automatic sausage roasting device 1, the signal input device 2 and the automatic door device 3, the signal input device 2 is used for inputting ordering information and payment information and sending the ordering information to the control device 15, and a user can input information such as types and quantity of the roasted sausages required by the user through the signal input device 2 and complete payment; the control device 15 is used for controlling the full-automatic sausage roasting device 1 to roast the sausage according to the received ordering information.

It should be noted that, in the present embodiment, the signal input device 2 is specifically a computer, and is electrically connected to the control device 15 in the fully automatic sausage roasting device 1, and loaded with ordering software for the consumer to input sausage roasting information and a payment interface for completing order payment. In the present embodiment, the control device 15 is an integrated circuit board on which the control elements and the control chip are mounted, and the electric elements such as the motors, the sensors, the heating plate 13131, and the like in the present embodiment are directly connected to the circuit board, and the movement of the electric elements is controlled by the circuit board, so that the signal input device 2 and the control device 15 are conventional devices, and therefore, they will not be described in detail.

The automatic door device 3 comprises a door opening motor 31, a door body 32, a door body detector 33 and an intestine taking detector 34, wherein the door opening motor 31 is arranged on the machine body 4 and is used for providing power for opening and closing the door body 32; the door body 32 is connected with the shaft end of the door opening motor 31, and the installation position of the door body corresponds to the sausage output window; the door body detectors 33 are mounted on the machine body 4 and located on two sides of the door body 32, the door body detectors 33 are used for detecting the positions of the door bodies 32, and the number of the door body detectors is 2, and the door body detectors are used for respectively detecting the initial positions and the opening positions of the door bodies 32; the bowel taking detector 34 is arranged on the body 4, and the bowel taking detector 34 is used for detecting bowel taking action; during operation, door opening motor 31 rotates and drives door body 32 and rotates from initial position, when door body detector 33 of door opening position is triggered, door body 32 stall, door body 32 is in the open mode this moment, the user can take out roast intestines, after getting intestines detector 34 and detecting that get intestines action complete, controlling means 15 control door opening motor 31 rotates and drives door body 32 and get back to initial position, door body 32 is closed, or get intestines detector 34 and still not detect getting intestines action after the certain time, controlling means 15 control door opening motor 31 rotates and drives door body 32 and get back to initial position, door body 32 is closed.

Further, a fully automatic roast sausage vending machine further comprises a monitoring device 5, the monitoring device 5 is installed inside the machine body 4 for monitoring the operation state of the fully automatic roast sausage device 1, so as to remove the related fault through remote control.

Furthermore, the full-automatic sausage vending machine further comprises a communication device 6, wherein the communication device 6 is installed inside the machine body 4 and used for providing network support for communication of the vending machine.

Before work, a worker opens an opening and closing door on the machine body 4 to place the roasted sausages and the sausage labels into the roasted sausage storage cavity 112 and the label box 143 in the full-automatic sausage roasting device 1 so as to complete material supplement; when the automatic sausage vending machine works, a user places an order through the signal input device 22 and then transmits ordering information to the control device 15, the control device 15 controls each mechanism to complete baking of the sausage, the baked sausage is transferred to the placing platform 7, then the automatic door device 3 is opened, the user can take the sausage on the placing platform 7, then the automatic door device 3 is closed, if the user still does not take the sausage after a certain time, the mechanical arm device 12 puts the taken sausage into the collecting box 133, then the automatic door device 3 is closed, and one-time sausage vending is completed; in case of general faults, the maintenance personnel can be remotely connected with the control device 15 and control the movement of each device under the display of the monitoring device 5 through the control device to eliminate the general faults; when upgrading, an upgrading person can remotely connect the control device 15 and upgrade the control device, and the upgrading result is verified through the picture fed back by the monitoring device 5; after the work is completed, the maintenance personnel can open the opening and closing door on the machine body 4 to take out the detachable heating mechanism 131 for cleaning and disinfection, or directly replace a sanitary heating mechanism.

As shown in fig. 15, correspondingly, the present invention further provides a full-automatic roast sausage vending method, including the following steps:

step a, a signal input device 2 acquires ordering information and sends the ordering information to a control device 15;

step b, the control device 15 sends a sign-out instruction to the mechanical arm device 12 according to the received ordering information, and the mechanical arm mechanism 124 pushes the sign box 143 under the coordination of the first movement mechanism 121, the second movement mechanism 122 and the third movement mechanism 123 according to the sign-out instruction, and outputs the intestinal signs;

step c, the control device 15 sends an sausage roasting instruction to the mechanical arm device 12, the mechanical arm mechanism 124 takes out the raw sausages from the storage device 11 under the coordination of the first movement mechanism 121, the second movement mechanism 122 and the third movement mechanism 123 according to the sausage roasting instruction, and the raw sausages are placed on the heating device 13 to be roasted and matured;

step d, the control device 15 sends out an intestine instruction to the mechanical arm device 12, the manipulator mechanism 124 takes out the roasted sausage which is ripe according to the intestine instruction under the coordination of the first movement mechanism 121, the second movement mechanism 122 and the third movement mechanism 123, and strings the prepared sausage labels into the sausage under the coordination of the string label moving assembly 145, and then transfers the sausage which is string with the labels to the placing platform 7.

Further, before performing step a, step e may also be performed: the control device 15 sends a label preparing instruction to the mechanical arm device 12, the manipulator mechanism 124 pushes the label box 143 under the coordination of the first movement mechanism 121, the second movement mechanism 122 and the third movement mechanism 123 according to the label preparing instruction, the label box 143 moves under the coordination of the label box moving assembly 144 and outputs intestinal labels, and one intestinal label is always kept in the label groove 1422 for the next serial label.

Further, before performing step a, step g may also be performed: the mechanical arm mechanism 124 takes out the sausage from the storage device 11 under the cooperation of the first movement mechanism 121, the second movement mechanism 122 and the third movement mechanism 123, and places the sausage on the heating device 13 to heat the sausage until the sausage is cooked.

Further, before performing step d, step f may also be performed: the control device 15 sends an intestine moving instruction to the mechanical arm device 12, and the manipulator mechanism 124 moves the roasted sausage to a heat preservation area under the cooperation of the first movement mechanism 121, the second movement mechanism 122 and the third movement mechanism 123 according to the intestine moving instruction, so as to ensure the temperature of the sausage and avoid nutrition loss caused by overheating.

Steps e, g and f are that the control device 15 controls each device to pre-bake the sausages for sale through the preset information loaded in the control device, and it should be noted that when the number of the pre-baked sausages is less than the preset number, the control device 15 controls the mechanical arm device 12 to take out the bad number of the sausages from the storage device 11 and place the bad number of the sausages into the heating device 13, so that a certain number of the pre-baked sausages are always kept in the heating device 13 for sale.

Further, when step d is executed, if there is a sausage in the heat preservation area, the control device 15 sends a sausage output instruction to the robot arm device 12, the robot arm mechanism 124 takes out the sausage in the heat preservation area in cooperation with the first movement mechanism 121, the second movement mechanism 122 and the third movement mechanism 123 according to the sausage output instruction, strings the prepared sausage tag into the sausage in cooperation with the string tag moving assembly 145, and then transfers the string-tagged sausage to the placing table 7 for taking; if no sausage exists in the heat preservation area, the control device 15 sends a sausage output command to the mechanical arm device 12, the manipulator mechanism 124 takes out the sausage in the heating area in cooperation with the first movement mechanism 121, the second movement mechanism 122 and the third movement mechanism 123 according to the sausage output command, strings the prepared sausage tag into the sausage in cooperation with the string tag moving assembly 145, and then transfers the string tagged sausage to the placing table 7 for taking.

It should be further noted that the control device 15 further includes a cutoff information, and when the cutoff information is triggered, the control device 15 does not control the heating device 13 to be supplemented with baked intestines any more, and the cutoff information may be time information or quantity information.

Furthermore, in step d, if the user does not take the roasted sausage for a long time, the control device 15 will control the mechanical arm device 12 to take the waste sausage and place it in the collecting box 133, so as to avoid affecting the processing of the subsequent order;

when step f is executed, if the heat preservation time of the roasted sausage exceeds the preset time, the control device 15 controls the mechanical arm device 12 to clamp away the roasted sausage and place the roasted sausage into the collection box 133, so that the roasted sausage can lose nutrition and the skin of the roasted sausage is dry and astringent in the long-time heat preservation process, and the food safety and good consumption experience can be ensured.

Further, before step a, if the control device 15 locks when detecting the following conditions, it will not be able to input the order information:

the condition s: no intestinal tags are detected in the tag slot 1422;

and a condition t: the pre-baked sausage is sold out and can not be supplemented;

and a condition u: a failure of the device;

it should be noted that the condition s may include two cases:

case s 1: no intestine label is in the label box 143;

case s 2: the intestinal tag cannot be output from the tag box 143;

it should be noted that the condition t may include two cases:

case t 1: no sausage is in the sausage storage cavity 112;

case t 2: the storage device 11 cannot output the roasted sausage;

the condition u is a device failure that does not include the above condition;

although the invention has been described in detail above with reference to a general description and specific examples, it will be apparent to one skilled in the art that modifications or improvements may be made thereto based on the invention. Accordingly, such modifications and improvements are intended to be within the scope of the invention as claimed.

Claims

1. A full-automatic sausage device, characterized in that, full-automatic sausage device includes:

a substrate for providing a mounting base;

the storage device is used for keeping and storing the raw roasted sausages;

2. The full-automatic sausage device according to claim 1, wherein the storage device comprises a refrigeration cavity, at least one sausage storage cavity and at least one sausage discharging mechanism, the sausage storage cavity is disposed in the refrigeration cavity, the sausage discharging mechanisms are disposed inside the sausage storage cavity in a one-to-one correspondence, and the sausage discharging mechanism is configured to output raw sausages in the sausage storage cavity.

3. The full-automatic sausage roasting device according to claim 2, wherein a plurality of refrigerating pieces are arranged on the outer wall of the refrigerating cavity, the refrigerating pieces are communicated with the inside of the refrigerating cavity, and the bottom of the refrigerating cavity is provided with at least one sausage roasting output port and at least one sealing door body for sealing the sausage roasting output port.

4. The fully automatic sausage roasting device according to claim 1, 2 or 3, wherein the first moving mechanism comprises a first mounting plate extending along the X direction, two first mounting blocks, a first guide rail extending along the X direction, a first slider, a first driving mechanism and a plurality of first position limiters, the first mounting plate is horizontally arranged and extends along the X direction, two ends of the first mounting plate are respectively connected with the base plate, the two first mounting blocks are arranged on the upper surface of the first mounting plate at intervals, the first guide rail is arranged on the upper surface of the first mounting plate and is positioned between the two first mounting blocks, the first slider is in sliding fit with the first guide rail, the first driving mechanism comprises a first driving motor, a first lead screw and a first lead screw nut, the first driving motor is arranged at one end of the first mounting plate, two ends of the first lead screw are respectively connected with the two first mounting blocks in a one-to-one manner through bearings, a rotating shaft of the first driving motor is connected with the end part of one end of the first screw rod through a coupler; the first screw rod nut is arranged on the first sliding block and is in threaded fit with the first screw rod; a plurality of first position definer disposed on the first mounting plate, the first position definer for defining an extreme movement position of the first slide; the second movement mechanism comprises a second connecting block extending along the Z direction, a second guide rail extending along the Z direction, a second slide block, a second driving mechanism and a plurality of second position limiters, one side of the second connecting block is connected with the first sliding block, the second guide rail is arranged at the other side of the second connecting block, the second sliding block is in sliding fit with the second guide rail, a plurality of second position limiters are arranged on the second connecting block, the second position limiter is used for limiting the extreme movement position of the second slide block, the second driving mechanism comprises a second driving motor, a second lead screw and a second lead screw nut, the second driving motor is arranged at the lower end of the other side of the second connecting block, the lower end of the second lead screw is connected with a rotating shaft of the second driving motor, and the second lead screw nut is arranged on the second sliding block and is in threaded fit with the second lead screw; the third movement mechanism comprises a third connecting block, a third driving mechanism, a third guide rail extending along the Z direction, a third sliding block, a third connecting plate extending along the Z direction and a plurality of third position limiters, the third connecting block is connected with the second sliding block, and the third sliding block is arranged on the third connecting block; the third guide rail is arranged on one side of the third connecting plate and is in sliding fit with the third sliding block; a plurality of third position restrictors are arranged on the third connecting block, and the third position restrictors are used for limiting the extreme movement positions of the third connecting plate; the third driving mechanism comprises a third driving motor arranged on the third connecting block, a third rack arranged on the other side of the third connecting block, and a third tooth head arranged on a rotating shaft of the third driving motor and meshed with the third rack.

5. The full-automatic sausage roasting device according to claim 4, wherein the manipulator mechanism comprises a manipulator connecting block, two manipulators, an arm opening and closing assembly, a manipulator mounting seat, an arm rotating assembly and a plurality of distance detectors, the manipulator connecting block is connected with one end of a third connecting plate, the arm rotating assembly comprises an arm rotating motor, a connecting pin and a plurality of arm rotating limiters, the arm rotating motor is arranged on the manipulator connecting block, the connecting pin is in transition fit with one end of the third connecting plate, one end of the connecting pin is connected with a rotating shaft of the arm rotating motor through a coupling, the other end of the connecting pin is connected with the manipulator mounting seat, the manipulator mounting seat is of a groove structure, the inner surfaces of the two side walls of the manipulator mounting seat are respectively provided with a guide groove, and the arm rotating limiters are arranged at one end of the third connecting plate, the arm rotation limiter is used for limiting the initial position of the manipulator mounting seat before rotation and the limit position of the manipulator mounting seat after rotation; the arm opening and closing assembly comprises two arm opening and closing racks, an arm opening and closing gear, an arm opening and closing motor and a plurality of arm opening and closing limiting devices, a shell of the arm opening and closing motor is connected with the manipulator mounting seat, and a rotating shaft of the arm opening and closing motor penetrates through the manipulator mounting seat in a rotatable mode and then is connected with the arm opening and closing gear; the two arm opening and closing racks are arranged in the two guide grooves in a one-to-one corresponding mode and are respectively meshed with the arm opening and closing gears, the two manipulators are connected with the two arm opening and closing racks in a one-to-one corresponding mode, and one side, close to each other, of each manipulator is provided with an arm stop pin and a through hole through which the arm stop pin can penetrate; the arm opening and closing limiting device is arranged on the manipulator mounting seat and used for limiting the maximum opening distance and the minimum closing distance of the two manipulators; the distance detector is arranged on the manipulator mounting seat and used for detecting whether the grippable roast intestines exist within a preset distance range.

6. The fully automatic sausage roasting device according to claim 1, 2 or 3, wherein the heating device comprises a detachable heating mechanism, a rotary driving mechanism, a collecting box and a supporting frame, the supporting frame is arranged on the upper portion of the base plate, the detachable heating mechanism is arranged on the upper portion of the supporting frame, the rotary driving mechanism is arranged on the side wall of the supporting frame and connected with the detachable heating mechanism, and the rotary driving mechanism is used for driving the detachable heating mechanism to rotate so as to uniformly heat the sausage; the collecting box is arranged at the lower part of the supporting frame and is used for collecting the waste sausages which are baked for a long time in the baking process.

7. The full-automatic sausage roasting device of claim 1, 2 or 3, wherein the string label device comprises a label box mounting frame, a label box bottom plate, a label box, two label box moving assemblies and a string label moving assembly, the label box mounting frame is arranged on the upper portion of the base plate, the label box bottom plate is arranged on the upper end of the label box mounting frame, the two label box moving assemblies are arranged at two ends of the label box bottom plate in a one-to-one correspondence manner, the two label box moving assemblies are respectively connected with the label box and are used for matching with the label box to move so as to realize the output of the label, the string label moving assembly is connected with the label box bottom plate, and the string label moving assembly is used for matching with the mechanical arm mechanism to complete string label on the sausage roasting.

8. A full-automatic roast sausage vending machine comprises a signal input device, a control device, an automatic door device and a machine body, and is characterized in that the full-automatic roast sausage vending machine further comprises a full-automatic roast sausage device, the full-automatic roast sausage device is the full-automatic roast sausage device according to any one of claims 1 to 7, the machine body is provided with at least one opening and closing door and a roast sausage output window, a placing platform corresponding to the roast sausage output window is arranged inside the machine body, the signal input device, the control device and the full-automatic roast sausage device are all arranged in the machine body, the automatic door device is arranged on the machine body, and the automatic door device is used for closing and opening the roast sausage output window; the control device is respectively and electrically connected with the full-automatic sausage roasting device, the signal input device and the automatic door device, and the signal input device is used for inputting ordering information and payment information and sending the ordering information to the control device; the control device is used for controlling the full-automatic sausage roasting device to complete roasting of the sausage according to the received ordering information.

9. A full-automatic roast sausage selling method is characterized by comprising the following steps:

10. The method of claim 9, wherein step e is further performed before step a: the control device sends a label preparing instruction to the mechanical arm device, and the mechanical arm mechanism pushes the label box under the cooperation of the first movement mechanism, the second movement mechanism and the third movement mechanism according to the label preparing instruction and outputs the intestinal labels.

11. The method of claim 9, wherein step f is further performed before step d: the control device sends an intestine moving instruction to the mechanical arm device, and the mechanical arm mechanism transfers the roasted mature sausage to the heat preservation area under the coordination of the first movement mechanism, the second movement mechanism and the third movement mechanism according to the intestine moving instruction.

12. The fully automatic roast sausage selling method according to claim 11, wherein in the step d, if there is a roast sausage in the heat preservation area, the control device sends out a sausage command to the robot device, the robot mechanism takes out the roast sausage in the heat preservation area according to the sausage command under the cooperation of the first motion mechanism, the second motion mechanism and the third motion mechanism, and strings the prepared sausage tag into the roast sausage under the cooperation of the string tag moving assembly, and then transfers the roast sausage with the string tag to the placing table; if no sausage exists in the heat preservation area, the control device sends out a sausage command to the mechanical arm device, the mechanical arm device takes out the sausage in the heating area under the cooperation of the first motion mechanism, the second motion mechanism and the third motion mechanism according to the sausage command, and strings the prepared sausage sticks into the sausage under the cooperation of the string stick moving assembly, and then transfers the string-stuck sausage to the placing table.