CN113479380B - Bowl lifting grabbing film pressing mechanism and method - Google Patents
Bowl lifting grabbing film pressing mechanism and method Download PDFInfo
- Publication number
- CN113479380B CN113479380B CN202110756717.9A CN202110756717A CN113479380B CN 113479380 B CN113479380 B CN 113479380B CN 202110756717 A CN202110756717 A CN 202110756717A CN 113479380 B CN113479380 B CN 113479380B
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- bowl
- lifting
- plate
- shaft
- grabbing
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- 230000007246 mechanism Effects 0.000 title claims abstract description 209
- 238000003825 pressing Methods 0.000 title claims abstract description 95
- 238000000034 method Methods 0.000 title claims description 6
- 235000013305 food Nutrition 0.000 claims abstract description 88
- 238000003860 storage Methods 0.000 claims abstract description 39
- 239000000463 material Substances 0.000 claims abstract description 34
- 239000011248 coating agent Substances 0.000 claims abstract description 10
- 238000000576 coating method Methods 0.000 claims abstract description 10
- 239000007888 film coating Substances 0.000 claims abstract description 10
- 238000009501 film coating Methods 0.000 claims abstract description 10
- 238000010438 heat treatment Methods 0.000 claims description 37
- 239000002699 waste material Substances 0.000 claims description 32
- 238000004804 winding Methods 0.000 claims description 30
- 230000007704 transition Effects 0.000 claims description 9
- 238000005096 rolling process Methods 0.000 claims description 2
- 238000005520 cutting process Methods 0.000 claims 1
- 238000012856 packing Methods 0.000 abstract description 8
- 238000003475 lamination Methods 0.000 description 2
- -1 polyethylene Polymers 0.000 description 2
- 239000004698 Polyethylene Substances 0.000 description 1
- 239000004743 Polypropylene Substances 0.000 description 1
- 239000004793 Polystyrene Substances 0.000 description 1
- 230000001133 acceleration Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000003749 cleanliness Effects 0.000 description 1
- 238000011109 contamination Methods 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 230000037406 food intake Effects 0.000 description 1
- 235000012631 food intake Nutrition 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 238000004806 packaging method and process Methods 0.000 description 1
- 229920000573 polyethylene Polymers 0.000 description 1
- 229920001155 polypropylene Polymers 0.000 description 1
- 229920002223 polystyrene Polymers 0.000 description 1
- 229920000915 polyvinyl chloride Polymers 0.000 description 1
- 239000004800 polyvinyl chloride Substances 0.000 description 1
- 235000021067 refined food Nutrition 0.000 description 1
- 229920005989 resin Polymers 0.000 description 1
- 239000011347 resin Substances 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65B—MACHINES, APPARATUS OR DEVICES FOR, OR METHODS OF, PACKAGING ARTICLES OR MATERIALS; UNPACKING
- B65B25/00—Packaging other articles presenting special problems
- B65B25/001—Packaging other articles presenting special problems of foodstuffs, combined with their conservation
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65B—MACHINES, APPARATUS OR DEVICES FOR, OR METHODS OF, PACKAGING ARTICLES OR MATERIALS; UNPACKING
- B65B41/00—Supplying or feeding container-forming sheets or wrapping material
- B65B41/12—Feeding webs from rolls
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65B—MACHINES, APPARATUS OR DEVICES FOR, OR METHODS OF, PACKAGING ARTICLES OR MATERIALS; UNPACKING
- B65B43/00—Forming, feeding, opening or setting-up containers or receptacles in association with packaging
- B65B43/12—Feeding flexible bags or carton blanks in flat or collapsed state; Feeding flat bags connected to form a series or chain
- B65B43/14—Feeding individual bags or carton blanks from piles or magazines
- B65B43/16—Feeding individual bags or carton blanks from piles or magazines by grippers
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65B—MACHINES, APPARATUS OR DEVICES FOR, OR METHODS OF, PACKAGING ARTICLES OR MATERIALS; UNPACKING
- B65B7/00—Closing containers or receptacles after filling
- B65B7/16—Closing semi-rigid or rigid containers or receptacles not deformed by, or not taking-up shape of, contents, e.g. boxes or cartons
- B65B7/162—Closing semi-rigid or rigid containers or receptacles not deformed by, or not taking-up shape of, contents, e.g. boxes or cartons by feeding web material to securing means
- B65B7/164—Securing by heat-sealing
Abstract
The invention provides a bowl lifting grabbing and film pressing mechanism, which comprises: the rotary storage mechanism is used for storing the stacked bowls and rotating the stacked bowls to the driving station; the bowl lifting mechanism corresponds to the position of the driving station and is used for driving the bowl stacking of the driving station to move up and down in the vertical direction so as to realize that the top of the bowl stacking is positioned at the bowl grabbing position; the centering grabbing mechanism is used for grabbing a bowl at the bowl grabbing position; the horizontal lifting mechanism drives the centering grabbing mechanism to move in the vertical and horizontal directions; the food material containing mechanism is used for receiving the bowl grabbed by the centering grabbing mechanism and matched with the horizontal lifting mechanism to drive the bowl to a food material placing position, a film pressing position and a bowl taking position; and the film pressing mechanism is used for coating the bowl at the film pressing position. The invention further provides a bowl lifting grabbing film pressing method. The invention realizes full automation of the bowl-packing film-coating packing of the food, improves the food processing sanitation degree, and prevents manual contact errors and food material pollution; the invention is not limited by the diameter of the stacked bowl and the gap between the bowls.
Description
Technical Field
The invention relates to food production equipment, in particular to a bowl lifting grabbing film pressing mechanism and a bowl lifting grabbing film pressing method.
Background
Films made of polyvinyl chloride, polyethylene, polypropylene, polystyrene, and other resins are used for packaging and as film layers. With the rise of living standards and the acceleration of the pace of life, people increasingly purchase processed foods, which are usually put in containers (e.g., bowls) and protected from contamination by a coating. When the food is coated and packaged, the stacked bowls are required to be separated one by one, and then the food materials are respectively put into the stacked bowls for coating. In the prior art, the method for filling food materials into the container and coating the food materials has the problems of more manual intervention, difficult guarantee of cleanliness and the like.
The spiral separating mechanism on the market is only suitable for separating small-caliber containers (such as coffee cups) stacked together, and the gap between adjacent containers is not too large, so that the spiral separating mechanism cannot be used for separating stacked bowls with large caliber and small bowl gap (the gap between the upper bowl and the lower bowl). The bowl stacking cam divider and the gear lifting mechanism have the defects when separating the bowl stacking: the structure of the bowl-stacking cam divider is complex to process, and storage and indexing are needed to be carried out by combining an external structure, so that the adjustment is not facilitated; the gear lifting mechanism can only separate the stacked bowl with large bowl gap.
The mechanism capable of automatically separating the stacked bowls, automatically loading and pressing the films is provided, so that the food processing sanitation is improved, and the problems of manual mistaken contact and pollution to food materials are solved.
Disclosure of Invention
The invention aims to provide a bowl lifting grabbing film pressing mechanism and a bowl lifting grabbing film pressing method, which can automatically grab and separate a stacked bowl, drive the grabbed bowl to a food placing position so as to be convenient for placing food, drive the bowl with the food to a film pressing position and automatically perform film covering; after the film is covered, the bowl can be automatically driven to a bowl taking position. The invention realizes full automation of bowl packing and film coating packing of food.
In order to achieve the above-mentioned purpose, the present invention provides a bowl lifting, grabbing and film pressing mechanism, comprising: the device comprises a rotary storage mechanism, a bowl lifting mechanism, a centering grabbing mechanism, a horizontal lifting mechanism, a food material containing mechanism and a film pressing mechanism;
the rotary storage mechanism is used for storing the stacked bowls and rotating the stacked bowls to the driving station;
the bowl lifting mechanism corresponds to the driving station in position and is used for driving the bowl stacking of the driving station to move up and down in the vertical direction so as to realize that the top of the bowl stacking is positioned at the bowl grabbing position;
the centering grabbing mechanism is used for grabbing a bowl in the bowl grabbing position and placing the bowl in the food holding mechanism; the centering grabbing mechanism is driven to move in the vertical and horizontal directions by the horizontal lifting mechanism;
the food material containing mechanism is matched with the horizontal lifting mechanism, and a bowl placed in the food material containing mechanism is driven to a food material containing position, a film pressing position and a bowl taking position;
the film pressing mechanism is used for coating the bowl at the film pressing position.
Optionally, the rotary storage mechanism includes:
the outer edge of the rotary indexing plate is provided with at least one first limiting hole;
the station plate is horizontally arranged above the rotary indexing plate; at least one second limiting hole is formed in the outer edge of the station plate; the second limiting hole corresponds to the first limiting hole;
the bottom and the top of the vertical rotary driving shaft are fixedly connected with the rotary indexing plate and the station plate respectively;
the rotating plate motor is used for driving the rotating driving shaft to drive the rotating dividing plate and the station plate to rotate around the central shaft of the rotating driving shaft;
a plurality of vertical guide shafts, wherein two ends of each guide shaft are respectively fixedly connected with the station plate and the rotary indexing plate; the two sides of the opening end of the first limiting hole are respectively provided with one guide shaft;
at least one lifting guide supporting plate is respectively arranged above the corresponding first limiting holes; the lifting guide supporting plate is used for placing the stacked bowls; two corresponding guide shafts are respectively penetrated through two ends of the lifting guide plate and used for guiding the lifting guide support plate to move up and down; the bowl lifting mechanism drives the lifting guide supporting plate positioned at the driving station to move in the vertical direction, so that a bowl grabbing position positioned above the station plate at the top of the stacked bowl placed on the lifting guide supporting plate is realized.
Optionally, the rotary storage mechanism further comprises:
at least one first bowl supporting plate which is respectively arranged on the corresponding lifting guide supporting plate, and the stacked bowls are arranged on the first bowl supporting plate;
the at least one bowl storage lifting driven plate is fixedly arranged at the bottom of the corresponding lifting guide supporting plate and corresponds to the first limiting hole; the bowl lifting mechanism drives the bowl storage lifting driven plate to move up and down, so that corresponding bowl stacking up and down movement is realized.
Optionally, the bowl lifting mechanism includes:
the bowl lifting slide bar is vertically and fixedly arranged and corresponds to the position of the driving station;
the bowl lifting sliding block and the bowl lifting motor drive the bowl lifting sliding block to slide up and down along the bowl lifting sliding rod through the bowl lifting motor;
and the lifting brake plate is fixedly connected with the bowl lifting slide block and used for driving the bowl storage lifting driven plate positioned at the driving station to move up and down.
Optionally, the centering grabbing mechanism includes:
the horizontal gripper bracket is provided with a linear structure, the first end of the gripper bracket is fixedly connected with a horizontal lifting mechanism, and the gripper bracket is driven to vertically move and/or translate through the horizontal lifting mechanism;
the gripper base is horizontally and fixedly arranged at the second end of the gripper bracket;
the direct-current gear motor is fixedly arranged on the gripper base, and an output shaft of the direct-current gear motor is perpendicular to the gripper base; the top surface of the grip base is provided with a plurality of linear tracks;
the rotating plate is horizontally arranged above the gripper base and is fixedly connected with the output shaft of the direct-current deceleration electrode; the rotating plate is driven by the direct-current speed reduction motor to horizontally rotate around the central shaft of the output shaft of the direct-current speed reduction electrode;
the plurality of link mechanisms are arranged on the gripper bracket, and one link mechanism corresponds to one linear track; the linkage mechanism comprises a first rod and a second rod; the first end of the first rod is hinged with the rotating plate, the second end of the first rod is hinged with the first end of the second rod, a clamping hand extending out of the hand grip bracket is fixedly arranged at the second end of the second rod, and the bottom of the clamping hand is positioned below the hand grip base and extends inwards and horizontally; the bottom of the second rod is provided with a sliding block matched with the linear rail, and the second rod is guided to move along the linear rail through the matching of the sliding block and the linear rail, so that the bowl can be clamped by a clamp and put.
Optionally, if the linear track is on the radius of a virtual circle, the virtual circle takes the projection point of the output shaft of the direct-current gear motor on the base of the gripper as the center of a circle.
Optionally, the horizontal lifting mechanism includes: the device comprises a horizontal module, a first lifting module and a second lifting module;
the horizontal module comprises a horizontal rod which is horizontally arranged, and a first translation sliding block and a second translation sliding block which can slide along the horizontal rod are respectively arranged at the first end and the second end of the horizontal rod;
the first lifting module comprises:
the first lifting frame is vertically arranged and fixedly connected with the first translation sliding block;
the first longitudinal sliding block and the first lifting motor drive the first longitudinal sliding block to slide up and down along the first lifting frame through the first lifting motor; the gripper bracket is perpendicular to the cross rod, and the first end of the gripper bracket is fixedly connected with the first longitudinal sliding block;
the second lifting module comprises:
the second lifting frame is vertically arranged and fixedly connected with the second translational sliding block;
the second longitudinal sliding block and the second lifting motor drive the second longitudinal sliding block to slide up and down along the second lifting frame through the second lifting motor; the food holding mechanism is fixedly connected with the second longitudinal sliding block.
Optionally, the food material holding mechanism comprises:
the film pressing frame is fixedly connected with the second longitudinal sliding block, and a film pressing ring is horizontally and fixedly arranged at the top of the film pressing frame; the diameter of the film pressing ring is matched with the diameter of the bowl;
the third lifting frame is vertically arranged and fixedly connected with the second longitudinal sliding block;
the third longitudinal sliding block and the third lifting motor drive the third longitudinal sliding block to slide up and down along the third lifting frame through the third lifting motor;
the bottom of the lifting rod is fixedly connected with a third longitudinal sliding block, and the top of the lifting rod is fixedly provided with a second bowl supporting plate which is horizontally placed; the lifting rod is driven by the third longitudinal sliding block, so that the second bowl supporting plate moves up and down in a space formed by surrounding the film pressing ring.
Optionally, the film pressing mechanism corresponds to the second end position of the cross bar, and includes:
the diameter of the heating ring is matched with the diameter of the bowl; the bowl at the film pressing position is pressed by matching the heating ring and the film pressing ring;
a reel and a waste film collecting shaft which are horizontally arranged and parallel to each other; the scroll and the waste film collecting shaft are arranged above the heating ring and are respectively positioned at two sides of the heating ring; the scroll and the waste film collecting shaft can rotate around the central shaft of the scroll and the waste film collecting shaft respectively;
the coiled film is sleeved on the scroll, and the leading-out end of the coiled film passes through the lower part of the heating ring, is continuously led out upwards and is wound on the waste film collecting shaft.
The invention also provides a bowl lifting grabbing and film pressing method which is realized by adopting the bowl lifting grabbing and film pressing mechanism, and comprises the following steps:
s1, driving a rotary storage mechanism to rotate a stacking bowl to a driving station;
s2, driving the stacked bowl positioned at the driving station through a bowl lifting mechanism to realize that the top of the stacked bowl is positioned at a bowl grabbing position;
s3, driving the centering grabbing mechanism to be above the bowl grabbing position, and grabbing bowls in the bowl grabbing position by the centering grabbing mechanism; driving a centering grabbing mechanism to be above the food holding mechanism, and placing the grabbed bowl on the food holding mechanism by the centering grabbing mechanism;
s4, the bowl placed on the bowl holding mechanism is driven to a bowl placing position by the food holding mechanism, and food is filled into the bowl;
s5, driving the food containing mechanism to enable a bowl of the food containing mechanism to be located at a film pressing position, and coating films on the bowl through the film pressing mechanism;
s6, driving the food containing mechanism to enable the bowl of the food containing mechanism to be located at the bowl taking position.
Compared with the prior art, the invention has the beneficial effects that:
1) The bowl lifting, grabbing and film pressing mechanism can automatically grab and separate the stacked bowls, drive the grabbed bowls to the food placing position so as to be convenient for placing food, drive the bowls with the food to the film pressing position, automatically perform film coating, and automatically drive the bowls to the bowl taking position after the film coating is completed; the invention realizes full automation of the bowl-packing film-coating packing of the food, improves the food processing sanitation degree, and prevents manual contact errors and food material pollution;
2) The invention has simple structure, is easy to realize, and is not limited by the diameter of the stacked bowl and the clearance of the bowl.
Drawings
For a clearer description of the technical solutions of the present invention, the drawings that are needed in the description will be briefly introduced below, it being obvious that the drawings in the following description are one embodiment of the present invention, and that, without inventive effort, other drawings can be obtained by those skilled in the art from these drawings:
fig. 1, fig. 1A, fig. 1B are a perspective view, a front view, and a top view of a bowl lifting grabbing film pressing mechanism of the present invention;
FIG. 2 is a schematic view of a rotary storage mechanism and bowl lifting mechanism of the present invention;
FIG. 2A is a schematic diagram showing the connection of the rotary storage mechanism, the bowl lifting mechanism, the centering grabbing mechanism and the horizontal lifting mechanism of the present invention
Fig. 3 and 3A are perspective views and side views of the centering and grabbing mechanism of the present invention;
FIG. 4 is a top view of the rotary storage mechanism, bowl lifting mechanism, centering gripping mechanism, and horizontal lifting mechanism of the present invention, respectively;
FIG. 4A is a schematic view of a horizontal lifting mechanism connected with a food holding mechanism;
fig. 5 and 5A are front and perspective views of the film pressing mechanism of the present invention;
FIG. 5B is a schematic illustration of the lamination of the bowl with the lamination ring in combination with the heating ring;
FIG. 6 is a flow chart of a bowl lifting grabbing film pressing method of the invention;
in the figure: 1. a rotary storage mechanism; 10. stacking bowls; 11. rotating the dividing plate; 111. a first limiting hole; 112. a lightening hole; 12. a station plate; 121. a second limiting hole; 13. a rotary drive shaft; 14. a rotating plate motor; 15. a guide shaft; 16. lifting and guiding the supporting plate; 17. a first bowl support plate; 18. a bowl storage lifting driven plate;
2. a bowl lifting mechanism; 20. a bowl lifting slide bar; 21. bowl lifting sliding blocks; 22. a bowl lifting motor;
3. a centering grabbing mechanism; 31. a gripper bracket; 32. a gripper base; 33. a direct current speed reduction motor; 34. a rotating plate; 35. a first lever; 36. a second lever; 37. a clamping hand; 38. a flattening plate;
4. a horizontal lifting mechanism; 400. a cross bar; 401. a first translational slide; 402. a second translational slide; 410. a first lifting frame; 411. a first longitudinal slide; 412. a first lifting motor; 420. a second lifting frame; 421. a second longitudinal slide;
5. a food material holding mechanism; 50. a film pressing frame; 51. film pressing ring; 530. a third lifting frame; 531. a third lifting motor; 532. a third longitudinal slide; 533. a lifting rod; 54. a second bowl support plate;
6. a film pressing mechanism; 60. a mounting plate; 61. a heating ring; 62. a reel; 63. a waste film collecting shaft; 631. a waste film collecting shaft driving motor; 64. a first reel; 65. a second reel; 66. a first limiting shaft; 67. the second limiting shaft; 68. a transition shaft;
7. a food taking door;
8. and (5) film rolling.
Detailed Description
The following description of the embodiments of the present invention will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present invention, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
The invention provides a bowl lifting grabbing film pressing mechanism 6, as shown in fig. 1, 1A and 1B, comprising: the device comprises a rotary storage mechanism 1, a bowl lifting mechanism 2, a centering grabbing mechanism 3, a horizontal lifting mechanism 4, a food material containing mechanism 5 and a film pressing mechanism 6.
The rotary storage mechanism 1 is used for storing the stacked bowl 10 and rotating the stacked bowl 10 to a driving station. As shown in fig. 2, the rotary storage mechanism 1 includes: the bowl storage device comprises a first limiting hole 11, a station plate 12, a rotary driving shaft 13, a rotating plate motor 14, a plurality of vertical guide shafts 15, at least one lifting guide supporting plate 16, at least one first bowl supporting plate 17 and at least one bowl storage lifting driven plate 18.
The first limiting hole 11 is horizontally arranged, and at least one first limiting hole 111 is formed in the outer edge of the first limiting hole 11 (the first limiting hole 111 partially falls on the first limiting hole 11);
the station plate 12 is horizontally arranged above the rotary indexing plate, at least one second limiting hole 121 is formed in the outer edge of the station plate 12 (the second limiting hole 121 partially falls on the station plate 12), and the second limiting hole 121 corresponds to the first limiting hole 111 in position. A second limiting aperture 121 corresponds to a station. In the embodiment of the present invention, the rotary storage mechanism 1 is provided with three stations. As shown in fig. 2, the driving stations correspond to the positions of the bowl lifting mechanism 2. To reduce the weight of the station plate 12, a plurality of lightening holes 112 are also formed in the station plate 12.
The rotary driving shaft 13 is vertically arranged, and the bottom and the top of the rotary driving shaft are respectively and fixedly connected with the centers of the first limiting hole 11 and the station plate 12.
As shown in fig. 2A, in this embodiment, the rotating plate motor 14 is disposed at the bottom of the rotating driving shaft, and is used for driving the rotating driving shaft 13 to drive the first limiting hole 11 and the station plate 12 to rotate around the central axis of the rotating driving shaft 13.
The guide shaft 15 is vertically arranged, and two ends of the guide shaft are respectively and fixedly connected with the station plate 12 and the first limiting hole 11; two sides of the opening end of the first limiting hole are respectively provided with a guide shaft 15.
The lifting guide supporting plate 16 is arranged above the corresponding first limiting hole, and one first limiting hole 111 corresponds to one lifting guide supporting plate 16. Two guide shafts 15 on two sides of the first limiting hole penetrate through two ends of the corresponding lifting guide plate respectively and are used for guiding the lifting guide support plate 16 to move up and down.
The first bowl supporting plates 17 are placed on the corresponding lifting guide supporting plates 16, one first bowl supporting plate 17 corresponds to one lifting guide supporting plate 16, and the stacked bowls 10 are placed on the first bowl supporting plates 17.
The bowl storage lifting driven plates 18 are fixedly arranged at the bottoms of the corresponding lifting guide supporting plates 16 and correspond to the positions of the first limiting holes 111, and one bowl storage lifting driven plate 18 corresponds to one lifting guide supporting plate 16; the bowl storage lifting driven plate 18 is driven to move up and down by the bowl lifting mechanism 2, so that the corresponding bowl stacking 10 moves up and down.
The bowl lifting mechanism 2 drives the lifting guide supporting plate 16 positioned at the driving station to move in the vertical direction, so that a bowl grabbing position, in which the top of the stacked bowl 10 placed on the lifting guide supporting plate 16 is positioned above the station plate, is realized. The position of the bowl grabbing position is shown in fig. 2A.
As shown in fig. 2 and 2A, the bowl lifting mechanism 2 corresponds to the driving station, and is configured to drive the bowl stack 10 of the driving station to move up and down in a vertical direction, so that the top of the bowl stack is located at the bowl grabbing position. The bowl lifting mechanism 2 comprises: a bowl lifting slide bar 20, a bowl lifting slide block 21, a bowl lifting motor 22 and a lifting brake plate (not shown in the figure).
The vertically fixed bowl lifting slide bar 20 corresponds to the position of the driving station.
The bowl lifting sliding block 21 is driven by the bowl lifting motor 22 to slide up and down along the bowl lifting sliding rod 20;
the lifting brake plate (not shown in the figure) is fixedly connected with the bowl lifting slide block 21 and is positioned below the bowl storage lifting driven plate 18 of the driving station, and is used for driving the bowl storage lifting driven plate 18 to move up and down.
The centering grabbing mechanism 3 is used for grabbing a bowl in a bowl grabbing position and placing the bowl in the food holding mechanism 5; the centering grabbing mechanism 3 is driven to move in the vertical and horizontal directions by the horizontal lifting mechanism 4. As shown in fig. 3, 3A, and 4, the centering and grasping mechanism 3 includes: the hand grip comprises a hand grip bracket 31, a hand grip base 32, a direct current gear motor 33, a rotating plate 34, a plurality of link mechanisms and a pressing plate 38.
The horizontally arranged gripper bracket 31 has a straight-line structure, as shown in fig. 4, a first end of the gripper bracket is fixedly connected with the horizontal lifting mechanism 4, and the gripper bracket 31 is driven to vertically move and/or translate through the horizontal lifting mechanism 4.
The grip base 32 is fixedly disposed horizontally at the second end of the grip support.
The direct-current gear motor 33 is fixedly arranged on the gripper base 32, and an output shaft of the direct-current gear motor is perpendicular to the gripper base 32; the top surface of the gripper base is provided with a plurality of linear rails (not shown in the figure). If the straight line track is on the radius of a virtual circle, the virtual circle takes the projection point of the output shaft of the direct-current gear motor on the gripper base 32 as the center of a circle.
The rotating plate 34 is horizontally arranged above the gripper base and is fixedly connected with the output shaft of the direct-current deceleration electrode; the rotating plate 34 is driven to horizontally rotate around the central axis of the output shaft of the dc reduction electrode by the dc reduction motor 33. In the preferred embodiment of the present invention, the rotating plate 34 is circular.
In the embodiment of the present invention, as shown in fig. 3 and 3A, the centering and grabbing mechanism 3 includes four link mechanisms, one corresponding to each linear track. The linkage comprises a first lever 35 and a second lever 36; the first end of the first rod is hinged with the rotating plate 34, the second end of the first rod is hinged with the first end of the second rod, a clamping hand 37 extending out of the hand grip bracket is fixedly arranged at the second end of the second rod, and as shown in fig. 3A, the bottom of the clamping hand 37 is positioned below the hand grip base and extends horizontally inwards. The bottom of the second rod is provided with a sliding block (not shown in the figure) matched with the linear rail, and the second rod 36 is guided to move along the linear rail through the matching of the sliding block and the linear rail, so that the bowl can be grasped and placed by the clamp 37. In this embodiment, the second bars 36 are parallel to the corresponding linear tracks.
The platen 38 is fixedly arranged at the bottom of the gripper base 32; the distance between the top of the stacked bowl and the bottom surface of the base of the gripper is adjusted by the platen 38 to accommodate the stacked bowl 10 with different bowl gaps.
The horizontal lifting mechanism 4 includes: the device comprises a horizontal module, a first lifting module and a second lifting module.
As shown in fig. 4 and fig. 4A, the horizontal module comprises a horizontal rod 400 horizontally arranged, and a first end and a second end of the horizontal rod are respectively provided with a first translation sliding block 401 and a second translation sliding block 402 which can slide along the horizontal rod 400; the first translation slider 401 and the second translation slider 402 are driven by a first translation motor (not shown) and a second translation motor (not shown), respectively.
As shown in fig. 2A, the first lifting module includes:
the first vertically arranged lifting frame 410 is fixedly connected with the first translation sliding block 401;
the first longitudinal sliding block 411 and the first lifting motor 412 drive the first longitudinal sliding block 411 to slide up and down along the first lifting frame 410 through the first lifting motor 412; as shown in fig. 4, the grip bracket 31 is perpendicular to the cross bar 400, and the first end of the grip bracket is fixedly connected to the first longitudinal slide 411. The gripper bottom plate is arranged between the gripper bracket 31 and the food material containing mechanism 5, and the gripper bottom plate and the food material containing mechanism 5 are positioned on the same side of the cross bar 400.
As shown in fig. 4A, the second lifting module includes:
a second vertically arranged lifting frame 420 fixedly connected with the second sliding block 402;
the second longitudinal sliding block 421 and the second lifting motor drive the second longitudinal sliding block 421 to slide up and down along the second lifting frame 420 through the second lifting motor.
The food holding mechanism 5 is matched with the horizontal lifting mechanism 4, and the bowl placed in the food holding mechanism 5 is driven to a food holding position, a film pressing position and a bowl taking position. The positions of the food material placing position, the film pressing position and the bowl taking position are shown in fig. 1A. In the embodiment of the present invention, as shown in fig. 4A, the food material holding mechanism 5 includes: the film pressing frame 50, the third lifting frame 530, the third longitudinal sliding block 532, the third lifting motor 531, the lifting rod 532 and the film pressing ring 51.
The third lifting frame 530 is vertically disposed. The film pressing frame 50 and the third lifting frame 530 are fixedly connected with the second longitudinal sliding block 421 and have no interference with each other. The film pressing ring 51 is horizontally and fixedly arranged at the top of the film pressing frame, and the diameter of the film pressing ring 51 is matched with the diameter of the bowl.
In this embodiment, the third lifting motor 531 is disposed at the bottom of the third lifting frame 530, and the third longitudinal sliding block 532 is driven by the third lifting motor 531 to slide up and down along the third lifting frame 530;
the bottom of the lifting rod 532 is fixedly connected with a third longitudinal sliding block 532, and the top of the lifting rod 532 is fixedly provided with a second bowl supporting plate 54 which is horizontally placed. The lifting rod 532 is driven by the third longitudinal sliding block 532, so that the second bowl supporting plate 54 moves up and down in the space formed by surrounding the film pressing ring 51. As shown in fig. 4A, the second bowl support plate 54 and the film pressing ring 51 can move up and down together with the second longitudinal slide 421, and the bowl support plate can also move up and down relative to the film pressing ring 51 by the third longitudinal slide 532.
The film pressing mechanism 6 is used for coating a film on a bowl at a film pressing position. As shown in fig. 1A and 1B, the film pressing mechanism corresponds to the second end position of the cross bar. As shown in fig. 5 and 5A, the film pressing mechanism 6 includes: a mounting plate 60, a heating ring 61, a reel 62, and a waste film collecting shaft 63.
As shown in fig. 5B, the heating ring 61 is horizontally disposed on the mounting plate 60, and the diameter of the heating ring 61 matches the diameter of the bowl opening. When the bowl of the food material containing mechanism 5 moves to the film pressing position (the bowl edge of the bowl and the top surface of the film pressing ring 51 are positioned at the same height at the moment), the heating ring 61 heats the rolled film 8 on the bottom surface of the bowl, and meanwhile, the second longitudinal sliding block 421 drives the second bowl supporting plate 54 and the film pressing ring 51 to move upwards together, and the rolled film 8 on the bottom surface of the heating ring is adhered to the bowl edge of the bowl on the second bowl supporting plate 54; meanwhile, as shown in fig. 5B, the heating ring 61 and the film pressing ring 51 are matched to cut the film 8 around the bowl mouth, so as to complete the bowl film coating of the food holding mechanism 5.
The reel 62 and the waste film collecting shaft 63 are disposed horizontally and parallel to each other on the mounting plate 60. The scroll 62 and the waste film collecting shaft 63 are arranged above the heating ring and are respectively positioned at two sides of the heating ring; the reel 62 and the waste film collecting shaft 63 are rotatable about respective central axes.
The coiled film 8 is sleeved on the scroll 62, and the leading-out end of the coiled film 8 passes through the lower part of the heating ring, is continuously led out upwards and is wound on the waste film collecting shaft 63. As shown in fig. 5, in the embodiment of the present invention, a waste film collecting shaft driving motor 631 is provided in the waste film collecting shaft 63, and the waste film collecting shaft 63 is driven to rotate around its own central axis by the waste film collecting shaft driving motor 631, thereby realizing the movement of the roll film 8.
In one embodiment of the present invention, as shown in fig. 5 and 5A, the film pressing mechanism further includes: a first reel 64, a second reel 65, a first limiting shaft 66 and a second limiting shaft 67, all of which are parallel to the reel 62
The first winding drum 64 and the second winding drum 65 are positioned below the heating ring, and the positions of the first winding drum 64 and the second winding drum 65 respectively correspond to the positions of the scroll 62 and the waste film collecting shaft 63; the bottoms of the first and second reels 64, 65 are lower than the bottom surface of the heating coil 61.
The first limiting shaft 66 is arranged between the first winding drum 64 and the heating ring 61; the second limiting shaft 67 is arranged between the second winding drum 65 and the heating ring 61; the top parts of the first limiting shaft 66 and the second limiting shaft 67 are higher than the bottom surface of the heating ring 61.
The first winding drum 64, the second winding drum 65, the first limiting shaft 66 and the second limiting shaft 67 are arranged on the mounting plate and can rotate around the central shaft of the mounting plate, and the tension of the rolled film 8 is ensured and the rolled film 8 is ensured not to be blocked through the first winding drum 64, the second winding drum 65, the first limiting shaft 66 and the second limiting shaft 67.
The leading-out end of the coiled film 8 sequentially passes through the lower part of the first winding drum, the upper part of the first limiting shaft, the lower part of the heating ring, the upper part of the second limiting shaft and the lower part of the second winding drum, is continuously led out upwards and is wound on the waste film collecting shaft 63.
In another embodiment of the present invention, as shown in fig. 5, a transition shaft 68 is provided between the winding shaft 62 and the first winding drum 64, and between the waste film collecting shaft 63 and the second winding drum 65, respectively, and the roll film 8 is wound around the transition shaft 68 from the inside of the transition shaft, and the tension of the roll film 8 is further ensured by the transition shaft 68.
The invention also provides a bowl lifting grabbing film pressing method which is realized by adopting the bowl lifting grabbing film pressing mechanism 6, as shown in fig. 6, and comprises the following steps:
s1, driving a rotary storage mechanism 1 to rotate a stacking bowl 10 to a driving station;
s2, driving the stacked bowl 10 positioned at the driving station through the bowl lifting mechanism 2 to realize that one bowl at the uppermost part of the stacked bowl 10 is positioned at a bowl grabbing position;
s3, driving the centering grabbing mechanism 3 to move far to the position above the bowl grabbing position through the horizontal lifting mechanism 4, and grabbing the bowl positioned at the bowl grabbing position by the centering grabbing mechanism 3; the centering grabbing mechanism 3 is driven to be above the food holding mechanism 5 by the horizontal lifting mechanism 4; the centering grabbing mechanism 3 places the grabbed bowl on a second bowl supporting plate 54 of the food holding mechanism 5; the centering grabbing mechanism 3 returns to the position above the bowl grabbing position;
the second transverse sliding block can drive the food holding mechanism 5 to be positioned below the food holding position in advance, then drive the centering grabbing mechanism 3 to hold a bowl, and the height of the second bowl supporting plate 54 can be adjusted through the third longitudinal sliding block 532 in the bowl holding process.
S4, driving the bowl placed on the food holding mechanism 5 to a bowl placing position (the bowl placing position can be matched with the third longitudinal sliding block 532 through the second longitudinal sliding block 421), and filling food materials into the bowl;
s5, driving the food containing mechanism 5 to enable a bowl of the food containing mechanism 5 to be located at a film pressing position, enabling the film pressing ring 51 to be at the same height as the bowl edge, and coating films on the bowl through the film pressing mechanism 6;
s6, driving the food containing mechanism 5 to enable the bowl of the food containing mechanism 5 to be located at the bowl taking position.
The bowl taking position is shown in fig. 1A. Also shown in fig. 1B is a food intake gate 7. The bowl at the bowl taking position is taken away by opening the food taking door 7.
The bowl lifting, grabbing and film pressing mechanism 6 can automatically grab and separate the stacked bowl 10, drive the grabbed bowl to a food material placing position so as to be convenient for placing food materials, drive the bowl with the food materials to a film pressing position, automatically perform film coating, and automatically drive the bowl to a bowl taking position after film coating is completed. The invention realizes full automation of bowl packing and film coating packing of food, improves food processing sanitation, and prevents manual contact errors and food material pollution. The invention has simple structure, is easy to realize, and is not limited by the diameter of the stacked bowl 10 and the bowl gap.
While the invention has been described with reference to certain preferred embodiments, it will be understood by those skilled in the art that various changes and substitutions of equivalents may be made and equivalents will be apparent to those skilled in the art without departing from the scope of the invention. Therefore, the protection scope of the invention is subject to the protection scope of the claims.
Claims (2)
1. The utility model provides a lift bowl snatchs film pressing mechanism which characterized in that contains: the device comprises a rotary storage mechanism, a bowl lifting mechanism, a centering grabbing mechanism, a horizontal lifting mechanism, a food material containing mechanism and a film pressing mechanism;
the rotary storage mechanism is used for storing the stacked bowls and rotating the stacked bowls to the driving station; the rotary storage mechanism includes: the automatic bowl storage device comprises a rotary indexing plate, a station plate, a rotary driving shaft, a rotary plate motor, a plurality of vertical guide shafts, at least one lifting guide supporting plate, at least one first bowl supporting plate and at least one bowl storage lifting driven plate;
the rotary indexing plate is horizontally arranged, and at least one first limiting hole is formed in the outer edge of the rotary indexing plate; the first limiting hole part falls on the rotary indexing plate;
the station plate is horizontally arranged above the rotary indexing plate, the outer edge of the station plate is provided with at least one second limiting hole, the second limiting hole partially falls on the station plate, and the second limiting hole corresponds to the first limiting hole; one second limiting hole corresponds to one station; the rotary storage mechanism is provided with three stations; the driving station corresponds to the bowl lifting mechanism in position, and a plurality of lightening holes are formed in the station plate;
the rotary driving shaft is vertically arranged, and the bottom and the top of the rotary driving shaft are respectively and fixedly connected with the centers of the rotary dividing plate and the station plate;
the rotating plate motor is arranged at the bottom of the rotating driving shaft and is used for driving the rotating driving shaft to drive the rotating dividing plate and the station plate to rotate around the central shaft of the rotating driving shaft together;
the guide shaft is vertically arranged, and two ends of the guide shaft are respectively fixedly connected with the station plate and the rotary indexing plate; two sides of the opening end of the first limiting hole are respectively provided with a guide shaft;
the lifting guide supporting plate is arranged above the corresponding first limiting hole, and one first limiting hole corresponds to one lifting guide supporting plate; two guide shafts on two sides of the first limiting hole penetrate through two ends of the corresponding lifting guide plate respectively and are used for guiding the lifting guide support plate to move up and down;
the first bowl supporting plates are placed on the corresponding lifting guide supporting plates, one first bowl supporting plate corresponds to one lifting guide supporting plate, and the stacked bowls are placed on the first bowl supporting plates;
the bowl storage lifting driven plate is fixedly arranged at the bottom of the corresponding lifting guide supporting plate and corresponds to the first limiting hole, and one bowl storage lifting driven plate corresponds to one lifting guide supporting plate; the bowl lifting mechanism drives the bowl storage lifting driven plate to move up and down, so that corresponding bowl stacking up and down movement is realized;
the bowl lifting mechanism drives the lifting guide supporting plate positioned at the driving station to move in the vertical direction, so that a bowl grabbing position positioned above the station plate at the top of the stacked bowl placed on the lifting guide supporting plate is realized;
the bowl lifting mechanism corresponds to the driving station in position and is used for driving the bowl stacking of the driving station to move up and down in the vertical direction so as to realize that the top of the bowl stacking is positioned at the bowl grabbing position; the bowl lifting mechanism comprises: the bowl lifting slide bar, the bowl lifting slide block, the bowl lifting motor and the lifting brake plate;
the bowl lifting slide bar is vertically and fixedly arranged and corresponds to the position of the driving station;
the bowl lifting motor drives the bowl lifting sliding block to slide up and down along the bowl lifting sliding rod;
the lifting brake plate is fixedly connected with the bowl lifting slide block and positioned below the bowl storage lifting driven plate of the driving station and used for driving the bowl storage lifting driven plate to move up and down;
the centering grabbing mechanism is used for grabbing a bowl in the bowl grabbing position and placing the bowl in the food holding mechanism; the centering grabbing mechanism is driven to move in the vertical and horizontal directions by the horizontal lifting mechanism; the centering grabbing mechanism comprises: the device comprises a gripper bracket, a gripper base, a direct-current gear motor, a rotating plate, a plurality of link mechanisms and a pressing plate;
the horizontally arranged gripper bracket is of a linear structure, the first end of the gripper bracket is fixedly connected with a horizontal lifting mechanism, and the gripper bracket is driven to vertically move and/or translate through the horizontal lifting mechanism;
the gripper base is horizontally and fixedly arranged at the second end of the gripper bracket;
the direct-current gear motor is fixedly arranged on the gripper base, and an output shaft of the direct-current gear motor is perpendicular to the gripper base; the top surface of the grip base is provided with a plurality of linear tracks; if the linear track is on the radius of a virtual circle, the virtual circle takes the projection point of the output shaft of the direct-current gear motor on the base of the gripper as the center of a circle;
the rotating plate is horizontally arranged above the gripper base and is fixedly connected with an output shaft of the direct-current gear motor; the rotating plate is driven by the direct-current gear motor to horizontally rotate around the central shaft of the output shaft of the direct-current gear motor; the rotating plate is circular;
the centering grabbing mechanism comprises four connecting rod mechanisms, and one connecting rod mechanism corresponds to one linear track; the linkage mechanism comprises a first rod and a second rod; the first end of the first rod is hinged with the rotating plate, the second end of the first rod is hinged with the first end of the second rod, a clamping hand extending out of the hand grip bracket is fixedly arranged at the second end of the second rod, and the bottom of the clamping hand is positioned below the hand grip base and extends inwards and horizontally; the bottom of the second rod is provided with a sliding block matched with the linear rail, and the second rod is guided to move along the linear rail through the matching of the sliding block and the linear rail so as to realize the gripping and bowl placing of the gripper; the second rod is parallel to the corresponding linear track;
the pressing plate is fixedly arranged at the bottom of the gripper base; the distance between the top of the stacked bowl and the bottom surface of the base of the gripper is adjusted through the flattening plate so as to adapt to the stacked bowls with different bowl gaps;
the horizontal lifting mechanism comprises: the device comprises a horizontal module, a first lifting module and a second lifting module;
the horizontal module comprises a horizontal rod which is horizontally arranged, and a first translation sliding block and a second translation sliding block which can slide along the horizontal rod are respectively arranged at the first end and the second end of the horizontal rod; the first translation sliding block and the second translation sliding block are driven by a first translation motor and a second translation motor respectively;
the first lifting module comprises:
the first lifting frame is vertically arranged and fixedly connected with the first translation sliding block;
the first longitudinal sliding block and the first lifting motor drive the first longitudinal sliding block to slide up and down along the first lifting frame through the first lifting motor; the gripper bracket is perpendicular to the cross rod, and the first end of the gripper bracket is fixedly connected with the first longitudinal sliding block; the gripper bottom plate is arranged between the gripper bracket and the food material containing mechanism, and the gripper bottom plate and the food material containing mechanism are positioned on the same side of the cross rod;
the second lifting module comprises:
the second lifting frame is vertically arranged and fixedly connected with the second translational sliding block;
the second longitudinal sliding block and the second lifting motor drive the second longitudinal sliding block to slide up and down along the second lifting frame through the second lifting motor;
the food material containing mechanism is matched with the horizontal lifting mechanism, and a bowl placed in the food material containing mechanism is driven to a food material containing position, a film pressing position and a bowl taking position; the food material holding mechanism comprises: the film pressing frame, the third lifting frame, the third longitudinal sliding block, the third lifting motor, the lifting rod and the film pressing ring;
the third lifting frame is vertically arranged; the film pressing frames and the third lifting frames are fixedly connected with the second longitudinal sliding blocks and are free from interference; the film pressing ring is horizontally and fixedly arranged at the top of the film pressing frame, and the diameter of the film pressing ring is matched with the diameter of the bowl;
the third lifting motor is arranged at the bottom of the third lifting frame, and the third longitudinal sliding block is driven by the third lifting motor to slide up and down along the third lifting frame;
the bottom of the lifting rod is fixedly connected with a third longitudinal sliding block, and the top of the lifting rod is fixedly provided with a second bowl supporting plate which is horizontally placed; the third longitudinal sliding block drives the lifting rod to realize the up-and-down movement of the second bowl supporting plate in a space formed by the surrounding of the film pressing ring; the second bowl supporting plate and the film pressing ring can move up and down along with the second longitudinal sliding block, and in addition, the bowl supporting plate can also move up and down relative to the film pressing ring through the third longitudinal sliding block;
the film pressing mechanism is used for coating the bowl at the film pressing position; the film pressing mechanism corresponds to the second end position of the cross rod; the film pressing mechanism comprises: the device comprises a mounting plate, a heating ring, a scroll and a waste film collecting shaft;
the heating ring is horizontally arranged on the mounting plate, and the diameter of the heating ring is matched with the diameter of the bowl opening; when the bowl of the food material containing mechanism moves to the film pressing position, the heating ring heats the rolled film on the bottom surface of the bowl, and meanwhile, the second longitudinal sliding block drives the second bowl supporting plate and the film pressing ring to move upwards together, and the rolled film on the bottom surface of the heating ring is adhered to the bowl edge of the bowl on the second bowl supporting plate; cutting the rolled film around the bowl mouth by matching the heating ring and the film pressing ring, and finishing bowl film coating of the food holding mechanism;
the scroll and the waste film collecting shaft are horizontally arranged and are mutually parallel to each other and arranged on the mounting plate; the scroll and the waste film collecting shaft are arranged above the heating ring and are respectively positioned at two sides of the heating ring; the scroll and the waste film collecting shaft can rotate around the respective central shafts respectively;
the coiled film is sleeved on the scroll, and the leading-out end of the coiled film passes through the lower part of the heating ring, is continuously led out upwards and is wound on the waste film collecting shaft; a waste film collecting shaft driving motor is arranged in the waste film collecting shaft, and the waste film collecting shaft is driven by the waste film collecting shaft driving motor to rotate around a central shaft of the waste film collecting shaft, so that film rolling movement is realized;
the film pressing mechanism further comprises: the first winding drum, the second winding drum, the first limiting shaft and the second limiting shaft are parallel to the winding shaft;
the first winding drum and the second winding drum are positioned below the heating ring, and correspond to the positions of the scroll and the waste film collecting shaft respectively; the bottoms of the first winding drum and the second winding drum are lower than the bottom surface of the heating ring;
the first limiting shaft is arranged between the first winding drum and the heating ring; the second limiting shaft is arranged between the second winding drum and the heating ring; the tops of the first limiting shaft and the second limiting shaft are higher than the bottom surface of the heating ring;
the first winding drum, the second winding drum, the first limiting shaft and the second limiting shaft are arranged on the mounting plate and can rotate around the central shaft of the mounting plate, and the tension of the rolled film is ensured and the rolled film is ensured not to be blocked through the first winding drum, the second winding drum, the first limiting shaft and the second limiting shaft;
the leading-out end of the coiled film sequentially passes through the lower part of the first winding drum, the upper part of the first limiting shaft, the lower part of the heating ring, the upper part of the second limiting shaft and the lower part of the second winding drum, is continuously led out upwards and is wound on the waste film collecting shaft;
a transition shaft is arranged between the scroll and the first scroll and between the waste film collecting shaft and the second scroll respectively, the rolled film bypasses the transition shaft from the inner side of the transition shaft, and the tension of the rolled film is further ensured through the transition shaft.
2. A bowl lifting, grabbing and film pressing method of a bowl lifting, grabbing and film pressing mechanism according to claim 1, comprising the steps of:
s1, driving a rotary storage mechanism to rotate a stacking bowl to a driving station;
s2, driving a bowl stacking mechanism positioned at a driving station to enable the bowl at the uppermost part of the bowl stacking mechanism to be positioned at a bowl grabbing position;
s3, driving the centering grabbing mechanism to move far to the position above the bowl grabbing position through the horizontal lifting mechanism, and grabbing the bowl positioned at the bowl grabbing position through the centering grabbing mechanism; the centering grabbing mechanism is driven to be above the food holding mechanism by the horizontal lifting mechanism; the centering grabbing mechanism is used for placing the grabbed bowl on a second bowl supporting plate of the food material containing mechanism; the centering grabbing mechanism returns to the position above the bowl grabbing position; the second transverse sliding block can be used for driving the food holding mechanism to be positioned below the food holding position in advance, then driving the centering grabbing mechanism to hold a bowl, and the height of the second bowl supporting plate can be adjusted through the third longitudinal sliding block in the bowl holding process;
s4, driving the bowl placed on the food holding mechanism to a bowl placing position, and filling food into the bowl through the cooperation of the second longitudinal sliding block and the third longitudinal sliding block;
s5, driving the food containing mechanism to enable a bowl of the food containing mechanism to be located at a film pressing position, enabling a film pressing ring to be at the same height as a bowl edge, and coating films on the bowl through the film pressing mechanism;
s6, driving the food containing mechanism to enable the bowl of the food containing mechanism to be located at the bowl taking position.
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| CN113859964A (en) * | 2021-11-17 | 2021-12-31 | 海底捞控股私人有限公司 | Automatic bowl discharging device and food processing system |
| CN114890362A (en) * | 2022-05-11 | 2022-08-12 | 厦门鑫呈达机械设备有限公司 | High-efficient automatic hot water buckle closure all-in-one of irritating |
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