CN114596674B - An intelligent takeaway cabinet and its control method - Google Patents

Abstract

The invention discloses an intelligent takeout cabinet and a control method thereof, wherein the intelligent takeout cabinet comprises a box body, a conveying device, a lifting device, a grabbing device, a storage device, an environment adjusting device and an electric control device; the conveying device is arranged at the bottom in the box body; the storage device comprises an external storage structure and an internal storage structure, the external storage structure is arranged on the front surface of the box body, and the internal storage structure is arranged in the box body; the lifting device is arranged in the box body and is connected with the bottom of the box body; the gripping device is connected with the lifting device in a sliding manner; the environment adjusting device is arranged on the inner side surface of the box body; the electric control device is arranged in the box body and used for controlling the conveying device, the lifting device, the grabbing device, the storage device and the environment adjusting device. The invention solves the problems that the existing takeaway cabinet has insufficient space and can not control temperature and regularly disinfect.

Description

An intelligent takeaway cabinet and its control method

technical field

The invention relates to the technical field of intelligent equipment, in particular to an intelligent takeaway cabinet and a control method thereof.

Background technique

In the past, takeaways were not specially stored in one place, and the takeaways would be placed casually when they saw the vacancy. Once there were too many takeaways, it would be difficult to find or even get dirty; if it was more serious, the takeaways would be stolen. And during the epidemic, because there can't be too much contact between people, the takeaway cabinet can play a greater role. However, the existing takeaway cabinets have limited space grids and cannot accommodate too many takeaways. The overall realization function is single, and it cannot control temperature and regularly disinfect.

Contents of the invention

The purpose of the present invention is to disclose an intelligent take-out cabinet and its control method, so as to solve the problem that the existing take-out cabinet has insufficient space and cannot control temperature and regularly disinfect.

In order to achieve the above object, the present invention adopts following technical scheme:

An intelligent takeaway cabinet, including a box body, a conveying device, a lifting device, a grabbing device, a storage device, an environment regulating device and an electric control device;

The conveying device is arranged at the bottom of the box;

The storage device includes an outer storage structure and an inner storage structure, the outer storage structure is arranged on the front of the box body, and the inner storage structure is arranged inside the box body;

The lifting device is set inside the box and connected to the bottom of the box;

The grabbing device is slidingly connected with the lifting device;

The environment regulating device is arranged on the inner side of the box;

The electric control device is arranged inside the box body, and is used to control the conveying device, the lifting device, the grabbing device, the storage device, and the environment regulating device.

Preferably, the smart takeaway cabinet also includes a camera, a lamp holder and an energy collection device;

The camera is connected to the outer surface of the box;

The lamp holder is connected with the top of the box;

The energy collection device is arranged on the top of the box body.

In one embodiment, the energy harvesting device includes a solar charging panel.

Preferably, the external storage structure includes a storage compartment, a display screen, a scanner and a storage compartment;

The storage compartment, display screen and cargo compartment are all set on the front of the box;

The scanner is set up inside the pickup.

Preferably, the internal storage structure includes a first motor fixing seat, a first bearing, a first motor, a vertical shaft, a comb-shaped storage bin, a shaft sleeve and a first bearing fixing seat;

The first motor fixing seat is arranged at the bottom of the box;

The motor is arranged inside the first motor fixing seat;

The first bearing is arranged on the top of the first motor fixing base;

One end of the vertical shaft is connected to the first bearing fixing seat, the other end is connected to the rotating shaft of the first motor, and the first bearing fixing seat is connected to the top of the box;

The comb-shaped storage bins are sleeved on the surface of the rotating shaft, and a shaft sleeve is arranged between two adjacent comb-shaped storage bins.

Preferably, the lifting device includes a second motor fixing seat, a second motor, a driving gear, an indirect gear set, a connecting rod, an upper base and a slide table;

The second motor fixing seat is arranged at the bottom of the box;

The second motor is fixedly connected to the second motor fixing seat;

The second motor is connected with the driving gear;

The indirect gear set includes an upper gear set and a lower gear set; the upper gear set and the lower gear set respectively include two mutually meshing gears;

The lower gear set is rotationally connected with the second motor fixing seat through the first rotating shaft;

The upper gear set is rotationally connected with the upper base through the second rotating shaft;

The connecting rods include upper connecting rods, middle connecting rods and lower connecting rods;

One end of the upper connecting rod is rotatably connected to the second rotating shaft, and the other end is rotatably connected to the third rotating shaft;

One end of the connecting rod is rotatably connected to the third rotating shaft, and the other end is rotatably connected to the fourth rotating shaft;

One end of the lower connecting rod is rotatably connected to the fourth rotating shaft, and the other end is rotatably connected to the first rotating shaft;

The middle part of the middle connecting rod is rotationally connected with the fifth rotating shaft;

The driving gear meshes with the first rotating shaft;

The slide table is connected with the top of the upper base.

Preferably, the grabbing device includes a sliding table upper seat, a third motor fixing seat, a second bearing, a comb-shaped claw fixing seat, a first coupling, a telescopic rod, a steering gear and a clamping claw;

The upper seat of the sliding table is slidingly connected with the sliding table;

The third motor fixing seat is arranged above the upper seat of the slide table;

The second bearing is arranged above the third motor fixing seat;

The comb claw fixing seat is connected with the third motor fixing seat through the first coupling;

The steering gear is connected to the side of the comb claw holder;

The clamping claw is rotationally connected with the steering gear through the connecting shaft;

The telescopic rod is arranged at the bottom of the clamping claw, and is connected with the side of the comb-shaped claw fixing base.

Preferably, the conveying device includes a conveyor belt, a second bearing fixing seat, a conveyor belt fixing seat, a second coupling, an electric guide rail, and a third motor;

The electric guide rail is set at the bottom of the box;

The conveyor belt fixing seat is slidingly connected with the electric guide rail;

The third motor is connected to the conveyor belt fixing seat through the second coupling;

The second bearing fixing seat is fixedly connected with the conveyor belt fixing seat;

The second bearing fixing seat is used to fix the third bearing, and the third bearing is rotatably connected with the sixth rotating shaft;

There are two sixth rotating shafts, and the two sixth rotating shafts are connected by a conveyor belt.

A control method for the aforementioned intelligent takeaway cabinet, comprising the steps of:

S1, obtain the storage location selected by the delivery person through the display screen, and the storage location includes an internal storage structure or an external storage structure;

S2, if the storage position is an external storage structure, control the opening of the door of the storage bin; if the storage position is an internal storage structure, control the opening of the door of the picking bin, and move the conveyor belt fixing seat to the picking position through the electric guide rail. the position of the door of the warehouse;

S3, obtaining the customer information of the takeaway placed on the conveyor belt through the scanner;

S4, the electronic control device sends prompt information to the customer according to the customer information;

S5, after the electric guide rail moves the conveyor belt fixing seat to the position of the telescopic rod, the conveyor belt rotates to transfer the food to the top of the telescopic rod;

S6, the takeaway is clamped by controlling the clamping claws through the steering gear;

S7, moving the upper seat of the slide table to the position where the comb-shaped storage bin is located through the slide table;

S8, control the clamping claw to rotate to the top of the comb-shaped storage bin;

S9, loosen the clamping claw, so that the takeaway falls into the comb-shaped storage bin.

The beneficial effects of the present invention are:

1. The intelligent takeaway cabinet of the present invention provides a special storage place for takeout, so that the takeaway will not be lost or dirty; when the takeaway is received in the storage warehouse, the customer can be notified in a timely and accurate manner to get the takeaway , avoiding the waiting process and the process of looking for takeaway; there are external storage warehouses and internal storage warehouses, and there are many places to store takeaway; dividing the internal storage warehouse into large, medium and small can greatly improve the space utilization; It can ensure the stability of the mechanism and the lifting distance range is relatively large; the combination of the comb-shaped storage bin and the comb-shaped clamping claws reduces the complexity of the grasping part, and does not need to add components to control other degrees of freedom The placement function can only be realized; by setting the shape of the comb-shaped claws and the clamping claws, the takeaway can be better held without damage; through the external temperature and the raindrop detection device, the temperature can be properly controlled to ensure that the temperature of the takeaway can be kept at a constant temperature; The disinfection function is performed regularly; through the energy collection device, the lamp holder can be energized and other devices to improve the utilization rate of energy.

2. The present invention can ensure the safety of the takeaway cabinet by setting a camera; it contains a display screen that can reflect information such as the vacant position of the storage bin and the outdoor temperature in real time. Realize intelligence, and be able to feed back information in real time, such as whether maintenance is required.

Description of drawings

The present invention is further described by using the accompanying drawings, but the embodiments in the accompanying drawings do not constitute any limitation to the present invention. For those of ordinary skill in the art, without paying creative work, other embodiments can also be obtained according to the following accompanying drawings Attached picture.

Fig. 1 is a diagram of an exemplary embodiment of the overall structure of the intelligent take-out cabinet according to the embodiment of the present invention.

Fig. 2 is a top view of the overall structure of the intelligent take-out cabinet according to the embodiment of the present invention.

Fig. 3 is an internal structure diagram of the intelligent take-out cabinet according to the embodiment of the present invention.

Fig. 4 is a schematic diagram of the internal storage structure of the intelligent take-out cabinet according to the embodiment of the present invention.

Fig. 5 is a schematic diagram of the lifting device of the intelligent take-out cabinet according to the embodiment of the present invention.

Fig. 6 is a schematic diagram of a grabbing device of an intelligent takeaway cabinet according to an embodiment of the present invention.

Fig. 7 is a schematic diagram of a conveying device of an intelligent takeaway cabinet according to an embodiment of the present invention.

Detailed ways

Embodiments of the present invention are described in detail below, examples of which are shown in the drawings, wherein the same or similar reference numerals designate the same or similar elements or elements having the same or similar functions throughout. The embodiments described below by referring to the figures are exemplary only for explaining the present invention and should not be construed as limiting the present invention.

Example 1

As shown in Figures 1-3, the intelligent take-out cabinet provided by the present invention includes a box body 1, a conveying device 1-1, a lifting device 1-2, a grabbing device 1-3, a storage device, an environment regulating device and an electrical appliance. control device;

The conveying device 1-1 is arranged at the bottom of the box body 1;

The storage device includes an external storage structure and an internal storage structure, the external storage structure is arranged on the front of the box body 1, and the inner storage structure is arranged inside the box body 1;

The lifting device 1-2 is arranged inside the box body 1 and connected with the bottom of the box body 1;

The grabbing device 1-3 is slidingly connected with the lifting device 1-2;

The environment regulating device is arranged on the inner side of the box body 1;

The electric control device is arranged inside the box body 1, and is used to control the conveying device 1-1, the lifting device 1-2, the grabbing device 1-3, the storage device, and the environment regulating device.

Fig. 2 is a top view of the present invention with the top of the box body removed.

In one embodiment, the environment regulating device includes an ultraviolet disinfection device 1-4 and a temperature control device 1-5.

Preferably, the smart takeaway cabinet also includes a camera 2, a lamp holder 3 and an energy collection device 4;

The camera 2 is connected to the outer surface of the box body 1;

The lamp holder 3 is connected to the top of the box body 1;

The energy collection device 4 is arranged on the top of the box body 1 .

Preferably, the external storage structure includes a storage bin 5, a display screen 6, a scanner, and a cargo bin 7;

The storage bin 5, the display screen 6 and the cargo bin 7 are all arranged on the front of the box body 1;

The scanner is set up inside the pickup.

Preferably, as shown in Figure 4, the internal storage structure includes a first motor fixing seat 8, a first bearing 9, a first motor, a vertical shaft 10, a comb-shaped storage bin 11, a shaft sleeve 12 and a first bearing fixing seat 13;

The first motor fixing seat 8 is arranged at the bottom of the box body 1;

The motor is arranged inside the first motor holder 8;

The first bearing 9 is arranged on the top of the first motor fixing seat 8;

One end of the vertical shaft 10 is connected to the first bearing holder 13, the other end is connected to the rotating shaft of the first motor, and the first bearing holder 13 is connected to the top of the box body 1;

The comb-shaped storage bins 11 are sleeved on the surface of the rotating shaft, and a shaft sleeve 12 is arranged between two adjacent comb-shaped storage bins 11 .

In other embodiments, the number of internal storage structures is 3, including large-size internal storage structures, medium-size internal storage structures and small-size internal storage structures;

The three internal storage structures are identical except for the size of the comb-shaped storage bins.

Example 2:

The intelligent takeaway cabinet provided by the present invention is basically the same as that of Embodiment 1, except that, as shown in FIG. Gear 16, indirect gear set, upper base 17 and slide table 18;

The second motor fixing seat 14 is arranged at the bottom of the box body 1;

The second motor 15 is affixed to the second motor holder 14;

The second motor 15 is connected with the driving gear 16;

The indirect gear set includes an upper gear set and a lower gear set; the upper gear set and the lower gear set respectively include two mutually meshing gears 19;

The lower gear set is rotationally connected with the second motor holder 14 through the first rotating shaft 20;

The upper gear set is rotationally connected with the upper base 17 through the second rotating shaft 21;

The connecting rods include an upper connecting rod 22, a middle connecting rod 23 and a lower connecting rod 24;

One end of the upper connecting rod 22 is rotatably connected to the second rotating shaft 21, and the other end is rotatably connected to the third rotating shaft 25;

One end of the middle connecting rod 23 is rotatably connected with the third rotating shaft 25, and the other end is rotatably connected with the fourth rotating shaft 26;

One end of the lower connecting rod 24 is rotatably connected to the fourth rotating shaft 26, and the other end is rotatably connected to the first rotating shaft 20;

The middle part of the connecting rod 23 is rotationally connected with the fifth rotating shaft 43;

The driving gear 16 meshes with the first rotating shaft 20;

The slide table 18 is connected with the top of the upper base 17 .

Example 3:

The intelligent takeaway cabinet provided by the present invention is basically the same as Embodiments 1 and 2, except that, as shown in FIG. Seat 28, second bearing 29, comb-shaped claw fixing seat 30, first coupling 31, telescopic rod 32, steering gear 33 and clamping claw 34;

The upper seat 27 of the slide table is slidably connected with the slide table 18;

The third motor fixing seat 28 is arranged above the upper seat 27 of the slide table;

The second bearing 29 is arranged above the third motor fixing seat 28;

The comb claw fixing base 30 is connected with the third motor fixing base 28 through the first coupling 31;

The steering gear 33 is connected to the side of the comb claw holder 30;

The clamping claw 34 is rotationally connected with the steering gear 33 through a connecting shaft;

The telescopic rod 32 is arranged at the bottom of the clamping claw 34 and connected with the side of the comb-shaped claw fixing seat 30 .

Example 4:

The intelligent take-out cabinet provided by the present invention is basically the same as Embodiment 1-3, the difference is that

As shown in Figure 7, the conveying device 1-1 includes a conveyor belt 35, a second bearing holder 36, a conveyor belt holder 37, a second coupling 38, an electric guide rail 39, and a third motor 40;

The electric guide rail 39 is arranged at the bottom of the box body 1;

The conveyor belt fixing seat 37 is slidably connected with the electric guide rail 39;

The third motor 40 is connected with the conveyor belt fixing seat 37 through the second coupling 38;

The second bearing fixing seat 36 is affixed to the conveyor belt fixing seat 37;

The second bearing fixing seat 36 is used to fix the third bearing 41, and the third bearing 41 is rotationally connected with the sixth rotating shaft 42;

The number of the sixth rotating shafts 42 is two, and the two sixth rotating shafts 42 are connected by the conveyor belt 35 .

Example 5:

The control method of the intelligent take-out cabinet of one of the aforementioned embodiments 1-4 provided by the embodiment of the present invention includes the following steps:

S1, acquire the storage location selected by the delivery person through the display screen 6, the storage location includes an internal storage structure or an external storage structure;

S2, if the storage position is an external storage structure, then control the door of the storage bin 5 to open; 37 move to the door position of the warehouse 7;

S3, obtaining the customer information of the takeaway placed on the conveyor belt 35 through the scanner;

S4, the electronic control device sends prompt information to the customer according to the customer information;

S5, after the electric guide rail 39 moves the conveyor belt fixing seat 37 to the position where the telescopic rod 32 is located, the conveyor belt 35 rotates to transmit the takeaway to the top of the telescopic rod 32;

S6, the takeaway is clamped by controlling the clamping claw 34 through the steering gear 33;

S7, move the upper seat 27 of the slide table to the position where the comb-shaped storage bin 11 is located through the slide table 18;

S8, control the clamping claw 34 to rotate to the top of the comb-shaped storage bin 11;

S9, loosen the clamping claw 34 to make the takeaway fall into the comb-shaped storage bin 11 .

The intelligent takeaway cabinet and its control method provided by the present invention provide a special storage place for the takeaway, so that the takeaway will not be lost or dirty; when the takeaway is received in the storage warehouse, the customer can be notified in a timely and accurate manner Come down to get takeaway, avoiding the waiting process and the process of looking for takeaway; there are external storage warehouses and internal storage warehouses, and there are many places to store takeaway food; dividing the internal storage warehouse into large, medium and small can greatly improve space utilization; the use of cut-out shape The lifting structure can not only ensure the stability of the mechanism, but also has a relatively large range of lifting distance; the combination of the comb-shaped storage bin and the comb-shaped clamping claw 34 reduces the complexity of the grasping part, and does not need to be controlled by adding parts Only other degrees of freedom can realize the placement function; by setting the shape of the comb-shaped claws and clamping claws 34, the takeaway can be better clamped without damage; the temperature of the takeaway can be properly controlled through the external temperature and raindrop detection device, ensuring the temperature of the takeaway The temperature can be kept constant; and the disinfection function can be performed at regular intervals; the lamp holder 3 can be energized through the energy collection device 4 to improve the utilization rate of energy. Contains a camera 2, which can ensure the safety of the takeaway cabinet; contains a display screen 6, which can reflect information such as the vacant position of the storage bin and the outdoor temperature in real time. Realize intelligence, and be able to feed back information in real time, such as whether maintenance is required.

Although the embodiments of the present invention have been shown and described, those skilled in the art can understand that various changes, modifications, substitutions and deformations can be made to these embodiments without departing from the principle and spirit of the present invention. The scope is defined by the claims and their equivalents.

It should be noted that each functional unit/module in each embodiment of the present invention can be integrated into one processing unit/module, or each unit/module can exist separately physically, or two or more units/modules can be integrated. Modules are integrated in one unit/module. The above-mentioned integrated units/modules can be implemented in the form of hardware or in the form of software functional units/modules.

Through the above description of the implementation manners, those skilled in the art can clearly understand that the embodiments described herein can be implemented by hardware, software, firmware, middleware, codes or any appropriate combination thereof. For hardware implementation, the processor can be implemented in one or more of the following units: Application Specific Integrated Circuit (ASIC), Digital Signal Processor (DSP), Digital Signal Processing Device (DSPD), Programmable Logic Device (PLD), Field Programmable Programmable gate arrays (FPGAs), processors, controllers, microcontrollers, microprocessors, other electronic units designed to perform the functions described herein, or combinations thereof. For software implementation, part or all of the processes of the embodiments can be completed by instructing related hardware through computer programs.

When implemented, the above program can be stored in a computer-readable medium or transmitted as one or more instructions or codes on a computer-readable medium. Computer-readable media includes both computer storage media and communication media including any medium that facilitates transfer of a computer program from one place to another. A storage media may be any available media that can be accessed by a computer. Computer readable media may include, but are not limited to, RAM, ROM, EEPROM, CD-ROM or other optical disk storage, magnetic disk storage media or other magnetic storage devices, or can be used to carry or store desired program code in the form of instructions or data structures and any other medium that can be accessed by a computer.

Claims (4)

1. An intelligent takeout cabinet is characterized by comprising a box body, a conveying device, a lifting device, a grabbing device, a storage device, an environment adjusting device and an electric control device;

the conveying device is arranged at the bottom in the box body;

the storage device comprises an external storage structure and an internal storage structure, the external storage structure is arranged on the front surface of the box body, and the internal storage structure is arranged in the box body;

the lifting device is arranged in the box body and is connected with the bottom of the box body;

the gripping device is connected with the lifting device in a sliding manner;

the environment adjusting device is arranged on the inner side surface of the box body;

the electric control device is arranged in the box body and used for controlling the conveying device, the lifting device, the grabbing device, the storage device and the environment adjusting device;

the external storage structure comprises a storage bin, a display screen, a scanner and a goods taking bin;

the storage bin, the display screen and the goods taking bin are all arranged on the front surface of the box body;

the scanner is arranged in the goods taking device;

the storage structure comprises a first motor fixing seat, a first bearing, a first motor, a vertical shaft, a comb-shaped storage bin, a shaft sleeve and a first bearing fixing seat;

the first motor fixing seat is arranged at the bottom of the box body;

the motor is arranged in the first motor fixing seat;

the first bearing is arranged at the top of the first motor fixing seat;

one end of the vertical shaft is connected with the first bearing fixing seat, the other end of the vertical shaft is connected with a rotating shaft of the first motor, and the first bearing fixing seat is connected with the top of the box body;

the comb-shaped storage bins are sleeved on the surface of the rotating shaft, and a shaft sleeve is arranged between every two adjacent comb-shaped storage bins;

the lifting device comprises a second motor fixing seat, a second motor, a driving gear, an indirect gear set, a connecting rod, an upper base and a sliding table;

the second motor fixing seat is arranged at the bottom of the box body;

the second motor is fixedly connected with the second motor fixing seat;

the second motor is connected with the driving gear;

the indirect gear set comprises an upper gear set and a lower gear set; the upper gear set and the lower gear set respectively comprise 2 gears which are meshed with each other;

the lower gear set is rotationally connected with the second motor fixing seat through a first rotating shaft;

the upper gear set is rotationally connected with the upper base through a second rotating shaft;

the connecting rods comprise an upper connecting rod, a middle connecting rod and a lower connecting rod;

one end of the upper connecting rod is rotationally connected with the second rotating shaft, and the other end of the upper connecting rod is rotationally connected with the third rotating shaft;

one end of the middle connecting rod is rotationally connected with the third rotating shaft, and the other end of the middle connecting rod is rotationally connected with the fourth rotating shaft;

one end of the lower connecting rod is rotatably connected with the fourth rotating shaft, and the other end of the lower connecting rod is rotatably connected with the first rotating shaft;

the middle part of the middle connecting rod is rotationally connected with the fifth rotating shaft;

the driving gear is meshed with the first rotating shaft;

the sliding table is connected with the top of the upper base;

the gripping device comprises a sliding table upper seat, a third motor fixing seat, a second bearing, a comb-shaped claw fixing seat, a first coupler, a telescopic rod, a steering engine and a clamping claw;

the sliding table upper seat is connected with the sliding table in a sliding manner;

the third motor fixing seat is arranged above the sliding table upper seat;

the second bearing is arranged above the third motor fixing seat;

the comb-shaped claw fixing seat is connected with a third motor fixing seat through a first coupler;

the steering engine is connected with the side surface of the comb-shaped claw fixing seat;

the clamping claw is rotationally connected with the steering engine through a connecting shaft;

the telescopic link sets up in the bottom of gripper jaw, is connected with the side of comb shape claw fixing base.

2. The intelligent take-out cabinet according to claim 1, further comprising a camera, a lamp holder and an energy collection device;

the camera is connected with the outer side surface of the box body;

the lamp holder is connected with the top of the box body;

the energy collecting device is arranged at the top of the box body.

3. The intelligent take-out cabinet according to claim 1, wherein the conveying device comprises a conveyor belt, a second bearing fixing seat, a conveyor belt fixing seat, a second coupler, an electric guide rail and a third motor;

the electric guide rail is arranged at the bottom of the box body;

the conveying belt fixing seat is connected with the electric guide rail in a sliding manner;

the third motor is connected with the conveying belt fixing seat through a second coupler;

the second bearing fixing seat is fixedly connected with the conveying belt fixing seat;

the second bearing fixing seat is used for fixing a third bearing, and the third bearing is rotatably connected with the sixth rotating shaft;

the number of the sixth rotating shafts is 2, and the 2 sixth rotating shafts are connected through a conveying belt.

4. A control method of an intelligent take-out cabinet, which is applied to the intelligent take-out cabinet of any one of claims 1 to 3, and is characterized by comprising the following steps:

s1, acquiring a storage position selected by a takeaway through a display screen, wherein the storage position comprises an internal storage structure or an external storage structure;

s2, if the storage position is an external storage structure, controlling a bin door of the storage bin to be opened; if the storage position is an internal storage structure, controlling a bin door of the goods taking bin to be opened, and moving the conveying belt fixing seat to the bin door position of the goods taking bin through the electric guide rail;

s3, acquiring takeout customer information on the conveyer belt through a scanner;

s4, the electric control device sends prompt information to the client according to the client information;

s5, after the electric guide rail moves the conveying belt fixing seat to the position where the telescopic rod is located, the conveying belt rotates to convey takeaway to the upper side of the telescopic rod;

s6, controlling the clamping jaws to clamp the takeaway through the steering engine;

s7, moving the sliding table upper seat to the position where the comb-shaped storage bin is located through the sliding table;

s8, controlling the clamping claw to rotate to a position above the comb-shaped storage bin;

s9, loosening the clamping claws to enable the takeaway to fall into the comb-shaped storage bin.

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