Intelligent food preparation system

Abstract

The present invention discloses an intelligent food preparation system, which includes: a first storage area and a second storage area, wherein the first storage area and / or the second storage area are both suitable for storing food materials and are spaced apart from each other; an operation area, wherein the operation area is arranged between the first storage area and the second storage area, and an operation platform is arranged in the operation area, wherein the operation platform is suitable for conveying the food materials in the first storage area and / or the second storage area to the operation area for processing. The intelligent food preparation system according to the present invention has high preparation efficiency and low cost.

Description

Technical Field

[0001] The present application relates to the field of intelligent devices, and in particular to an intelligent catering preparation system. Background Art

[0002] In the related art, the beverage preparation system is not perfect in the layout of the material storage area and the operating platform. Due to the different preparation methods of the beverage preparation system, the layout methods of the material storage area and the operating platform are also different. The beverage preparation system in the related art has low working efficiency and cannot perform collaborative operations. Summary of the invention

[0003] The present application aims to solve at least one of the technical problems existing in the prior art. To this end, one purpose of the present application is to propose an intelligent food preparation system, which has high preparation efficiency and low cost.

[0004] A first storage area and a second storage area, the first storage area and / or the second storage area are both suitable for storing food and beverage materials and are separated from each other; an operation area, the operation area is arranged between the first storage area and the second storage area, an operation platform is arranged in the operation area, and the operation platform is suitable for transporting the food and beverage materials in the first storage area and / or the second storage area to the operation area for processing.

[0005] According to the intelligent catering preparation system of the present invention, materials are stored in both the first storage area and the second storage area, and the operating platform in the operating area is suitable for making beverages. During the preparation process of the intelligent catering preparation system, the operating area is adjacent to the first storage area and the second storage area respectively, and the operating area is close to the first storage area and the second storage area, so the materials in the first storage area and the second storage area can be quickly and conveniently taken out and placed in the operating area. Setting the operating area between the first storage area and the second storage area can greatly improve the circulation efficiency of the materials and speed up the pace of beverage preparation.

[0006] According to an embodiment of the present invention, the first storage area, the operation area and the second storage area are arranged in sequence along the up-down direction.

[0007] According to one embodiment of the present invention, a high-altitude feeding device is provided in the first storage area, and the high-altitude feeding device includes: a material rack; a parallel four-bar linkage mechanism, and the parallel four-bar linkage mechanism includes: a fixed link, a driving link, a moving link and a driven link connected in sequence, the fixed link is parallel to the moving link, the driving link is parallel to the driven link, and the material rack is provided on the moving link.

[0008] According to one embodiment of the present invention, a beverage capsule storage device for storing beverage capsules is provided on the material rack, and the beverage capsule storage device comprises: a storage device body, on which a capsule slide for storing beverage capsules is provided; a limit member, wherein the limit member is formed at one end of the storage device body, and the limit member has a locked state and an unlocked state, wherein the limit member is suitable for stopping the beverage capsule when the limit member is in the locked state, and wherein the beverage capsule is suitable for detaching from the capsule slide when the limit member is in the unlocked state.

[0009] According to one embodiment of the present invention, the storage device body comprises: a bottom plate and a guide plate arranged opposite to and spaced apart from the bottom plate in the front-to-rear direction, the capsule slide is defined between the bottom plate and the guide plate, and the flange of the beverage capsule is slidably arranged in the capsule slide.

[0010] According to one embodiment of the present invention, the operating platform includes a first robotic arm, which includes: a first robotic arm body; a first actuator, the first actuator is connected to the first robotic arm body to move under the drive of the first robotic arm body, and the first actuator is suitable for grabbing a beverage capsule and brewing the beverage capsule.

[0011] According to one embodiment of the present invention, the first actuator comprises: an actuator body; a capsule accommodating portion, wherein the capsule accommodating portion is mounted on the actuator body, wherein an accommodating space for accommodating a beverage capsule is arranged in the capsule accommodating portion, and wherein the capsule accommodating portion can selectively extend out of the actuator body to grab the beverage capsule and accommodate the beverage capsule; and a brewing head, wherein the brewing head is arranged in the actuator body and is adapted to provide pressurized water toward the beverage capsule in the capsule accommodating portion when the capsule accommodating portion enters into the actuator body.

[0012] According to an embodiment of the present invention, the actuator body has a beverage processing space, and the capsule accommodating portion is slidably disposed on the actuator body to extend out of or enter the beverage processing space.

[0013] According to an embodiment of the present invention, a slide rail is provided on the capsule accommodating portion, and a slide groove cooperating with the slide rail is provided on the actuator body.

[0014] According to an embodiment of the present invention, the brewing head comprises: a piercing needle, which is movably disposed in the beverage processing space to pierce the beverage capsule.

[0015] According to one embodiment of the present invention, the operating platform further includes: a water supply device having a water inlet and a water outlet, the water inlet of the water supply device being connected to a water source, and the water outlet of the water supply device being connected to the first actuator.

[0016] According to one embodiment of the present invention, the water supply device is constructed as a quick-plug connector, which includes: a male connector and a female connector, the male connector and the female connector can be selectively matched, and one of the male connector and the female connector serves as a water inlet end of the water supply device connected to a water source, and the other of the male connector and the female connector serves as a water outlet end of the water supply device connected to the first actuator.

[0017] According to one embodiment of the present invention, the operating platform also includes a clamping mechanism suitable for clamping the male end of the connector and the female end of the connector, the clamping mechanism including: a clamping base, a main slide groove is arranged on the clamping base, the main slide groove includes: a vertical section and an inclined section arranged at the top of the vertical section and extending obliquely upward; a pressure rod, the pressure rod is constructed in an L shape and includes: a mating section and a pressing section connected to the mating section, the free end of the mating section can slide along the vertical section and / or the inclined section, and the fixed end of the mating section is connected to the pressing section and can slide along the vertical section and / or the inclined section.

[0018] According to one embodiment of the present invention, the clamping base includes: a first limit plate and a second limit plate arranged at an interval, the pressure rod is arranged between the first limit plate and the second limit plate, the first limit plate is provided with the main slide groove, the second limit plate is provided with an auxiliary slide groove, the auxiliary slide groove extends in the vertical direction and is opposite to the vertical section, one of the free end and the fixed end of the mating end can slide along the auxiliary slide groove, and the other of the free end and the fixed end of the mating end can slide along the main slide groove.

[0019] According to one embodiment of the present invention, the operating platform also includes a second robotic arm, which includes: a second robotic arm body; a second actuator, which is connected to the second robotic arm body to move driven by the second robotic arm body, and the second actuator is suitable for packaging beverages.

[0020] According to one embodiment of the present invention, the second actuator comprises: an integrated seat; a plurality of functional modules, the plurality of functional modules can be selectively fixed on the integrated seat, and each of the functional modules is suitable for operating a beverage container or a container cover.

[0021] According to an embodiment of the present invention, the integrated seat is configured as a fixed disk, and the circumference and / or the bottom of the fixed disk is suitable for fixing the functional module.

[0022] According to one embodiment of the present invention, the functional module includes: at least one of a first picking module, a transfer module and a barcode printing module; the first picking module, the transfer module and the barcode printing module are all arranged on the fixed disk and are spaced apart along the circumference of the fixed disk.

[0023] According to an embodiment of the present invention, the functional module includes: a second picking module; the second picking module is arranged below the fixed plate.

[0024] According to one embodiment of the present invention, the operating platform also includes a food serving device, which includes: a food serving base; a tray, which is arranged on the food serving base and is suitable for storing drinks; a cover, which is arranged above the tray and the cover and the tray define a food serving space, and the cover is configured to move toward or away from the tray to close or open the food serving space.

[0025] According to an embodiment of the present invention, a heat preservation module and / or a refrigeration module is arranged in the tray, the heat preservation module is suitable for keeping the drinks on the tray warm, and the refrigeration module is suitable for refrigerating the drinks on the tray.

[0026] According to an embodiment of the present invention, a storage area for storing drinks is provided on the tray, and the heat preservation module and / or the refrigeration module are arranged between the storage area and the tray.

[0027] According to an embodiment of the present invention, a gravity sensor is further provided on the pallet, and the gravity sensor is suitable for sensing weight changes on the pallet, and the cover is suitable for moving toward or away from the pallet according to the weight changes on the pallet.

[0028] According to an embodiment of the present invention, the tray is rotatably disposed on the food serving base.

[0029] According to one embodiment of the present invention, the second storage area includes: a water storage mechanism and a waste storage mechanism for storing garbage.

[0030] According to one embodiment of the present invention, the operation area and the second storage area are provided with waste delivery ports facing the waste storage mechanism.

[0031] Additional aspects and advantages of the present application will be given in part in the description below, and in part will become apparent from the description below, or will be learned through the practice of the present application. BRIEF DESCRIPTION OF THE DRAWINGS

[0032] The above and / or additional aspects and advantages of the present application will become apparent and easily understood from the description of the embodiments in conjunction with the following drawings, in which:

[0033] Figure 1 is a structural schematic diagram of an intelligent catering preparation system according to an embodiment of the present invention;

[0034] Figure 2 is a schematic structural diagram of a high-altitude feeding device rising to a working position according to an embodiment of the present invention;

[0035] Figure 3 is a schematic structural diagram of a high-altitude feeding device descending to a feeding location according to an embodiment of the present invention;

[0036] Figure 4 is a schematic diagram of the cooperation between the beverage capsule storage device and the beverage capsule according to an embodiment of the present invention;

[0037] Figure 5 is another schematic diagram of the beverage capsule storage device and the beverage capsule according to an embodiment of the present invention;

[0038] Figure 6 is a schematic structural diagram of a first mechanical arm and a beverage capsule storage device according to an embodiment of the present invention;

[0039] Figure 7 is a schematic diagram of a first actuator entering a beverage processing space in a capsule accommodating portion according to an embodiment of the present invention;

[0040] Figure 8 is a schematic diagram of a first actuator extending out of a beverage processing space in a capsule accommodating portion according to an embodiment of the present invention;

[0041] Fig. 9 is a structural schematic diagram of a clamping mechanism according to an embodiment of the present invention;

[0042] Fig.10 is a structural schematic diagram of the other side of the clamping mechanism according to an embodiment of the present invention;

[0043] Fig.11 is a three-dimensional schematic diagram of a second mechanical arm according to an embodiment of the present invention;

[0044] Fig.12 is a schematic top view of a second mechanical arm according to an embodiment of the present invention;

[0045] Fig.13 is a schematic structural diagram of a second actuator according to an embodiment of the present invention;

[0046] Fig.14 is a cross-sectional schematic diagram of an integrated seat of a second actuator according to an embodiment of the present invention;

[0047] Fig.15 Schematic diagram of the cooperation between the barcode printing module of the second actuator and the cup body according to an embodiment of the present invention.

[0048] Fig.16 is a schematic diagram of a meal serving device according to an embodiment of the present invention (towards a meal preparation area);

[0049] Fig.17 is another schematic diagram of the food dispensing device according to an embodiment of the present invention (towards the food pickup area);

[0050] Fig.18 is a schematic cross-sectional view of a food serving device according to an embodiment of the present invention;

[0051] Fig.19 is a schematic diagram of an intelligent food preparation system according to an embodiment of the present invention;

[0052] Fig. 20 is a schematic diagram of a first actuator grabbing a beverage capsule in a capsule accommodating portion according to an embodiment of the present invention;.

[0053] Reference numerals:

[0054] Intelligent food preparation system 1, first storage area 1a, second storage area 1b, operation area 1c, beverage capsule 2,

[0055] High-altitude feeding device 11, material rack 111, fixed connecting rod 112, driving connecting rod 113, first section 1131, second section 1132, moving connecting rod 114, driven connecting rod 115, electric push rod 116,

[0056] The beverage capsule storage device 12 includes a storage device body 121, a stopper 122, a bottom plate 123, a guide plate 124, a mounting hole 124a, and an avoidance hole 124b.

[0057] Brewing device 13,

[0058] The first actuator 131,

[0059] Actuator body 131a, capsule accommodating portion 1311, brewing head 1312, beverage processing space 1313,

[0060] The first mechanical arm 132, the first mechanical arm body 1321,

[0061] Clamping mechanism 133

[0062] The pressing base 1331, the first limiting plate 1332, the main slide 1332a, the vertical section 1332b, the inclined section 1332c, the second limiting plate 1333, the auxiliary slide 1333a,

[0063] The pressure rod 1334, the matching section 13341, the first follower roller 13341a, the lower pressure section 13342, the second follower roller 13342a,

[0064] Driving member 1335, driving connecting rod 1336, intermediate connecting rod 1337;

[0065] The second robot arm 14,

[0066] The second mechanical arm body 141,

[0067] Integrated seat 142,

[0068] The first picking module 143, the first connecting bracket 1431, the first motor 1432, the grabbing bracket 1433, the bracket body 14331, the first clamping arm 14332, the first vacuum suction cup 14333,

[0069] Transfer module 144,

[0070] Barcode printing module 145, printing unit 1451, second motor 1452, second connecting bracket 1453,

[0071] The second picking module 146, the picking plate 1461, the flange portion 1462, the second vacuum suction cup 1463,

[0072] Meal serving device 15,

[0073] Food serving base 151,

[0074] Tray 152, heat preservation module 1521a, refrigeration module 1521b, gravity sensor 1522, storage area 1523, light guide structure 1524, light source 1525,

[0075] The cover body 153,

[0076] Power source 154, transmission assembly 155,

[0077] Meal preparation area 15a, meal collection area 15b,

[0078] Connector male end 101 , connector female end 102 , and positioning block 103 . DETAILED DESCRIPTION

[0079] The embodiments of the present application are described in detail below, and examples of the embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements having the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain the present application, and cannot be understood as limiting the present application.

[0080] Reference below Figure 1-Figure 15 The intelligent food preparation system 1 of the present application is described.

[0081] like Figure 1 As shown, the intelligent catering preparation system 1 according to the present invention includes a first storage area 1a, a second storage area 1b and an operating area 1c. The first storage area 1a and / or the second storage area 1b are suitable for storing catering materials and are separated from each other; the operating area 1c is arranged between the first storage area 1a and the second storage area 1b, and the operating area 1c is provided with an operating platform, which is suitable for transporting the catering materials in the first storage area 1a and / or the second storage area 1b to the operating area 1c for processing.

[0082] According to the intelligent catering preparation system 1 of the present invention, catering materials can be stored in the first storage area 1a and the second storage area 1b, and the operating platform in the operating area 1c is suitable for making catering. During the catering preparation process of the intelligent catering preparation system 1, the operating area 1c is adjacent to the first storage area 1a and the second storage area 1b respectively, and the operating area 1c is close to the first storage area 1a and the second storage area 1b, so the catering materials in the first storage area 1a and the second storage area 1b can be quickly and conveniently taken out and placed in the operating area 1c. Setting the operating area 1c between the first storage area 1a and the second storage area 1b can greatly improve the circulation efficiency of catering materials and speed up the catering preparation.

[0083] According to an embodiment of the present invention, the first storage area 1a, the operation area 1c and the second storage area 1b may be arranged in sequence along the left-right direction.

[0084] According to another embodiment of the present invention, the first storage area 1a, the operation area 1c and the second storage area 1b can be arranged in sequence along the up-down direction. Arranging the first storage area 1a, the operation area 1c and the second storage area 1b in sequence along the up-down direction can greatly reduce the space occupied by the intelligent catering preparation system 1 in the horizontal space, make full use of the space in the up-down direction, reduce the space occupied by the intelligent catering preparation system 1, improve the flat efficiency of the intelligent catering preparation system 1, and greatly reduce the operating cost of the intelligent catering preparation system 1.

[0085] The following takes the intelligent food preparation system 1 for preparing drinks as an example to describe in detail the intelligent food preparation system 1 according to the embodiment of the present invention.

[0086] According to a specific embodiment of the present invention, the first storage area 1a is a beverage capsule storage area, and a water storage mechanism can be provided in the second storage area 1b, which can be used to store drinking water. A garbage storage area is also provided in the second storage area 1b. A robotic arm is provided on the operating platform, and the robotic arm moves to take beverage capsules from the first storage area 1a. The robotic arm prepares beverages in the operating area 1c and pours the remaining beverage capsule shells into the second storage area 1b. A drinking water treatment device can be stored in the second storage area 1b to reduce the objects arranged on the operating platform and improve the cleanliness of the operating platform.

[0087] The second storage area 1b is separated from the operation area 1c by the operation platform. The second storage area 1b can also store a water supply host for providing high-temperature pressure water. The water supply host can provide high-temperature and high-pressure water for brewing beverage capsules. Placing the water supply host in the second storage area 1b can make the operation platform neater.

[0088] According to one embodiment of the present invention, the second storage area 1b specifically includes a waste storage mechanism for storing garbage, and the operation area 1c and the second storage area 1b are provided with a waste delivery port directly opposite to the waste storage mechanism. The waste storage mechanism can be used to collect the beverage capsule shells after brewing, and the beverage capsule shells after brewing can be stored in the waste storage mechanism to avoid garbage pollution and facilitate the recycling of the beverage capsule shells.

[0089] According to one embodiment of the present invention, a high-altitude feeding device 11 is provided in the first storage area 1a.

[0090] Reference below Figure 1-Figure 3 The high-altitude material replenishing device 11 according to an embodiment of the present invention is described, including a material rack 111 and a parallel four-bar linkage mechanism.

[0091] Specifically, the parallel four-bar linkage includes: a fixed link 112, a driving link 113, a moving link 114 and a driven link 115 connected in sequence, the fixed link 112 is parallel to the moving link 114, the driving link 113 is parallel to the driven link 115, and a material rack 111 is provided on the moving link 114.

[0092] Since the hinge spacing of the fixed link 112 and the moving link 114 and the driving link 113 and the driven link 115 are equal in size, and the hinge spacing of the driving link 113 and the driven link 115 are equal in size, the fixed link 112, the driving link 113, the moving link 114 and the driven link 115 constitute a parallelogram linkage mechanism, referred to as a parallelogram linkage mechanism, and the material rack 111 is set on the moving link 114, so that its bottom surface can always remain in a horizontal state without flipping.

[0093] According to the high-altitude feeding device 11 of the present invention, the material rack 111 is fixed on the moving link 114 of the parallel four-bar linkage by utilizing the characteristic that the relative rods of the parallel four-bar linkage are always parallel, and the fixed link 112 relative to it is kept stationary, driving the driving link 113 and the driven link 115 adjacent to it to rotate, and the material rack 111 is raised or lowered by the rotation of the parallel four-bar linkage. When rising or falling, the object directly below the material rack 111 can be bypassed, and the material rack 111 is kept in a horizontal state at all times without flipping.

[0094] According to one embodiment of the present invention, a driving member is further included, and the driving member is connected to the driving link 113 to drive the driving link 113 to rotate relative to the fixed link 112. The fixed link 112 is fixed, and the driving member drives the driving link 113 connected to the fixed link 112 to rotate clockwise or counterclockwise, and one end of the driven link 115 is connected to the fixed link 112 and always keeps parallel rotation with the driving link 113, so that the material rack 111 is lowered or raised.

[0095] According to one embodiment of the present invention, the driving link 113 includes: a first section 1131 and a second section 1132 connected to the first section 1131, the two ends of the first section 1131 are respectively hinged to the fixed link 112 and the moving link 114, and the free end of the second section 1132 is hinged to the output end of the driving member. The two ends of the first section 1131 of the driving link are respectively hinged to the fixed link 112 and the moving link 114, as part of the parallel four-bar linkage, the material rack 111 is lowered or raised; the two ends of the second section 1132 of the driving link are respectively hinged to the fixed link 112 and the output end of the driving member, and the driving member can drive the second section 1132 of the driving link to drive the first section 1131 of the driving link to rotate, so as to achieve the lowering or raising of the material rack 111.

[0096] According to one embodiment of the present invention, the driving member includes: a motor and an electric push rod 116 connected to the motor, and the free end of the electric push rod 116 is connected to the driving connecting rod 113. The motor drives the electric push rod 116 to rotate, and the free end of the electric push rod 116 is connected to the second section 1132 of the driving connecting rod. The rotation of the electric push rod 116 drives the second section 1132 of the driving connecting rod to rotate, and the first section 1131 of the driving connecting rod rotates around the hinge, so that the material rack 111 is lowered or raised.

[0097] Specifically, the electric push rod 116 can be replaced by other linear power source motion mechanisms such as air cylinders and hydraulic cylinders; the way in which the motor drives the electric push rod 116 to rotate can be replaced by the way in which the motor's rotational torque directly drives the driving connecting rod 113; the electric push rod 116 can also be replaced by a pneumatic spring to balance the gravity of the material and the material rack 111, and the material rack 111 can be raised or lowered manually.

[0098] According to one embodiment of the present invention, the fixed link 112 and the moving link 114 both extend in the up-down direction. The fixed link 112 is fixed, and the moving link 114 is always parallel to the fixed link 112. Therefore, in the parallel four-bar linkage, the moving link 114 realizes the up-down movement by the rotation of the driving link 113 and the driven link 115.

[0099] According to one embodiment of the present invention, there are multiple parallel four-bar linkage structures, and the motion links 114 of the multiple parallel four-bar linkages are all connected to the material rack 111. Since the entire width of the material rack 111 is relatively long, multiple parallel four-bar linkages are arranged in parallel to ensure that the multiple parallel four-bar linkages move synchronously, so that the material rack 111 can be raised or lowered.

[0100] According to one embodiment of the present invention, a beverage capsule storage device 12 for storing beverage capsules 2 is provided on the material rack 111. The beverage capsule storage device 12 can hold beverage capsules 2, and the staff puts the beverage capsules 2 into the beverage capsule storage device 12 to replenish the material rack 111. Figure 1-Figure 4 A beverage capsule storage device 12 according to an embodiment of the present invention is described.

[0101] The beverage capsule storage device 12 according to the embodiment of the present invention comprises: a storage device body 121, on which a capsule slide for storing beverage capsules 2 is arranged; a limiter 122, which is formed at one end of the storage device body 121, and has a locked state and an unlocked state. When the limiter 122 is in the locked state, the limiter 122 is suitable for stopping the beverage capsule 2, and when the limiter 122 is in the unlocked state, the beverage capsule 2 is suitable for detaching from the capsule slide.

[0102] Specifically, the beverage capsule 2 can be slidably placed in the beverage slide, and the beverage device located in the beverage slide is limited by the limiting member 122 located at one end of the storage device body 121 to prevent the beverage capsule 2 from escaping from the beverage slide, and the limiting member 122 can be switched between a locked state and an unlocked state, and then during the grabbing process of the beverage capsule 2, the limiting member 122 is switched to the unlocked state, so that the beverage capsule 2 can be more conveniently removed, thereby improving the convenience of use of the beverage capsule storage device 12.

[0103] It should be noted that the unlocked state and the locked state are two working states of the limit member 122. When the limit member 122 is in the locked state, the beverage capsule 2 is limited by the limit member 122, which can prevent the beverage capsule 2 from escaping from the capsule slide. When the limit member 122 is in the unlocked state, the limit member 122 releases the limit on the beverage capsule 2, and the beverage capsule 2 can escaping from the capsule slide.

[0104] According to the beverage capsule storage device 12 of the embodiment of the present invention, on the one hand, the structure of the beverage capsule storage device 12 is simpler, which can reduce the production cost of the beverage capsule storage device 12; on the other hand, the setting of the limiter 122 is more reasonable, which can not only improve the accommodation stability of the beverage capsule 2 in the beverage capsule storage device 12, but also make it easier and more convenient to grab the beverage capsule 2 in the beverage capsule storage device 12.

[0105] According to some embodiments of the present invention, the storage device body 121 extends in the up-down direction, and the stopper 122 is arranged at the lower end of the storage device body 121. That is, the beverage capsule 2 enters the storage device body 121 from the upper end, and is sequentially stacked in the capsule slideway, and then the stopper 122 is arranged at the lower end of the storage device body 121, so that the beverage capsule 2 can automatically move to abut against the stopper 122 under the action of gravity. In this way, not only is it more convenient to grab the beverage capsule 2, but also the structure of the beverage capsule storage device 12 is simplified, making the structure of the beverage capsule storage device 12 simpler and the cost lower.

[0106] like Figure 2-Figure 4 As shown, the storage device body 121 includes: a bottom plate 123 and a guide plate 124 arranged opposite to and spaced from the bottom plate 123 in the front-rear direction, a capsule slideway is defined between the bottom plate 123 and the guide plate 124, and the flange of the beverage capsule 2 is slidably arranged in the capsule slideway. In this way, by providing the guide plate 124, not only can the sliding of the beverage capsule 2 be guided, so that the beverage capsule 2 is more accurately positioned and the grasping efficiency is improved; but also the beverage capsule 2 can be prevented from slipping out of the capsule slideway, thereby improving the working stability of the beverage capsule storage device 12.

[0107] It can be understood that the guide plate 124 includes: a left guide plate arranged on the left side of the bottom plate 123 and a right guide plate arranged on the right side of the bottom plate 123, and the left guide plate and the right guide plate are spaced apart. In this way, the two guide plates 124 arranged opposite to each other can improve the guiding effect of the guide plates 124, so that the working stability of the beverage capsule storage device 12 is higher.

[0108] exist Figure 4 In the specific embodiment shown, a mounting hole 124a is formed on the bottom plate 123, and the position-limiting member 122 is installed in the mounting hole 124a, thereby making it more convenient to install the position-limiting member 122 on the bottom plate 123.

[0109] It is understandable that the lower end of the guide plate 124 is located above the lower end of the mounting hole 124a. In this way, when the stopper 122 is subjected to external force or the surrounding components and switches from the locked state to the unlocked state, the interference between the guide plate 124 and the surrounding components can be avoided, thereby further improving the convenience of use of the beverage capsule storage device 12 and making it easier and more convenient to grab the beverage capsule 2.

[0110] It should be noted that the bottom plate 123 of this embodiment extends in the up-down direction, the upper end of the limiter 122 and the upper end of the bottom plate 123 are on the same side, and the lower end of the limiter 122 and the lower end of the bottom plate 123 are on the other side.

[0111] Preferably, the lower end of the limiting member 122 is connected to the bottom plate 123 , and the upper end of the limiting member 122 is provided with a stop portion that can selectively stop against the beverage capsule 2 .

[0112] Specifically, the stopper 122 is constructed as a V-shaped spring sheet, the lower end of which is fixed on the bottom plate 123, and the upper end of which is elastically stopped on the beverage capsule 2; the upper end of the V-shaped spring sheet can be selectively passed through the mounting hole 124a. In this way, one end of the V-shaped spring sheet elastically pushes against the beverage capsule 2, and the other end is fixed on the bottom plate 123, so that the beverage capsule 2 can be grasped only by overcoming the elastic force of the V-shaped spring sheet, further improving the convenience of use of the beverage capsule storage device 12 and simplifying the structure of the beverage capsule storage device 12.

[0113] like Figure 4 As shown, a avoidance hole 124b is further provided at the lower end of the bottom plate 123, and the flange of the beverage capsule 2 located at the lowermost end of the capsule slide is located below the avoidance hole 124b.

[0114] According to one embodiment of the present invention, the specific working process of the high-altitude feeding device is as follows:

[0115] When refilling is needed, the electric push rod 116 is started and drives the driving connecting rod 113 to rotate clockwise around the hinge, thereby driving the moving connecting rod 114 and the driven connecting rod 115 on the parallel four-bar linkage to move together, and the material rack 111 fixed on the moving connecting rod 114 keeps the bottom surface horizontal and descends until the staff reaches the refilling position. The staff adds beverage capsules 2 from the top of the beverage capsule storage device 12, and the beverage capsules 2 fall along the capsule slideway by their own gravity, and the flange of the lowest beverage capsule 2 is stuck on the limit pieces 122 at both ends; after the refilling is completed, the electric push rod 116 moves in the opposite direction and drives the driving connecting rod 113 to rotate counterclockwise around the hinge, and the material rack 111 fixed on the moving connecting rod 114 keeps the bottom surface horizontal and rises to the working position.

[0116] According to one embodiment of the present invention, the operating platform in the operating area 1 c includes a first robotic arm 132 .

[0117] Reference below Figure 6-Figure 10 The first robotic arm 132 according to an embodiment of the present invention is described. The first robotic arm 132 according to the present invention includes a first robotic arm body 1321 and a first actuator 131. The first robotic arm body 1321 is connected to the first actuator 131 and is suitable for driving the first actuator 131 to move. The first actuator 131 is suitable for grabbing the beverage capsule 2 and brewing the beverage capsule. The first actuator 131 can provide pressurized water for the beverage capsule 2.

[0118] According to the first robotic arm 132 of the present invention, the first robotic arm 132 drives the first actuator 131 to grab the beverage capsule 2. After the beverage capsule 2 is grabbed, the first actuator 131 can inject water into the beverage capsule 2, so that the beverage capsule 2 is brewed in the first actuator 131, which greatly improves the brewing efficiency.

[0119] According to one embodiment of the present invention, the first actuator 131 includes an actuator body 131a, and a capsule accommodating portion 1311 and a brewing head 1312 arranged in the actuator body 131a. The capsule accommodating portion 1311 is provided with a accommodating space for accommodating a beverage capsule 2. The brewing head 1312 is suitable for providing pressurized water for the beverage capsule in the accommodating module and injecting water into the accommodating space to complete the brewing of the beverage capsule 2. The first robotic arm body 1321 is connected to the first actuator 131 and is suitable for driving the first actuator 131 to move.

[0120] According to the first mechanical arm 132 of the present invention, a first actuator 131 is provided, and the first actuator 131 includes a brewing head 1312 and a capsule receiving portion 1311. The capsule receiving portion 1311 is provided with a receiving space for receiving a beverage capsule 2. The brewing head 1312 is suitable for injecting water into the beverage capsule 2 in the receiving space, so that the beverage capsule 2 is brewed in the first actuator 131. The first actuator 131 is provided on the first mechanical arm body 1321. The first mechanical arm body 1321 can drive the first actuator 131 to move. In the process of the first mechanical arm body 1321 driving the first actuator 131 to move, the first actuator 131 can grasp the beverage capsule 2 by using its own structure, so that the beverage capsule 2 enters the capsule receiving portion 1311. After the first mechanical arm body 1321 drives the first actuator 131 to complete the grasping work of the beverage capsule 2, water is injected into the beverage capsule 2 in the first actuator 131, so as to realize the brewing of the beverage capsule 2. After the brewing of the beverage capsule 2 is completed, the remaining shell of the beverage capsule 2 is discarded.

[0121] According to one embodiment of the present invention, a beverage processing space 1313 is provided in the actuator body 131a, and the capsule accommodating portion 1311 is mounted on the actuator body 131a. The capsule accommodating portion 1311 can selectively extend out of the beverage processing space to grab and accommodate a beverage capsule.

[0122] The capsule accommodating portion 1311 is movably disposed on the actuator body 131a to enter or extend out of the beverage processing space 1313. When it is necessary to enter the brewing process, the capsule accommodating portion 1311 extends out of the beverage processing space 1313, so that the accommodating space in the capsule accommodating portion 1311 is opened, and the first mechanical arm body 1321 drives the first actuator 131 to accommodate the beverage capsule 2 in the capsule accommodating space by changing the position of the first actuator 131, so as to complete the grabbing of the beverage capsule 2. After the grabbing of the beverage capsule 2 is completed, the capsule accommodating portion 1311 enters the beverage processing space 1313, and the brewing head 1312 injects water into the beverage capsule 2 to complete the brewing process of the beverage capsule 2.

[0123] According to one embodiment of the present invention, the capsule accommodating portion 1311 is slidably disposed on the actuator body 131a, a slide rail is disposed on the capsule accommodating portion 1311, and a slide groove cooperating with the slide rail is disposed on the actuator body 131a. The slide rail cooperates with the slide groove to achieve relative movement between the capsule accommodating portion 1311 and the actuator body 131a, so that the capsule accommodating portion 1311 can enter or extend out of the beverage processing space 1313, thereby ensuring stable movement of the capsule accommodating portion 1311.

[0124] According to one embodiment of the present invention, the brewing head 1312 includes a puncturing needle, which is movably arranged in the beverage processing space 1313 to puncture the beverage capsule 2. The beverage capsule 2 is generally provided with beverage powder for brewing. The beverage capsule 2 is generally constructed as a sealed structure. During the brewing process, the outer shell of the beverage capsule 2 is punctured by the puncturing needle to be suitable for injecting water into the beverage capsule 2, so as to achieve brewing of the beverage in the beverage capsule 2.

[0125] exist Fig. 20 In the specific embodiment shown, a positioning block 103 is provided on the actuator body 131a, and an avoidance hole 124b is provided on the beverage capsule storage device 12. The positioning block 103 is suitable for extending into the avoidance hole 124b, and the V-shaped groove on the positioning block 103 is suitable for cooperating with the flange of the beverage capsule 2.

[0126] In this way, during the process of grabbing the beverage capsule 2, when the positioning block 103 extends into the avoidance hole 124b, the flange of the beverage capsule 2 can fall into the bottom of the V-shaped groove under the action of its own gravity, so as to realize the positioning of the beverage capsule 2, thereby improving the positioning accuracy of the capsule accommodating portion 1311, thereby improving the grabbing accuracy of the beverage capsule 2.

[0127] According to one embodiment of the present invention, the operating platform 1c further includes a water supply device having a water inlet and a water outlet. The water inlet of the water supply device is connected to a water source, and the water outlet of the water supply device is connected to the first actuator.

[0128] According to one embodiment of the present invention, the water supply device is constructed as a quick-plug connector, which includes a male connector 101 and a female connector 102. The male connector 101 and the female connector 102 can be selectively matched and one of the male connector 101 and the female connector 102 serves as a water inlet end of the water supply device connected to a water source, and the other of the male connector 101 and the female connector 102 serves as a water outlet end of the water supply device connected to a first actuator 131, which can specifically be connected to a puncture needle.

[0129] There is no pipeline on the first robotic arm 132. Instead, after the first actuator 131 moves to the brewing position, the water source is connected to the puncture needle, thereby eliminating the water supply pipe. A connector male end 101 connected to the puncture needle can be provided on the first actuator 131, and the connector female end 102 is connected to the water source. After the first actuator 131 completes the grasping action, the first robotic arm 132 drives the first actuator 131 to move to the brewing position, and the connector male end 101 is connected to the connector female end 102. At this time, the water supply device is connected to the puncture needle, and water can be supplied to the puncture needle. After the puncture needle punctures the beverage capsule 2, the brewing process of the beverage capsule 2 is completed.

[0130] By using the joint male end 101 and the joint female end 102 in cooperation, the water supply pipeline is omitted, thereby preventing the brewing water provided by the water source from staying in the pipeline for too long, thereby reducing the cooling of the brewing water.

[0131] According to one embodiment of the present invention, the water supply device is constructed as a water supply pipeline arranged on the first robotic arm body 1321, one end of the water supply pipeline is connected to the water source as the water inlet end of the water supply device, and the other end of the water supply pipeline is connected to the first actuator 131 as the water outlet end of the water supply device, and can be specifically connected to the puncture needle. The water supply pipeline is arranged inside the first robotic arm 132 or outside the robotic arm, and the water supply pipeline moves with the movement of the first robotic arm 132, thereby avoiding interference between the water supply pipe and other components, and can also keep the passage between the puncture needle and the water source reliable and stable.

[0132] According to one embodiment of the present invention, the operating platform 1c also includes a clamping mechanism 133 suitable for clamping the male end 101 and the female end 102 of the connector. The clamping mechanism 133 is suitable for driving the male end 101 and the female end 102 of the connector to be clamped after the first mechanical arm 132 drives the first actuator 131 to move to a position where the male end 101 and the female end 102 of the connector are opposite to each other, so as to complete the sealed docking between the male end 101 and the female end 102 of the connector, thereby ensuring the sealing of the water supply device during the water supply process and avoiding liquid leakage.

[0133] Reference below Figure 9-10 The clamping mechanism 133 according to the embodiment of the present application is described. The clamping mechanism 133 according to the present invention includes a clamping base 1331 and a pressure rod 1334, the clamping base 1331 is provided with a main slide 1332a, the main slide 1332a includes a vertical section 1332b and an inclined section 1332c provided at the top of the vertical section 1332b and extending obliquely upward, the pressure rod 1334 is constructed in an L shape and includes a matching section 13341 and a pressing section 13342 connected to the matching section 13341, the free end of the matching section 13341 can slide along the vertical section 1332b and / or the inclined section 1332c, the fixed end of the matching section 13341 is connected to the pressing section 13342 and can slide along the vertical section 1332b and / or the inclined section 1332c.

[0134] According to the clamping mechanism 133 of the present invention, the flipping and pressing action of the pressing section 13342 can be realized, so as to clamp the male and female ends of the quick-connect connector. A main slide groove 1332a is provided on the clamping base 1331, and the main slide groove 1332a can guide the pressing rod 1334. The free end of the matching section 13341 can slide in the vertical section 1332b. When the free end of the matching section 13341 slides in the vertical section 1332b, the pressing rod 1334 can be lifted or lowered in the vertical direction, so as to realize the pressing action or lifting action of the pressing rod 1334.

[0135] When the fixed end of the matching section 13341 slides along the inclined section 1332c, the fixed end can move along the track of the inclined section 1332c, so that the fixed end of the matching section 13341 moves in a direction away from the vertical section 1332b, and the pressing section connected to the matching section 13341 performs a flipping action. By providing a main slide 1332a, a vertical section 1332b and an inclined section provided at the top of the vertical section 1332b and extending obliquely upward are provided in the main slide 1332a, and a fixed end and a movable end that can move in the free section and the pressing section 13342 are provided on the pressing rod 1334, the flipping and pressing actions of the pressing section 13342 can be achieved.

[0136] According to the clamping mechanism 133 of the present invention, through the setting of the main slide groove 1332a, the movement of the pressing rod 1334 is stable and reliable, the flipping and pressing action of the pressing section 13342 can be realized, and the connection between the male end and the female end of the quick-plug connector can be effectively guaranteed to be stable and reliable, thereby realizing the automated clamping process of the quick-plug connector.

[0137] According to one embodiment of the present invention, the clamping base 1331 includes a first limiting plate 1332 and a second limiting plate 1333 that are spaced apart, the pressing rod 1334 is disposed between the first limiting plate 1332 and the second limiting plate 1333, the first limiting plate 1332 is provided with a main slide 1332a, the first limiting plate 1332 and the second limiting plate 1333 are spaced apart to define a space suitable for the movement of the pressing rod 1334, and ensure that the movement of the pressing rod 1334 will not interfere with the limiting plates, thereby improving the reliability of the clamping mechanism 133. The main slide 1332a is provided only on the first limiting plate 1332, so that the number of processed parts of the clamping mechanism 133 can be reduced while ensuring the stability of the moving trajectory of the pressing rod 1334.

[0138] According to one embodiment of the present invention, the free end of the matching segment 13341 can slide along the vertical segment 1332b, and the fixed end of the matching segment 13341 can slide along the vertical segment 1332b and the inclined segment 1332c. Two endpoints can be provided on the matching segment 13341, and the two endpoints on the matching segment 13341 can be spaced apart in the extension direction of the matching segment 13341. The end of the matching segment away from the pressing segment 13342 is the fixed end, and the end close to the pressing segment 13342 is the free end.

[0139] During the downward pressing process of the pressure rod 1334, the fixed end and the free end follow different trajectories. When the pressure rod 1334 moves in the up and down directions, both the fixed end and the free end move in the vertical section 1332b, and the free end is arranged on the lower side of the fixed end. When the fixed end moves to the upper dead point of the vertical section 1332b, it enters the inclined section 1332c, and the free end still slides in the vertical section 1332b. At this time, the pressure rod 1334 enters a flipping process, and the free end still moves upward along the vertical section 1332b, while the fixed end moves in the inclined section 1332c. At this time, the downward pressing section 13342 of the pressure rod 1334 is flipped until the fixed end moves to the upper dead point of the inclined section 1332c, and the free end moves to the upper dead point of the vertical section 1332b, so as to complete the flipping action of the pressure rod 1334.

[0140] According to one embodiment of the present invention, the free end of the mating segment 13341 is provided with a first follower roller 13341a slidably arranged on the vertical segment 1332b, and the fixed end of the mating segment 13341 is provided with a second follower roller 13342a slidably arranged on the vertical segment 1332b and the inclined segment 1332c.

[0141] The first follower roller 13341a and the second follower roller 13342a can slide in the main slide groove 1332a. The sizes of the first follower roller 13341a and the second follower roller 13342a are the same as the width of the main slide groove 1332a, thereby limiting the moving trajectory of the fixed end and the free end. The first follower roller 13341a and the second follower roller 13342a can slide in the main slide groove 1332a, which can effectively reduce friction and ensure the stability of the movement of the clamping mechanism.

[0142] According to an embodiment of the present invention, an auxiliary slide groove 1333a is provided on the second limit plate 1333, and one of the free end and the fixed end of the matching section 13341 can slide along the auxiliary slide groove 1333a, and the other of the free end and the fixed end of the matching section can slide along the main slide groove 1332a. By respectively arranging the free end and the fixed end in the main slide groove 1332a and the auxiliary slide groove 1333a, so that the free end and the fixed end slide in two identical slide grooves, the stability of the movement of the pressure rod 1334 can be improved, and the main slide groove 1332a and the auxiliary slide groove 1333a respectively limit the pressure rod 1334 from both sides, which can reduce the impact on the base caused by the pressure rod 1334 when performing an action.

[0143] According to one embodiment of the present invention, the main slide groove 1332a and the auxiliary slide groove 1333a have the same shape and face each other. The main slide groove 1332a and the auxiliary slide groove 1333a are respectively arranged on the first limit plate 1332 and the second limit plate 1333. The main slide groove 1332a and the auxiliary slide groove 1333a are arranged with the same shape structure, which can further improve the restriction on the movement track of the pressing rod 1334 and improve the stability of the movement of the pressing rod 1334. The main slide groove 1332a and the auxiliary slide groove 1333a are arranged on the first limit plate 1332 and the second limit plate 1333 to improve the versatility of the clamping mechanism 133, and the first limit plate 1332 and the second limit plate 1333 can be replaced at will.

[0144] According to one embodiment of the present invention, the auxiliary slide groove 1333a extends in the vertical direction and is opposite to the vertical section 1332b. The auxiliary slide groove 1333a can be only provided with the vertical section 1332b. The first follower roller 13341a slides in the auxiliary slide groove 1333a, and the moving trajectory of the first follower roller 13341a is also only in the vertical section 1332b. Setting the auxiliary slide groove 1333a to have only the vertical section 1332b can reduce the area of ​​the second limit plate 1333 to be opened, thereby ensuring the structural strength of the second limit plate 1333 and improving the processing efficiency.

[0145] According to one embodiment of the present invention, the free end of the matching section 13341 is provided with a first follower roller 13341a slidably arranged in the auxiliary slide groove 1333a, and the fixed end of the matching section 13341 is provided with a second follower roller 13342a slidably arranged in the main slide groove 1332a. The first follower roller 13341a and the second follower roller 13342a are respectively arranged in the auxiliary slide groove 1333a and the main slide groove 1332a. During the movement of the pressure rod 1334 of the clamping mechanism 133, the limiting force for the matching section 13341 comes from different limiting plates, so that the impact force generated by the pressure rod 1334 during the movement is dispersed to different limiting plates, so as to reduce the vibration generated by the clamping mechanism 133 and improve the reliability and accuracy of the action of the pressure rod 1334.

[0146] According to one embodiment of the present invention, the clamping mechanism 133 also includes a driving member 1335 and a transmission member, the transmission member includes a driving link 1336 and an intermediate link 1337, one end of the driving link 1336 is connected to the output shaft of the driving member 1335, the other end of the driving link 1336 is hinged to the intermediate link 1337, and the intermediate link 1337 is hinged to the free end of the mating section.

[0147] The driving member 1335 can be constructed as a motor, the output end of which can output rotation speed and torque, and the output shaft of the driving member 1335 is connected to the driving connecting rod 1336 to rotate the driving connecting rod 1336. The intermediate connecting rod 1337 is hinged to the free end of the matching section, and the intermediate connecting rod 1337 connects the driving connecting rod 1336 and the pressure rod 1334 to form a multi-link mechanism to realize the transmission of power to the pressure rod 1334 and ensure the stable movement of the pressure rod 1334.

[0148] According to one embodiment of the present invention, the specific working process of the first mechanical arm 132 is as follows:

[0149] The first mechanical arm 132 drives the first actuator 131 to move to the beverage capsule position, and the first actuator 131 grabs the beverage capsule. Specifically, the capsule accommodating portion on the first actuator 131 grabs the beverage capsule so that the beverage capsule is located in the accommodating space in the capsule accommodating portion. Then, the first mechanical arm 132 drives the first actuator 131 to move to the brewing position, and the clamping mechanism presses and docks the male end 101 of the connector on the first actuator 131 with the structural female end 102 on the operating platform, and the water supply device supplies water so that water with a certain temperature and pressure passes through the male end 101 and the female end 102 of the connector to the first actuator 131, so as to brew the beverage capsule in the capsule accommodating portion.

[0150] According to one embodiment of the present invention, the operating platform in the operating area 1c further includes a second robotic arm.

[0151] Reference below Figure 11-Figure 15 The second robot arm 14 according to an embodiment of the present invention is described. The second robot arm 14 according to the present invention comprises a second robot arm body 141 and a second actuator, the second actuator is connected to the second robot arm body 141 to move under the drive of the second robot arm body 141, and the second actuator is suitable for packaging beverages.

[0152] The second actuator includes: an integrated seat 142 and a functional module; there are multiple functional modules, and the multiple functional modules can be selectively fixed on the integrated seat 142, and each functional module is respectively suitable for operating the beverage container or the container cover.

[0153] Specifically, a plurality of different functional modules can be arranged on the integrated seat 142 according to processing requirements, so that different functions can be performed by different functional modules during the processing. For example, in the process of beverage processing, the integrated seat 142 can be integrated with functional modules such as packaging and transportation to improve processing efficiency.

[0154] According to the second actuator of the second robot arm 14 of the embodiment of the present invention, by providing an integrated seat 142 and selectively providing a variety of different functional modules on the integrated seat 142, it can not only meet the processing requirements but also improve the processing efficiency.

[0155] exist Fig.13 and Fig.14 In the specific embodiment shown, the integrated seat 142 is configured as a fixed disk, and the circumference and / or the bottom of the fixed disk are suitable for fixing the functional module.

[0156] In other words, multiple functional modules can be arranged on the circumference and below the integrated seat 142 constructed as a fixed disk, so that the number of functional modules that can be arranged on the integrated seat 142 is greater, and the arrangement positions of the multiple functional modules on the fixed disk are more reasonable, thereby reducing the space occupied by the second robot arm 14.

[0157] It should be noted that the circumference and / or the bottom of the integrated seat 142 is suitable for fixing functional modules, which means that, in some embodiments, functional modules are arranged on the circumference of the integrated seat 142; in other embodiments, functional modules are arranged below the integrated seat 142; in a preferred embodiment, functional modules are arranged on the circumference and bottom of the integrated seat 142, thereby improving the integration of the integrated seat 142 and reducing the space occupied by multiple functional modules.

[0158] Furthermore, the functional module includes: at least one of the first picking module 143, the transfer module 144 and the barcode printing module 145; the first picking module 143, the transfer module 144 and the barcode printing module 145 are all arranged on the fixed disk and spaced apart along the circumference of the fixed disk. In this way, the user can select a suitable functional module to be arranged on the fixed disk according to the needs, and multiple functional modules are spaced apart along the circumference of the fixed disk, which can avoid interference between the functional modules and improve the working stability of the integrated seat 142.

[0159] like Fig.12 and Fig.13 As shown, the first picking module 143 is rotatably disposed on the fixed disk.

[0160] Specifically, the first picking module 143 can be used to grab the container, and the first picking module 143 can drive the container to rotate to adjust the angle of the container, thereby facilitating subsequent processing.

[0161] It should be noted that in some embodiments, in order to reduce space occupancy, the containers to be grasped are stacked and arranged in a fixed area, and the placement angle of the containers in this area is different from the processing angle after being grasped. Then, after the first picking module 143 grasps the container, it drives the container to rotate, and the container can be adjusted to a consistent processing angle to facilitate subsequent processing.

[0162] exist Fig.13 In the specific embodiment shown, the first picking module 143 includes: a first connecting bracket 1431, one end of which is connected to a fixed plate; a first motor 1432, which is arranged at the other end of the first connecting bracket 1431; and a grabbing bracket 1433, which is suitable for grabbing and is connected to the motor shaft of the first motor 1432.

[0163] Among them, the projection of the first bracket in the horizontal direction is Z-shaped, and one end of the Z-shaped bracket is connected to the fixed plate, and the other end of the Z-shaped bracket forms a right-angle fixed beam with the vertical section. The first motor 1432 is arranged in the right-angle fixed beam and fixedly connected to the other end of the first bracket, and then the motor shaft of the first motor 1432 is connected to the grabbing bracket 1433 to selectively drive the grabbing bracket 1433 to rotate.

[0164] In this way, not only the fixation of the first picking module 143 on the fixed plate is more stably, the fixation of the first motor 1432 on the first bracket is more stably, but also the coordination effect between the first motor 1432 and the grabbing bracket 1433 is better. The rotation angle of the first motor 1432, that is, the rotation angle of the grabbing bracket 1433, can improve the rotation accuracy and make the rotation accuracy of the grabbing bracket 1433 higher.

[0165] It can be understood that the grabbing bracket 1433 includes: a bracket body 14331 and a first clamping arm 14332 connected to both ends of the bracket body 14331, the bracket body 14331 is connected to the motor shaft of the first motor 1432, the two first clamping arms 14332 are arranged opposite to each other, and the two first clamping arms 14332 are both provided with a first vacuum suction cup 14333 for sucking the outer surface of the container.

[0166] Among them, one end of the two first clamping arms 14332 is connected to the bracket body 14331, and the other end is away from the bracket body 14331 and extends away from each other, and then the first vacuum suction cup 14333 is respectively arranged on the two first clamping arms 14332, so that when grasping the container, the negative pressure of the first vacuum suction cup 14333 can be used to firmly grasp the container. The structure of the grasping bracket 1433 is more reasonable, which can effectively improve the grasping efficiency.

[0167] In some embodiments, see Fig.11 and Fig.12 As shown, the transfer module 144 can be used to transfer containers, and is constructed as a second clamping arm, one end of which is connected to the fixed plate, and the outer contour of the free end of the second clamping arm is consistent with at least part of the outer contour of the container. In this way, the second clamping arm fits the outer contour of the container and is suitable for clamping to achieve the transfer of the container through the movement of the second mechanical arm body 141, which can effectively improve the transfer efficiency while improving the fixing stability of the container.

[0168] like Fig.14 and Fig.15 As shown, the barcode printing module 145 can be used to print a barcode on a container, and includes: a printing unit 1451, a second motor 1452 and a second connecting bracket 1453, one end of the second connecting bracket 1453 is connected to a fixed disk, the other end of the second connecting bracket 1453 is connected to the second motor 1452, and the rotating shaft of the second motor 1452 is connected to the printing unit 1451 and is suitable for driving the printing unit 1451 to move toward or away from the outer surface of the container.

[0169] In this way, the second motor 1452 drives the printing unit 1451 to move toward or away from the outer surface of the container. When the barcode printing module is attached to the outer surface of the container, the barcode printing module is rotated or the container is rotated to achieve barcode printing. There is no need for manual barcode printing, which can improve work efficiency and reduce paper waste.

[0170] It should be noted that the structure of the second connecting bracket 1453 is substantially the same as that of the first connecting bracket 1431 , and will not be described in detail herein.

[0171] In some embodiments, the functional module includes: a second picking module 146, and the second picking module 146 is disposed below the fixed plate.

[0172] Specifically, if Fig.14 As shown, a second picking module 146 is also provided below the fixed plate. The second picking module 146 is used to grab the container cover, and includes: a picking plate 1461 and a flange portion 1462 provided on the circumferential edge of the picking plate 1461 and extending away from the picking plate 1461. The picking plate 1461 is located below the fixed plate and is arranged opposite to the fixed plate. A second vacuum suction cup 1463 is provided on the side of the picking plate 1461 away from the fixed plate. The second vacuum suction cup 1463 is suitable for sucking and fixing the container cover.

[0173] That is to say, by setting the second picking module 146 below the fixed plate, the integration of the integrated seat 142 can be further improved, and the space occupied by multiple functional modules can be reduced. At the same time, the container cover can be fixed by sucking through the second vacuum suction cup 1463, so the fixing effect is better, and the grasping is stable and reliable.

[0174] Here, it should be noted that the second picking module 146 disposed below the fixed disk rotates asynchronously with the fixed disk during the rotation of the fixed disk, which can improve the picking effect of the second picking module 146 .

[0175] The second robot arm 14 according to the present invention includes: the second robot arm 14 includes: a second robot arm body 141 and the second actuator in the above embodiment, the second actuator is connected to the second robot arm body 141 to move under the drive of the second robot arm body 141 .

[0176] It can be understood that the integrated seat 142 is disposed on the second robotic arm body 141 and can rotate around the axis of the second robotic arm body 141 , and then move or rotate under the drive of the second robotic arm body 141 .

[0177] The second robot arm 14 according to the embodiment of the present invention adopts the second actuator, which can effectively improve the processing efficiency of the second robot arm 14.

[0178] In one embodiment of the present invention, the container and container cover grasped by the first picking module 143 and the second picking module 146 are specific embodiments of a cup and a cup cover, respectively, and the working process of the second robot arm 14 of the present application is described in detail.

[0179] The working process of the second robot arm 14 is as follows:

[0180] The second robotic arm 14 drives the second actuator to move toward the cup storage area, and the first vacuum suction cup 14333 of the first picking module 143 is vacuumed to grab a cup in the cup storage area. The second robotic arm 14 can drive the grabbed cup to flip over and move the grabbed cup to the corresponding brewing position on the operating platform. The first vacuum suction cup 14333 stops vacuuming, and the cup falls onto the operating platform under the action of its own gravity. At this time, the first robotic arm can start beverage processing.

[0181] Then, the second robotic arm 14 drives the second actuator to move to the cup lid storage area, the second vacuum suction cup 1463 of the second picking module 146 draws vacuum to grab a cup lid, the second robotic arm 14 drives the second actuator and the grabbed cup lid to move to the operating platform, and covers the cup lid on the cup. At the same time, the printing part of the printing unit 1451 of the barcode printing module 145 fits with the cup, and the second robotic arm 14 can drive the barcode printing module 145 to rotate to complete the barcode printing.

[0182] Furthermore, after printing is completed, the printing unit 1451 moves away from the cup to reset, the second vacuum suction cup 1463 stops vacuuming, the second robotic arm 14 moves away from the cup, and then moves toward the cup so that the transfer module 144 clamps the cup, and then the second robotic arm 14 drives the second actuator and the processed beverage to move, so as to realize the transfer of the beverage fixed on the transfer module 144 (i.e., serving the meal).

[0183] A cup cover replenishing device may also be provided in the second storage area 1b, in which cup covers are stored in stacked arrangement. The cup cover replenishing device includes a first cup cover storage part, a first movable plate and a driving member. The first cup cover storage part is provided with a storage space for accommodating cup covers, and the storage space has a cup cover outlet; the first movable plate is provided in the storage space and is suitable for lifting the cup cover; the driving member is connected to the first movable plate and is suitable for driving the first movable plate to selectively move toward the cup cover outlet. A sensor is provided at the cup cover outlet, and the sensor is suitable for detecting whether the cup cover exists at the cup cover outlet. After the sensor detects that there is no cup cover at the cup cover outlet, a replenishment instruction is issued to the driving member to drive the first movable plate to move up for cup cover replenishment. After the second mechanical arm 14 takes away the cup cover, the cup cover is placed on the beverage cup that has been brewed, and the cup cover replenishing device can realize automatic replenishment. The second mechanical arm places the cup cover on the cup after the beverage is brewed.

[0184] According to one embodiment of the present invention, the operating platform in the operating area 1c also includes a food serving device.

[0185] Reference below Figure 16-Figure 19 The food serving device 15 according to the embodiment of the present invention is described.

[0186] The food serving device 15 according to the present invention comprises: a food serving base 151, a tray 152, and a cover 153. The tray 152 is arranged on the food serving base 151, and the tray is suitable for storing drinks; the cover 153 is arranged above the tray 152, and the cover 153 and the tray 152 define a food serving space; the cover 153 can selectively move toward or away from the tray 152 to close or open the food serving space.

[0187] Specifically, the tray 152 is arranged above the food serving base 151, and the processed drinks can be placed on the tray 152, and the food serving space is covered or opened by the cover body 153, and then when the processed drinks are placed on the tray 152 and the consumer comes to pick up the food, the drink and the external space (that is, the food serving space and the external space) are separated by the cover body 153, and when the consumer comes to pick up the food, the cover body 153 can be selectively opened so that the consumer can take the drink.

[0188] It should be noted that the cover body 153 can not only separate the food serving space from the external space, but also has the effect of heat preservation and insulation.

[0189] The food serving device 15 according to the embodiment of the present invention is provided with a cover body 153. On the one hand, during the period between when the beverage processing is completed and the consumer has not yet picked up the food, the cover body 153 can prevent dust and foreign matter from contaminating the beverage, thereby improving food safety. On the other hand, the cover body 153 is suitable for isolating the food serving space from the outside world. At the same time, the cover body 153 has a heat preservation function, which can prevent hot food from cooling down or cold food from melting, thereby improving the quality of the beverage and the user experience.

[0190] like Fig.18 As shown, according to some embodiments of the present invention, the food serving device 15 further includes: a power source 154 and a transmission assembly 155, wherein the transmission assembly 155 is connected to the cover 153 and is suitable for driving the cover 153 to move toward or away from the tray 152, and the power source 154 is power-connected to the transmission assembly 155.

[0191] Specifically, the power source 154 can selectively drive the cover 153 to move toward or away from the tray 152 to close or open the dining space.

[0192] It can be understood that the transmission assembly 155 is constructed as any one of a belt transmission assembly 155, a chain transmission assembly 155, and a worm gear transmission assembly 155; the power source 154 is any one of a hydraulic push rod and a drive motor.

[0193] According to some embodiments of the present invention, a heat preservation module 1521a and / or a refrigeration module 1521b are provided in the tray 152 . The heat preservation module 1521a is suitable for keeping the drinks on the tray 152 warm, and the refrigeration module 1521b is suitable for refrigerating the drinks on the tray 152 .

[0194] Specifically, the tray 152 is provided with grooves for fixing the heat preservation module 1521a and the refrigeration module 1521b, and the heat preservation module 1521a and the refrigeration module 1521b are located in the grooves and face the beverages placed on the tray 152. In this way, when hot food is placed in the tray 152, the heat preservation module 1521a slightly heats the tray 152 to ensure that the beverages are maintained at a suitable use temperature, and when cold food is placed in the tray 152, the refrigeration module 1521b prevents the cold food from melting.

[0195] It should be noted that the tray 152 is provided with a heat preservation module 1521a and / or a refrigeration module 1521b, which means that in some embodiments, the food serving device 15 is suitable for cold food serving and is provided with a refrigeration module 1521b; in other embodiments, the food serving device 15 is suitable for hot food serving and is provided with a heat preservation module 1521a; in still other embodiments, the food serving device 15 is suitable for both hot food serving and cold food serving and is provided with both a heat preservation module 1521a and a refrigeration module 1521b.

[0196] Furthermore, a storage area 1523 is provided on the tray 152 , and the heat preservation module 1521 a and / or the refrigeration module 1521 b are arranged between the storage area 1523 and the tray 152 .

[0197] That is to say, in some embodiments, a storage area 1523 is defined above the tray 152, and the outer contour of the storage area 1523 is consistent with the inner wall contour of the bottom end of the cover body 153, so that when the cover body 153 covers the storage area 1523, the sealing of the food serving space and the heat preservation and insulation effects are guaranteed.

[0198] like Fig.18 As shown, a gravity sensor 1522 is also provided on the tray 152. The gravity sensor 1522 is suitable for sensing the weight change on the tray 152. According to the signal indicating the weight change on the tray 152 reported by the gravity sensor 1522, the cover body 20 can be controlled to move toward or away from the tray 152.

[0199] Specifically, the weight change on the sensing tray 152 can be used to control the cover 153 to close when it is determined that a drink is placed on the tray 152 (i.e., the gravity on the tray 152 increases). When it is determined that there is no drink on the tray 152 (the gravity on the tray 152 decreases), the cover 153 can be controlled to open to wait for the drink to be placed.

[0200] like Fig.18 As shown, the tray 152 is rotatably disposed on the food serving base 151 .

[0201] The tray 152 can be selectively rotated between the meal preparation area 15a and the meal pickup area 15b.

[0202] Specifically, when the consumer comes to pick up the meal or when no drinks are placed in the meal serving space, the tray 152 is located in the meal preparation area 15a, so that the meal serving device 15 occupies the space of the meal preparation device to reduce the overall space occupancy; when the consumer comes to pick up the meal, the tray 152 is rotated to the meal serving area 15b to facilitate the consumer to pick up the meal, thereby improving the ease of use of the meal serving device 15.

[0203] Furthermore, a light source 1525 and a light guide structure 1524 are disposed on the storage area 1523 , and the light emitted by the light source 1525 is suitable for irradiating the light guide surface of the light guide structure 1524 .

[0204] Furthermore, the cover body 153 is constructed to be at least partially transparent, and the light emitted by the light source 1525 is suitable for passing through the light guide structure 1524 and then entering the cover body 153 to be emitted outward.

[0205] That is to say, the light-guiding structure 1524 is suitable for forming cool lighting effects on the cover 153 and the tray 152 , and the light source 1525 is suitable for providing light of different colors, brightness, and frequency, so as to make the overall aesthetics of the food serving device 15 higher.

[0206] Specifically, the light source 1525 and the light-guiding structure 1524 constitute a first visible effect scene, and the cover body 153 is a cover body that is at least partially transparent (for example, a glass cover). Therefore, the light source 1525, the light-guiding structure 1524 and the cover body 153 can constitute a second visible effect scene. After the food serving device 15 completes serving food, the light source 1525 and the light-guiding structure 1524 define the first visible effect scene. When the food serving device 15 is in a cache state (i.e., waiting for the user to pick up the food), the light source 1525, the light-guiding structure 1524 and the cover body 153 define a second visible effect scene.

[0207] In this way, on the one hand, switching between the two scenes has a higher degree of recognition, so that the user can quickly identify the food presentation device 15 with drinks, thereby improving convenience; on the other hand, the visual effects of the two scenes can improve the aesthetics of the food presentation device 15, and can create a high-end, dreamy, technological, and cool visual effect.

[0208] Here, it should be noted that the light source 1525 can be an LED light strip with a programmable control function. In this way, the lighting effect of the food serving device 15 can be matched with the environmental scene by adjusting the programming according to the different usage scenarios of the food serving device 15, thereby further improving the user experience.

[0209] Furthermore, when drinks are stored on the tray 152 , the light source 1525 emits a first light, and when drinks are not stored on the tray 152 , the light source 1525 emits a second light, and the color of the first light is different from the color of the second light.

[0210] In this way, the user can also identify the state of the meal dispensing device 15 according to the color of the light emitted by the meal dispensing device 15, thereby further improving the convenience of the user in taking meals.

[0211] The intelligent catering preparation system according to an embodiment of the present invention includes: at least one meal serving device 15 in the above-mentioned embodiment; a meal preparation device arranged in a meal preparation area 15a, and a plurality of meal pickup areas 15b are arranged around the meal preparation device, and each meal pickup area 15b is optionally provided with a meal serving device 15.

[0212] According to the intelligent food preparation system of the embodiment of the present invention, a plurality of food pickup areas 15b are arranged in the circumferential direction of the food preparation device, and a food delivery device 15 can be selectively arranged in each food pickup area 15b.

[0213] In this way, on the one hand, the specific configuration of the meal delivery device 15 can be flexibly configured according to the needs of the application scenario. Before accepting an order and starting to prepare, the intelligent meal preparation system automatically generates a placement position for the drink according to the available conditions and setting logic of the multiple meal pickup areas 15b, and sends it to the corresponding mechanical arm through program code to execute the set action; the corresponding meal delivery device 15 has a gravity sensor 1522, which starts the warm-keeping mode or the refrigeration mode after detecting that the drink corresponding to the order has been placed in the warm-keeping area. After the intelligent meal preparation system determines that the setting requirements are met, it can send information to the consumer that the order is completed and the meal pickup location to improve convenience;

[0214] On the other hand, according to the specific circumstances of the application scenario, a reasonable number of meal dispensing devices 15 can be arranged on the circumference of the meal preparation device, which has high applicability and can be used in places with high traffic flow and high density, thereby improving the versatility of the intelligent catering preparation system.

[0215] The meal serving process of the meal serving device 15 of this embodiment is as follows:

[0216] The tray 152 is located in the meal preparation area 15a, and the meal delivery space is open, waiting for the robotic arm to place the processed beverage. After the robotic arm places the processed beverage, the gravity sensor 1522 sends a first signal, and the power source 154 drives the cover 153 to descend to close the meal delivery space and enter the heat preservation cache state or the refrigeration cache state, and the light source 1525 emits a second light.

[0217] The tray 152 rotates to the meal picking area 15b, the cover 153 opens to wait for the consumer to pick up the meal, and the light source 1525 emits a first light. After the consumer picks up the meal, the gravity sensor 1522 sends a second signal, the tray 152 rotates back to the meal preparation area 15a, the cover 153 opens again, and the light source 1525 emits a second light, completing a meal serving.

[0218] It is understandable that there are multiple food pickup areas 15b, and after the consumer scans the code, the food delivery device 15 closest to the consumer will deliver the food.

[0219] The following is a detailed description of the workflow of preparing drinks by the intelligent catering preparation system 1 of the present invention.

[0220] According to the intelligent catering preparation system of the present invention, after receiving an order from a user, the first robotic arm drives the first actuator 131 to move toward the beverage capsule storage device 12, the capsule accommodating portion 1311 extends out of the actuator body 131a, and grabs the beverage capsule located in the capsule slide. After the beverage capsule is accommodated in the capsule accommodating portion 1311, the capsule accommodating portion 1311 retracts into the actuator body 131a, and the first robotic arm body 1321 drives the first actuator 131 to move to the brewing position.

[0221] While the first robotic arm grabs the beverage capsule, the second robotic arm 14 drives the second actuator to move toward the cup storage area, and the first vacuum suction cup 14333 of the first picking module 143 draws vacuum to grab a cup in the cup storage area. The second robotic arm 14 can drive the grabbed cup to flip over and move the grabbed cup to the corresponding brewing position on the operating platform. The first vacuum suction cup 14333 stops drawing vacuum, and the cup falls onto the operating platform under its own gravity. At this time, the first robotic arm can start beverage processing.

[0222] The male end 101 of the connector on the first actuator 131 is directly opposite to the female end 102 of the connector on the operating platform, the driving member 1335 in the clamping mechanism 133 works, the pressing rod 1334 is pressed on the upper side of the first actuator 131, and the male end 101 of the connector is docked with the structural female end 102, the male end 101 of the connector is connected to the water source located in the second storage part 1b, the female end 102 of the connector is connected to the puncture needle in the first actuator body 131, after the male end of the connector is docked with the female end of the connector, the puncture needle punctures the beverage capsule, and water is injected into the beverage capsule 2 to brew the beverage capsule 2, and the brewed beverage flows into the cup directly below the beverage capsule.

[0223] After brewing is completed, the first mechanical arm 132 drives the brewed beverage capsule shell to move to the waste material introduction port, the capsule accommodating portion 1311 pops out of the actuator body 131a, and the beverage capsule shell falls into the waste material storage mechanism.

[0224] The second robotic arm 14 drives the second actuator to move to the cup lid storage area, the second vacuum suction cup 1463 of the second picking module 146 draws vacuum to grab a cup lid, the second robotic arm 14 moves to the operating platform with the second actuator and the grabbed cup lid, the second vacuum suction cup 1463 covers the cup lid on the cup, and at the same time, the printing part of the printing unit 1451 of the barcode printing module fits with the cup, and the second robotic arm 14 can drive the barcode printing unit 1451 to rotate to complete the barcode printing.

[0225] After printing is completed, the printing unit 1451 moves away from the cup to reset, the second vacuum suction cup stops vacuuming, the second robot arm 14 moves away from the cup, and then moves toward the cup so that the transfer module clamps the cup, and then the second robot arm 14 drives the second actuator and the processed beverage to move, so as to realize the transfer of the beverage fixed on the transfer module (i.e., serving the meal).

[0226] After the beverage processing is completed, or the barcode printing is completed, the cover of the food serving device is opened to open the food serving space, and the second robotic arm 14 is suitable for transferring the beverage to the tray of the food serving device. After the beverage is placed, the gravity sensor detects the gravity change on the tray, and the cover is lowered to close the food serving space. After the waiting time for picking up the food exceeds the aforementioned time threshold, the food serving device enters the heat preservation cache state or the refrigeration cache state, and the light source emits a second light.

[0227] When the drink is made, the tray can be rotated to the meal pickup area, the cover opens to wait for the consumer to pick up the meal, and the light source emits a first light. After the consumer picks up the meal, the gravity sensor sends a second signal, the cover closes, and the tray rotates back to the meal preparation area to complete a meal delivery.

[0228] It should be noted here that the first robotic arm 132 , the second robotic arm 14 and the food serving device 15 in the intelligent food preparation system 1 can work in parallel to improve the drink preparation efficiency of the intelligent food preparation system 1 .

[0229] Furthermore, the high-altitude feeding device 11, beverage capsule storage device 12, first robotic arm 132, second robotic arm 14 and meal delivery device 15 in the above-mentioned intelligent catering preparation system 1 can be multiple, and the intelligent catering preparation system can perform multiple beverage preparation processes simultaneously.

[0230] The intelligent food preparation system of the present invention further includes at least one controller for controlling various parts of the intelligent food preparation system to implement any of the aforementioned workflows.

[0231] In the description of the present application, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", "clockwise", "counterclockwise", "axial", "radial", "circumferential" and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present application and simplifying the description, and do not indicate or imply that the referred device or element must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as a limitation on the present application.

[0232] In the description of this application, "first feature" or "second feature" may include one or more of the features.

[0233] In the description of the present application, “plurality” means two or more.

[0234] In the description of the present application, a first feature being “on” or “under” a second feature may include that the first and second features are directly in contact with each other, or may include that the first and second features are not in direct contact with each other but are in contact with each other via another feature therebetween.

[0235] In the description of the present application, “above”, “over” and “above” a first feature to a second feature includes the first feature being directly above and obliquely above the second feature, or simply means that the first feature is horizontally higher than the second feature.

[0236] In the description of this specification, the description with reference to the terms "one embodiment", "some embodiments", "illustrative embodiments", "examples", "specific examples", or "some examples" means that the specific features, structures, materials, or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present application. In this specification, the schematic representation of the above terms does not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials, or characteristics described may be combined in any one or more embodiments or examples in a suitable manner.

[0237] Although the embodiments of the present application have been shown and described, those skilled in the art will appreciate that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the present application, and that the scope of the present application is defined by the claims and their equivalents.

Claims

1. An intelligent food preparation system, characterized in that: include: a first storage area and a second storage area, wherein the first storage area and / or the second storage area are both suitable for storing food and beverage materials and are spaced apart from each other; An operation area, the operation area is arranged between the first storage area and the second storage area, an operation platform is arranged in the operation area, and the operation platform is suitable for conveying the food and beverage materials in the first storage area and / or the second storage area to the operation area for processing; The operating platform includes a first mechanical arm, and the first mechanical arm includes: A first robotic arm body; a first actuator, the first actuator being connected to the first mechanical arm body to move under the drive of the first mechanical arm body, the first actuator being suitable for grabbing a beverage capsule and brewing the beverage capsule; The first actuator comprises: Actuator body; a capsule accommodating portion, the capsule accommodating portion being mounted on the actuator body, the capsule accommodating portion being provided with an accommodating space for accommodating a beverage capsule, and the capsule accommodating portion being selectively extended from the actuator body to grab the beverage capsule and accommodate the beverage capsule; a brewing head, the brewing head being arranged in the actuator body and being adapted to provide pressurized water toward the beverage capsule in the capsule accommodating portion when the capsule accommodating portion enters the actuator body; The operating platform further includes: a water supply device, the water supply device is configured as a quick-plug connector, the quick-plug connector includes: a connector male end and a connector female end, the operating platform further includes a clamping mechanism suitable for clamping the connector male end and the connector female end, the clamping mechanism includes: A clamping base, wherein the clamping base is provided with a main slide, wherein the main slide comprises: a vertical section and an inclined section provided at the top of the vertical section and extending obliquely upward; The pressure rod is constructed in an L shape and includes: a mating section and a pressing section connected to the mating section, the free end of the mating section can slide along the vertical section and / or the inclined section, and the fixed end of the mating section is connected to the pressing section and can slide along the vertical section and / or the inclined section.

2. The intelligent food preparation system according to claim 1, characterized in that: The first storage area, the operation area and the second storage area are arranged in sequence along the up-down direction.

3. The intelligent food preparation system according to claim 2, characterized in that: A high-altitude feeding device is provided in the first storage area, and the high-altitude feeding device comprises: Material rack; A parallel four-bar linkage mechanism, the parallel four-bar linkage mechanism comprises: a fixed link, a driving link, a moving link and a driven link connected in sequence, the fixed link is parallel to the moving link, the driving link is parallel to the driven link, and the material rack is arranged on the moving link.

4. The intelligent food preparation system according to claim 3, characterized in that: The material rack is provided with a beverage capsule storage device for storing beverage capsules, and the beverage capsule storage device comprises: A storage device body, wherein the storage device body is provided with a capsule slide for storing beverage capsules; A limit member is formed at one end of the storage device body, and the limit member has a locked state and an unlocked state. When the limit member is in the locked state, the limit member is suitable for stopping the beverage capsule, and when the limit member is in the unlocked state, the beverage capsule is suitable for detaching from the capsule slide.

5. The intelligent food preparation system according to claim 4, characterized in that: The storage device body comprises: a bottom plate and a guide plate arranged opposite to and spaced from the bottom plate in the front-rear direction, the capsule slide is defined between the bottom plate and the guide plate, and the flange of the beverage capsule is slidably arranged in the capsule slide.

6. The intelligent food preparation system according to claim 1, characterized in that: The actuator body has a beverage processing space, and the capsule accommodating portion is slidably arranged on the actuator body to extend out of or enter the beverage processing space.

7. The intelligent food preparation system according to claim 6, characterized in that: The capsule accommodating portion is provided with a slide rail, and the actuator body is provided with a slide groove matched with the slide rail.

8. The intelligent food preparation system according to claim 6, characterized in that: The brewing head comprises a puncturing needle, which is movably arranged in the beverage processing space to puncture the beverage capsule.

9. The intelligent food preparation system according to claim 1, characterized in that: The water supply device has a water inlet and a water outlet. The water inlet of the water supply device is connected to a water source, and the water outlet of the water supply device is connected to the first actuator.

10. The intelligent food preparation system according to claim 9, characterized in that: The male end of the connector and the female end of the connector can be selectively matched, and one of the male end of the connector and the female end of the connector serves as the water inlet end of the water supply device connected to the water source, and the other of the male end of the connector and the female end of the connector serves as the water outlet end of the water supply device connected to the first actuator.

11. The intelligent food preparation system according to claim 1, characterized in that: The clamping base includes: a first limit plate and a second limit plate arranged at an interval, the pressure rod is arranged between the first limit plate and the second limit plate, the first limit plate is provided with the main slide groove, the second limit plate is provided with an auxiliary slide groove, the auxiliary slide groove extends in the vertical direction and is opposite to the vertical section, one of the free end and the fixed end of the mating section can slide along the auxiliary slide groove, and the other of the free end and the fixed end of the mating section can slide along the main slide groove.

12. The intelligent food preparation system according to claim 1, characterized in that: The operating platform includes a second mechanical arm, and the second mechanical arm includes: A second robotic arm body; A second actuator is connected to the second mechanical arm body to move under the drive of the second mechanical arm body, and the second actuator is suitable for packaging beverages.

13. The intelligent food preparation system according to claim 12, characterized in that: The second actuator comprises: Integrated seat; Functional modules, there are multiple functional modules, and the multiple functional modules can be selectively fixed on the integrated seat, and each functional module is suitable for operating a beverage container or a container cover.

14. The intelligent food preparation system according to claim 13, characterized in that: The integrated seat is configured as a fixing disk, and a circumference and / or a bottom of the fixing disk is suitable for fixing the functional module.

15. The intelligent food preparation system according to claim 14, characterized in that: The functional module includes: at least one of a first picking module, a transfer module and a barcode printing module; the first picking module, the transfer module and the barcode printing module are all arranged on the fixed disk and are spaced apart along the circumference of the fixed disk.

16. The intelligent food preparation system according to claim 14, characterized in that: The functional module includes: a second picking module; the second picking module is arranged below the fixed plate.

17. The intelligent food preparation system according to claim 1, characterized in that: The operating platform includes a meal dispensing device, and the meal dispensing device includes: Food serving base; A tray, the tray is arranged on the food serving base and is suitable for storing drinks; A cover body is disposed above the tray, and the cover body and the tray define a meal dispensing space, and the cover body is configured to move toward or away from the tray to close or open the meal dispensing space.

18. The intelligent food preparation system according to claim 17, characterized in that: The tray is provided with a heat preservation module and / or a refrigeration module. The heat preservation module is suitable for keeping the beverages on the tray warm, and the refrigeration module is suitable for refrigerating the beverages on the tray.

19. The intelligent food preparation system according to claim 18, characterized in that: The tray is provided with a storage area for storing drinks, and the heat preservation module and / or the refrigeration module are arranged between the storage area and the tray.

20. The intelligent food preparation system according to claim 17, characterized in that: The pallet is also provided with a gravity sensor, which is suitable for sensing weight changes on the pallet, and the cover is suitable for moving toward or away from the pallet according to the weight changes on the pallet.

21. The intelligent food preparation system according to claim 17, characterized in that: The tray is rotatably arranged on the food serving base.

22. The intelligent food preparation system according to claim 1, characterized in that: The second storage area includes: a water storage mechanism and a waste storage mechanism for storing garbage.

23. The intelligent food preparation system according to claim 22, characterized in that: The operation area and the second storage area are provided with waste delivery openings directly facing the waste storage mechanism.

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