A bowl storage robot and a bowl replenishing vehicle

Abstract

The present invention discloses a bowl storage robot and a bowl replenishing vehicle. The bowl storage robot comprises: a bowl storage bin including a bowl inlet, a bowl replenishing vehicle docked with the bowl inlet, and a bowl grabbing manipulator; the bowl storage bin is provided with one or more first bowl storage positions for placing bowls, the bowl replenishing vehicle is provided with a second bowl storage position for placing bowls, the bowl replenishing vehicle transports the bowls and docks with the bowl inlet of the bowl storage bin, so that the first bowl storage position and the second bowl storage position are arranged side by side, and the bowl grabbing manipulator grabs the bowls on the second bowl storage position and sends them to the first bowl storage position in the bowl storage bin. In the bowl storage robot of the present invention, after the bowl replenishing vehicle transports the bowls and docks with the bowl inlet of the bowl storage bin, the bowl grabbing manipulator can automatically grab the stacked bowls and put them into the first bowl storage position of the bowl storage robot, which reduces the labor intensity, fills the technical gap of automatically adding bowls to the bowl storage positions in the catering industry, and is more conducive to the development of the industry towards unmanned and intelligent directions.

Description

Technical Field

[0001] The invention relates to a bowl storage robot and a bowl replenishing vehicle. Background Art

[0002] In the automatic catering industry, the storage technology of bowls is generally that a plurality of bowl storage positions are distributed on a circulation device (turntable or conveyor belt, etc.), and the circulation device works to circulate the bowl storage positions so as to transport the bowls on the bowl storage positions to a specific position for a robot to take the bowls, such as Chinese patents: CN2017113300050, CN2019104964282, CN2017217958680.

[0003] In the above bowl storage technology, the bowls are placed in the bowl storage position of the circulation device by manual handling and stacking, which means that the stacked bowls need to be manually lifted up and placed in the bowl storage position. The stacked hard bowls are often heavy, and a fence is set around the bowl storage position to prevent the stacked bowls from tipping over. In the process of manually lifting the stacked bowls and placing them in the bowl storage position, it is also necessary to prevent the fence from poking people. Alternatively, in order to allow the entire stack of bowls to smoothly enter the bowl storage position within the fence, it is also necessary to manually carry the stacked bowls to check for alignment, so as to prevent the top of the fence from touching the bowls and making it impossible to put the bowls in. It can be seen that in the process of adding bowls, the manual labor intensity is high and the operation is inconvenient. Summary of the invention

[0004] In order to solve the above problems, the present invention provides a bowl storage robot and a bowl replenishing vehicle.

[0005] The bowl storage robot of the present invention comprises: a bowl storage bin including a bowl entrance, a bowl replenishing cart docked with the bowl entrance, and a bowl grabbing manipulator; the bowl storage bin is provided with one or more first bowl storage positions for placing bowls, the bowl replenishing cart is provided with a second bowl storage position for placing bowls, the bowl replenishing cart transports the bowls and docks with the bowl entrance of the bowl storage bin so that the first bowl storage position and the second bowl storage position are arranged side by side, and then the bowl grabbing manipulator grabs the bowls on the second bowl storage position and sends them to the first bowl storage position in the bowl storage bin.

[0006] In some specific embodiments, it also includes: a left guide block, a right guide block and a positioning device; the side surfaces of the left guide block and the right guide block are directly opposite to the left side and the right side of the bowl entrance, wherein the mutually opposing side surfaces of the left guide block and the right guide block form an "eight" shaped opening; when the bowl replenishing cart is pushed close to the bowl entrance, the left guide block and the right guide block of the "eight" shaped opening guide the bowl replenishing cart to dock with the bowl entrance, and then the positioning device fixes the bowl replenishing cart to the bowl storage bin.

[0007] In some specific embodiments, the bowl storage bin also includes a casing, the first bowl storage positions are linearly arranged in the casing, and a bowl grabbing robot is disposed in the casing. When the first bowl storage position and the second bowl storage position are docked, the bowl grabbing robot moves above the first bowl storage position and the second bowl storage position, and the bowl grabbing robot grabs the bowls on the second bowl storage position and sends them into the first bowl storage position in the bowl storage bin.

[0008] In some specific embodiments, the bowl-grabbing robot includes a left clamping plate and a right clamping plate facing each other, and bosses facing each other are arranged at the bottom of the left clamping plate and the right clamping plate; the left clamping plate and the right clamping plate move relative to or away from each other to approach or move away from the side walls of the stacked bowls, and when the left clamping plate and the right clamping plate move relative to each other and approach the side walls of the stacked bowls, the bosses abut against the inclined side walls of the bottom bowl in the stacked bowls.

[0009] In some specific embodiments, the first bowl storage position is provided with a first left fence and a first right fence that can move relative to and away from each other on both sides, and the second bowl storage position is provided with a second left fence and a second right fence that can move relative to and away from each other on both sides. A bowl opening A for bowls to enter and exit is formed between the second left fence and the second right fence; a first bowl opening A1 for bowls to enter and exit is formed between the first left fence and the first right fence; when the bowl replenishment vehicle transports bowls and docks with the bowl entrance of the bowl storage bin so that the first bowl storage position and the second bowl storage position are arranged side by side, the bowl opening A and the first bowl opening A1 are directly opposite.

[0010] In some specific embodiments, the first left fence is provided with a first left gap N for a left clamping plate of the bowl grasping robot to pass through, and the first right fence is provided with a first right gap M for a right clamping plate of the bowl grasping robot to pass through, and the first left gap N and the first right gap M are aligned; wherein, the first left gap N and the first right gap M are directly opposite to the first bowl storage position.

[0011] In some specific embodiments, the second left fence is provided with a second left gap d for a left clamping plate of the bowl grasping robot to pass through, and the second right fence is provided with a second right gap d1 for a right clamping plate of the bowl grasping robot to pass through, and the second left gap d and the second right gap d1 are aligned, wherein the second left gap d and the second right gap d1 are opposite to the second bowl storage position.

[0012] In some specific embodiments, it also includes: a first elastic component and a second elastic component; in a natural state, the elastic force of the first elastic component acts on the first left fence and the first right fence, so that the first left fence and the first right fence are close to each other on both sides of the first storage bowl position; in a natural state, the elastic force of the second elastic component acts on the second left fence and the second right fence, so that the second left fence and the second right fence are close to each other on both sides of the second storage bowl position.

[0013] In some specific embodiments, the first elastic component and the second elastic component are respectively the first spring and the second spring; the first spring is arranged between the first left fence and the first right fence, and the two ends of the first spring are respectively connected to the first left fence and the first right fence, and in a natural state, the spring force of the first spring simultaneously drags the first left fence and the first right fence together, so that the first left fence and the first right fence are close to each other on both sides of the first storage bowl position; the second spring is arranged between the second left fence and the second right fence, and the two ends of the second spring are respectively connected to the second left fence and the second right fence, and in a natural state, the spring force of the second spring simultaneously drags the second left fence and the second right fence together, so that the second left fence and the second right fence are close to each other on both sides of the second storage bowl position.

[0014] The bowl-repairing cart provided by the present invention comprises: a frame, a second left fence and a second right fence; a second bowl storage position is arranged at the bottom of the frame, and a second left fence and a second right fence that can move relative to and away from each other are arranged on both sides of the second bowl storage position, wherein a bowl opening A for bowls to enter and exit is formed between the second left fence and the second right fence.

[0015] In some specific embodiments, the second left fence is provided with a second left gap d, and the second right fence is provided with a second right gap d1, and the second left gap d and the second right gap d1 are aligned, wherein the second left gap d and the second right gap d1 are directly opposite to the second storage bowl position.

[0016] In some specific embodiments, it also includes: a second elastic component; in a natural state, the elastic force of the second elastic component acts on the second left fence and the second right fence, so that the second left fence and the second right fence are close to each other on both sides of the second storage bowl position.

[0017] In the bowl storage robot of the present invention, when the bowl replenishing cart transports the bowls and docks with the bowl entrance of the bowl storage bin, the bowl grabbing robot can automatically grab the stacked bowls and put them into the first bowl storage position of the bowl storage robot, thereby reducing the intensity of manual labor, filling the technical gap in the link of automatically adding bowls to the bowl storage position in the catering industry, and being more conducive to the development of the industry towards unmanned and intelligent directions. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Figure 1-4 This is a schematic structural diagram of a bowl storage robot according to an embodiment of the present invention;

[0019] Figure 5 This is a schematic diagram of the structure of a bowl-grasping robot according to an embodiment of the present invention;

[0020] Figure 6 and Figure 6-1 for Figure 5 The schematic diagram of the working principle of the bowl grabbing manipulator shown;

[0021] Figure 7 This is a schematic structural diagram of a bowl-repairing vehicle according to an embodiment of the present invention;

[0022] Figure 8 This is a schematic diagram of the bowl storage bin structure according to one embodiment of the present invention;

[0023] Fig. 9 for Figure 7 The schematic diagram of the working principle of the bowl-repairing vehicle shown;

[0024] Figure 10-1 to Figure 10-7 This is a schematic diagram of the working principle of the bowl storage robot for replenishing bowls according to one embodiment of the present invention;

[0025] Figure 11-1 to Figure 11-6 This is a schematic diagram of the working principle of moving bowls inside a bowl storage bin of a bowl storage robot according to an embodiment of the present invention;

[0026] Fig.12 This is a schematic diagram of the working principle of the second bowl-grasping robot according to one embodiment of the present invention;

[0027] Fig.13 A schematic diagram of a first elastic component and a second elastic component according to an embodiment of the present invention;

[0028] Fig.14 FIG. 1 is a schematic diagram of a first elastic component and a second elastic component according to another embodiment of the present invention. DETAILED DESCRIPTION

[0029] The present invention will be further described in detail below with reference to the accompanying drawings.

[0030] The drawings are only used for illustrative purposes and should not be construed as limitations on this patent. In order to better illustrate this embodiment, some parts of the drawings may be omitted, enlarged, or reduced, and do not represent the size of the actual product. For those skilled in the art, it is understandable that some well-known structures and their descriptions in the drawings may be omitted.

[0031] In the description of the invention, it should be noted that, unless otherwise clearly specified and limited, the terms "installation" and "connection" should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be directly connected or indirectly connected through an intermediate medium, which can be said to be the internal communication of two components. For ordinary technicians in this field, the specific meanings of the above terms in the invention can be understood according to specific circumstances. The technical solution of the invention is further explained below in conjunction with the drawings and embodiments.

[0032] refer to Figure 1-Figure 4A bowl storage robot comprises: a bowl storage bin 2 including a bowl entrance 201, a bowl replenishing cart 1 docked with the bowl entrance 201, and a bowl grabbing manipulator 3; the bowl storage bin 2 is provided with one or more first bowl storage positions for placing bowls, the bowl replenishing cart 1 is provided with a second bowl storage position (the number of which may also be more than one) for placing bowls, the bowl replenishing cart 1 transports the bowls and docks with the bowl entrance 201 of the bowl storage bin 2 so that the first bowl storage position and the second bowl storage position are arranged side by side, and then the bowl grabbing manipulator 3 grabs the bowls on the second bowl storage position and sends them to the first bowl storage position in the bowl storage bin 2.

[0033] When in use, the bowl replenishing cart 1 loaded with stacked bowls is pushed toward the bowl inlet 201 (such as Figure 1 and Figure 2 The first bowl storage position on the bowl storage bin 2 and the second bowl storage position on the bowl replenishing cart 1 are arranged side by side, and then the bowl grabbing robot 3 grabs the bowls on the second bowl storage position and sends them to the first bowl storage position in the bowl storage bin 2, so as to achieve the purpose of replenishing or adding bowls to the bowl storage bin 2. It should be noted that the bowl-grabbing robot 3 can be any robot that can realize the bowl-grabbing function in the prior art. The bowl-grabbing robot 3 can first grab a single bowl on the whole stack of bowls on the second bowl storage position. In order to improve efficiency, it can also grab the whole stack of bowls for transportation and movement, and lift the grabbed bowl away from the second bowl storage position. Then the bowl-grabbing robot 3 moves the grabbed bowl with the first bowl storage position in the bowl storage bin 2 where the bowl is to be placed, and finally descends vertically to place the bowl in the first bowl storage position; it can also grab a single bowl (or a whole stack of bowls) on the whole stack of bowls on the second bowl storage position, move horizontally into an expected first bowl storage position in the bowl storage bin 2 and put it down. In this case, preferably, when the bowl replenishing cart 1 transports the bowl and docks it with the bowl entrance 201 of the bowl storage bin 2, so that the first bowl storage position and the second bowl storage position are side by side, the first bowl storage position and the second bowl storage position have the same horizontal height.

[0034] The two methods of placing bowls described above, vertically dropping the bowls to place the bowls in the first bowl storage position and horizontally moving the bowls to place the bowls on the first bowl storage position, are the former method that is commonly used in the prior art, while the latter method is more suitable for moving a whole stack of bowls.

[0035] In addition, in order to make the bowls transported by the bowl replenishing vehicle 1 dock with the bowl inlet 201 of the bowl storage bin 2 more quickly and accurately, another specific embodiment of the present invention further has the following design:

[0036] refer to Figure 3The bowl storage robot further comprises: a left guide block 204, a right guide block 214 and a positioning device 56; the left guide block 204 and the right guide block 214 are relatively arranged on the left side and the right side of the bowl entrance 201 (the best is to be arranged opposite to each other), wherein the mutually opposing sides of the left guide block 204 and the right guide block 214 form an "eight"-shaped opening, such as Figure 3 As indicated by the dotted lines in the figure, the mutually facing sides of the left guide block 204 and the right guide block 214 are inclined outwards, eventually forming an "eight"-shaped opening, the narrow side of which is adjacent to the bowl inlet 201 of the bowl storage bin 2. When the bowl replenishing cart 1 is pushed close to the bowl inlet 201 ( Figure 1 , Figure 2 The left guide block 204 and the right guide block 214 of the "eight"-shaped opening guide the bowl-replenishing trolley 1 to dock with the bowl inlet 201, and then the positioning device 56 fixes the bowl-replenishing trolley 1 to the bowl storage bin 2, so that the bowl-replenishing trolley 1 and the bowl inlet 201 can be accurately and quickly aligned.

[0037] refer to Figure 3 A specific implementation of the positioning device 56 can be: including a rotating shaft 285 and a lever 206, the rotating shaft 285 is rotatably installed at the bottom of the bowl storage bin 2, and the rotating shaft 285 can be driven by a rotary cylinder to rotate, one end of the rotating shaft 285 extends out of the edge of the bowl storage bin 2 toward the opening direction of the bowl inlet 201, and the lever 206 is vertically fixed to the end of the rotating shaft 285, and a crossbeam or a protrusion is correspondingly provided at the bottom of the bowl replenishing cart 1. When the bowl replenishing cart 1 is not docked with the bowl storage bin 2, the lever 206 is in a horizontal direction, such as Figure 3 As shown, when the bowl-replenishing trolley 1 and the bowl-storing bin 2 are docked, the rotating shaft 285 rotates, driving the free end of the lever 206 to rotate upward, thereby hooking the crossbeam or the protrusion, so as to achieve the purpose of fixing the bowl-replenishing trolley 1 to the bowl-storing bin 2. At this time, the first bowl-storing position and the second bowl-storing position are just side by side, so that the bowl-grabbing robot 3 can grab the bowls on the bowl-replenishing trolley 1 and put them into the first bowl-storing position. On the contrary, when the bowls of the bowl-replenishing trolley 1 are completely grabbed into the first bowl-storing position, the rotating shaft 285 rotates in the opposite direction, driving the lever 206 to restore the horizontal direction, and disengage from the bowl-replenishing trolley 1, so as to pull out the bowl-replenishing trolley 1. The above positioning device 56 can also be realized by electromagnet attraction and displayed by cylinder telescopic dragging.

[0038] More specifically, refer to Figure 2-4 The bowl storage bin 2 also includes a casing 208, and the first bowl storage positions are linearly arranged in the casing 208. The bowl grabbing robot 3 is disposed in the casing 208. When the first bowl storage position and the second bowl storage position are docked, the bowl grabbing robot 3 moves above the first bowl storage position and the second bowl storage position, and the bowl grabbing robot 3 grabs the bowls on the second bowl storage position and sends them to the first bowl storage position in the bowl storage bin 2.

[0039] refer to Figure 2 The bowl inlet 201 of the bowl storage bin 2 can be provided with a sealing door 202. When the bowl storage bin 2 needs to be replenished with bowls, the sealing door 202 is opened and the bowl replenishing cart 1 is pushed toward the bowl inlet 201 ( Figure 2 2 and 3. As shown in the middle arrow st), under the guidance of the left guide block 204 and the right guide block 214 of the "eight" shaped opening, after the bowl replenishing cart 1 is docked with the bowl inlet 201, the first bowl storage position and the second bowl storage position are arranged in parallel (at this time, the first bowl storage position and the second bowl storage position are arranged linearly), and the bowl grabbing robot 3 arranged in the bowl storage bin 2 extends from the bowl storage bin 2 to grab the bowls on the bowl replenishing cart 1 and send them into the first bowl storage position in the bowl storage bin 2. When the bowl grabbing robot 3 completely sends the bowls on the bowl replenishing cart 1 into the first bowl storage position, the bowl grabbing robot 3 retracts into the bowl storage bin 2, and after the bowl replenishing cart 1 that has unloaded the bowls is dragged out of the bowl storage bin 2, the sealing door 202 is closed. In addition to preventing external contamination of the bowls in the first bowl storage position, such a design is also convenient for designing a disinfection device (ultraviolet disinfection lamp, etc.) in the casing 208 to disinfect the bowls and the bowl grabbing robot 3 in the casing 208.

[0040] Regarding a specific implementation of the bowl gripping robot 3, refer to Figure 5 and Figure 6 The bowl gripping manipulator 3 comprises a left clamping plate 310 and a right clamping plate 311 facing each other, and bosses 312 facing each other are arranged at the bottom of the left clamping plate 310 and the right clamping plate 311; the left clamping plate 310 and the right clamping plate 311 move relative to or away from each other to approach or move away from the side wall of the stacked bowls. When the left clamping plate 310 and the right clamping plate 311 move relative to each other and approach the side wall of the bowls, the bosses 312 abut against the inclined side wall of the bottom bowl in the stacked bowls. More specifically, referring to Figure 5 and Figure 8The bowl-grabbing robot 3 also includes a telescopic arm 303, which is installed above the first bowl storage position. The telescopic movement trajectory of the telescopic arm 303 is a straight line and parallel to the plurality of first bowl storage positions arranged linearly. The telescopic arm 303 can be installed with a fixed plate 321, which is perpendicular to the telescopic arm 303 and extends symmetrically to both sides of the telescopic arm 303, wherein the upper ends of the left clamping plate 310 and the right clamping plate 311 can be slidably installed on both sides of the fixed plate 321 (the relative or reverse movement of the left clamping plate 310 and the right clamping plate 311 can be driven by a cylinder. In one example, a cylinder with two telescopic rods in opposite directions can be used, and the left clamping plate 310 and the right clamping plate 311 are respectively fixed in opposite directions. The left and right plates 310 and 311 are respectively provided with bosses 312 facing each other at the freely hanging ends thereof, and the inner side walls facing each other of the left and right plates 310 and 311 can also be arranged in an arc shape to adapt to the shape of the round bowl. Similarly, the distribution of the bosses 312 can also be arranged in an arc shape to adapt to the shape of the round bowl. Of course, other bowls of corresponding shapes, such as directional bowls, can also be modified accordingly to facilitate better grasping of the bowls.

[0041] The telescopic movement of the telescopic arm 303 drives the fixed plate 321 to move, thereby driving the left clamping plate 310 and the right clamping plate 311 to move. The telescopic arm 303 drives the fixed plate 321 to move within a linear range that covers the first bowl storage position and the second bowl storage position after being arranged side by side, and finally the bowls on the bowl replenishing vehicle 1 can be moved to the first bowl storage position in the bowl storage bin 2. The left clamping plate 310 and the right clamping plate 311 of the bowl grabbing manipulator 3 are fixed at the upper end and free at the lower end, which is more conducive to the transportation of the whole stack of bowls. Since the space occupied by the design of the structure is mainly the vertical space (rather than the horizontal space), it can avoid touching other structures during the process of replenishing and transporting bowls. At the same time, it can also save horizontal space, and finally make the structure compact and small, which is of great significance in the application field of automatic vending machines.

[0042] During operation, when the bowls of the bowl-repairing trolley 1 need to be moved into the first bowl storage position (the bowl-repairing trolley 1 has been docked with the first bowl storage position), the telescopic arm 303 drives the left clamping plate 310 and the right clamping plate 311 to move toward the direction of the bowl-repairing trolley 1 docked with the bowl inlet 201. After the left clamping plate 310 and the right clamping plate 311 extend out of the bowl storage bin 2 through the bowl inlet 201, the left clamping plate 310 and the right clamping plate 311 move away from each other and open. Figure 5As shown by the middle arrow st1 (or when the left clamping plate 310 and the right clamping plate 311 are opened in the process of moving toward the bowl-repairing vehicle 1), the telescopic arm 303 drives the opened left clamping plate 310 and the right clamping plate 311 to move to both sides of the stacked bowls on the second bowl-repairing position on the bowl-repairing vehicle 1, and then the left clamping plate 310 and the right clamping plate 311 move in the opposite direction of st1 to hold the stacked bowls tightly. Since the outer wall of the bowl is an inclined surface or an arc surface inclined from top to bottom, when the left clamping plate 310 and the right clamping plate 311 hold the stacked bowls tightly, the boss 312 abuts against the inclined side wall of the bottom bowl in the stack. Figure 6-1 As the left clamping plate 310 and the right clamping plate 311 continue to approach and clamp each other ( Figure 6-1 In the stack of bowls, the bowl b at the bottom of the stack is moved upward by the force component, so that the whole stack of bowls is lifted up (in the direction indicated by the arrow s2 in the figure), that is, the bowl gripping robot 3 lifts the stack of bowls. Figure 6 As shown, this design makes full use of the characteristic that the side wall of the bowl is an inclined surface. When the boss 312 is clamping the inclined surface, the bowl will slide upward under pressure, thereby saving the device for lifting the stacked bowls. Finally, the telescopic arm 303 drives the left clamping plate 310 and the right clamping plate 311 to move toward the first bowl storage position in the bowl storage bin 2, thereby driving the stacked bowls between the left clamping plate 310 and the right clamping plate 311 to move above the first bowl storage position. When the stacked bowls are placed on the first bowl storage position, the left clamping plate 310 and the right clamping plate 311 move in the opposite direction of s1, leaving the side wall of the bowl, and the lifted bottom bowl b falls to the first bowl storage position.

[0043] Further, refer to Figure 7 and Figure 8 , the first bowl storage position 206 is provided with a first left fence 21 and a first right fence 22 that can move relative to and away from each other on both sides, and the second bowl storage position 11 is provided with a second left fence 110 and a second right fence 120 that can move relative to and away from each other on both sides; wherein, a bowl opening A for bowls to enter and exit is formed between the second left fence 110 and the second right fence 120; a first bowl opening A1 for bowls to enter and exit is formed between the first left fence 21 and the first right fence 22; when the bowl replenishing vehicle 1 transports the bowls and docks with the bowl entrance 201 of the bowl storage bin 2, so that the first bowl storage position 206 and the second bowl storage position 11 are arranged side by side, the bowl opening A and the first bowl opening A1 are directly opposite. The working principle of this embodiment is as follows:

[0044] When the bowl opening A and the first bowl opening A1 are facing each other, and the first bowl storage position 206 and the second bowl storage position 11 are aligned, the first bowl storage position 206 and the second bowl storage position 11 are aligned linearly, and the bowl grasping robot 3 extends from the bowl storage bin 2 (housing 208) into the bowl opening 201, and moves the second left fence 110 and the second right fence 120 of the stacked bowls close to and fixed at the second bowl storage position in opposite directions (they can move simultaneously or one after another), so that the second left fence 110 and the second right fence 120 leave the outer side wall of the stacked bowls. The left and right clamps 310 and 311 of the bowl-grasping robot 3 move a certain distance to make room, and then the left clamp 310 and the right clamp 311 of the bowl-grasping robot 3 continue to move forward, so that the gap L between the left and right clamps 310 and 311 extends into the two side walls of the stacked bowls located at the second bowl storage position on the bowl-replenishing vehicle 1, until the left and right clamps 310 and 311 are directly against the outer side walls of the bowls at the second bowl storage position, and then the left and right clamps 310 and 311 move relative to each other, so that the left and right clamps 310 and 311 clamp the stacked bowls, at this time, the boss 312 and the stacked bowls are The inclined side wall of the bottom bowl in the bowl storage bin 2 abuts against and lifts the stacked bowl. Finally, the first left fence 21 and the first right fence 22 move away from the first bowl storage position to make room for the left clamping plate 310 and the right clamping plate 311 holding the stacked bowl to pass through. Subsequently, the telescopic arm 303 moves to drive the left clamping plate 310 and the right clamping plate 311 to retract, thereby driving the left clamping plate 310 and the right clamping plate 311 holding the stacked bowl to enter a first bowl storage position in the bowl storage bin 2. 11 move backwards to release the stacked bowls and complete the bowl replenishment. The telescopic arm 303 moves, driving the left clamping plate 310 and the right clamping plate 311 to move to a vacant first bowl storage position. The left clamping plate 310 and the right clamping plate 311 then move relatively and shrink so that they are located between the first left fence 21 and the first right fence 22, waiting for the next bowl replenishment. Finally, the first left fence 21 and the first right fence 22 move relatively so that the side walls of the first left fence 21 and the first right fence 22 are close to the first bowl storage position to re-fix the bowls located at the first bowl storage position.

[0045] Compared with the traditional method of manually lifting the stacked bowls high and then placing them into the bowl storage position with a fence from top to bottom, the above-mentioned method of replenishing bowls by translation and side entry not only prevents the repeated verification and alignment caused by the upward fence hitting people or the edge of the bowls, but also reduces the labor intensity.

[0046] In another embodiment, referring to Figure 7-Figure 9The first left fence 21 is provided with a first left gap N for the left clamping plate 310 of the bowl gripping manipulator 3 to pass through, and the first right fence 22 is provided with a first right gap M for the right clamping plate 311 of the bowl gripping manipulator 3 to pass through, and the first left gap N and the first right gap M are aligned (i.e., a first left gap N and a first right gap M are opposite to each other); wherein, the first left gap N and the first right gap M are opposite to the first bowl storage position. The working principle of the design mode of this embodiment is as follows:

[0047] When the left clamping plate 310 and the right clamping plate 311 clamp the stacked bowls into the bowl storage bin 2 and place them on the first bowl storage position, the first left fence 21 and the first right fence 22 move relatively to the bowls on the first bowl storage position to position and fix the stacked bowls. Since the first left gap N and the first right gap M are directly opposite to the first bowl storage position (the edges of the bowls stacked on the first bowl storage position can extend into the first left gap N and the first right gap M), that is, when the left clamping plate 310 and the right clamping plate 311 clamp the stacked bowls and place them on the first bowl storage position, the left clamping plate 310 and the right clamping plate 311 are also directly opposite to the first left gap N and the first right gap M corresponding to the first bowl storage position, respectively. The right clamping plate 311 moves away from each other, so that the left clamping plate 310 and the right clamping plate 311 withdraw from the first left gap N and the first right gap M respectively, leave the stacked bowls, and move to a distance outside the first left fence 21 and the first right fence 22; the next time when the bowl replenishing cart 1 needs to take bowls, the left clamping plate 310 and the right clamping plate 311 located outside the first left fence 21 and the first right fence 22 can directly move forward and extend out of the bowl entrance 201 of the bowl storage bin 2 because there are no other obstacles. After the second left fence 110 and the second right fence 120 of the bowl replenishing cart 1 move away from the bowls located at the second bowl storage position to make room, the gap L between the left clamping plate 310 and the right clamping plate 311 extends into The bowls located at the second bowl storage position on the bowl replenishing cart 1 are moved until the left clamping plate 310 and the right clamping plate 311 are directly against the outer side wall of the bowls at the second bowl storage position, and then the left clamping plate 310 and the right clamping plate 311 move relative to each other again, so that the left clamping plate 310 and the right clamping plate 311 clamp the stacked bowls. At this time, the boss 312 abuts against the inclined side wall of the bottom bowl in the stacked bowls and lifts the stacked bowls. Finally, the first left fence 21 and the first right fence 22 move back to back and away from the first bowl storage position for an appropriate distance (making space for the left clamping plate 310 and the right clamping plate 311 holding the stacked bowls to pass through). Thereafter, the telescopic arm 303 moves, driving the left clamping plate 310 and the right clamping plate 311 to clamp the stacked bowls. After the plate 311 retracts, thereby driving the left clamping plate 310 and the right clamping plate 311 holding the stacked bowls to enter a first bowl storage position in the bowl storage bin 2, the first left fence 21 and the first right fence 22 move relatively to the bowls on the first bowl storage position to fix the bowls on the first bowl storage position (at this time, part of the edges of the bowls on the first bowl storage position extend into the first left gap N and the first right gap M), and then, the left clamping plate 310 and the right clamping plate 311 come out of the first left gap N and the first right gap M respectively, leave the stacked bowls, and move to a distance outside the first left fence 21 and the first right fence 22 for the next bowl replenishment. The above-mentioned work can be repeated to replenish bowls to the first bowl storage position multiple times.

[0048] In another embodiment, reference Figure 7The second left fence 110 is provided with a second left gap d for the left clamping plate 310 of the bowl grasping manipulator 3 to pass through, and the second right fence 120 is provided with a second right gap d1 for the right clamping plate 311 of the bowl grasping manipulator 3 to pass through, and the second left gap d and the second right gap d1 are aligned (similarly, a second left gap d and a second right gap d1 are directly opposite as a group, and a group of directly opposite second left gaps d and second right gaps d1 determine a second bowl storage position, Figure 7 Two second storage bowl positions are provided as an example), wherein the second left gap d and the second right gap d1 are directly opposite to the second storage bowl position. The working principle of this embodiment is as follows:

[0049] refer to Figure 10-1 to Figure 10-7 (Top view) further illustrates the working principle of the bowl replenishing method of the first embodiment of the present technical solution: a flat plate can be provided in the bowl storage bin 2 for supporting bowls, and a first left fence 21 and a first right fence 22 that can move relative to and away from each other are provided on both sides of the flat plate, and the first left fence 21 is provided with one or more first left gaps N for the left clamping plate 310 of the bowl grasping manipulator 3 to pass through, and the first right fence 22 is provided with one or more first right gaps M for the right clamping plate 311 of the bowl grasping manipulator 3 to pass through, wherein a first left gap N and a first right gap M are opposite to form a group, and each group of opposite first left gaps N and first right gaps M corresponds to the middle of a first bowl storage position on the flat plate, that is, the first left gap N and the first right gap M determine the number of first bowl storage positions on the flat plate, that is, the number of stacks of bowls that can be placed (such as Figure 8 As shown in the middle label 206, 6 groups of first left gaps N and first right gaps M form a total of 6 first bowl storage positions). In this way, when the first left fence 21 and the first right fence 22 move relatively to approach the bowls on the first bowl storage positions, part of the edge of the stacked bowls on each first bowl storage position extends into the first left gap N and the first right gap M (since the edge of the bowls is round, part of the edge of the bowls placed on the first bowl storage position can extend into the first left gap N and the first right gap M to achieve the positioning purpose). In this way, the purpose of positioning can be achieved to prevent the stacked bowls from collapsing and shaking. Of course, when the first left fence 21 and the first right fence 22 are close to the bowls on the first bowl storage position, they do not squeeze the side walls of the bowls, but leave a certain gap to facilitate the upward grabbing of a single bowl of the stacked bowls on the first bowl storage position.

[0050] Similarly, reference Figure 7Another flat plate for supporting the stacked bowls may also be provided at the bottom of the bowl replenishing vehicle 1, and a second left fence 110 and a second right fence 120 that can move relative to or opposite to each other are provided on both sides of the flat plate, and the second left fence 110 is provided with a second left gap d for the left clamping plate 310 of the bowl grabbing manipulator 3 to pass through, and the second right fence 120 is provided with a second right gap d1 for the right clamping plate 311 of the bowl grabbing manipulator 3 to pass through, and the second left gap d and the second right gap d1 are aligned, wherein the second left gap d and the second right gap d1 are opposite to the second bowl storage position, and each group of the opposite second left gap d and the second right gap d1 corresponds to the middle of a second bowl storage position on the flat plate, that is, the second left gap d and the second right gap d1 determine the number of the second bowl storage positions on the flat plate, and the number of the second bowl storage positions may be one or more ( Figure 7 and Fig. 9 In the figure, the number of the two second bowl storage positions is shown, that is, the number of bowl stacks that can be placed. In this way, when the second left fence 110 and the second right fence 120 move relatively close to the bowls on the second bowl storage positions, part of the edge of the bowl stacked on each second bowl storage position extends into the second left gap d and the second right gap d1 and is stuck. In this way, the stacked bowls can be positioned to prevent them from collapsing and shaking. Figure 10-1 to Figure 10-7 A second storage bowl position is shown to illustrate the principle.

[0051] refer to Figure 10-1 When the bowl storage bin 2 needs to be replenished with bowls, the second bowl storage position on the bowl replenishment vehicle 1 carries the stacked bowls b and moves toward the bowl inlet 201 (e.g. Figure 1 and Figure 10-1 As shown in the figure, when the bowl replenishing cart 1 is docked with the bowl inlet 201, the first bowl storage position and the second bowl storage position are linearly parallel, that is, the flat plate at the bottom of the bowl replenishing cart 1 for carrying bowls and the flat plate in the bowl storage bin 2 for carrying bowls are coplanar, and the positioning device 56 ( Figure 3 As shown in FIG. 1 , the bowl replenishing vehicle 1 is fixedly connected to the bowl storage bin 2, and then the bowl grabbing manipulator 3 located in the bowl storage bin 2 is extended, that is, as shown in FIG. Figure 10-1 As shown, the left clamping plate 310 and the right clamping plate 311 move along the t direction until the left clamping plate 310 and the right clamping plate 311 are respectively facing the second left gap d and the second right gap d1 on the second left fence 110 and the second right fence 120 of the bowl replenishing vehicle 1. This state indicates that the left clamping plate 310 and the right clamping plate 311 are facing the opposite side walls of the bowls b stacked on the second bowl storage position. Then, as shown in FIG. Figure 10-2As shown, the left clamping plate 310 and the right clamping plate 311 move relative to each other and enter the second left gap d and the second right gap d1 in the direction indicated by the arrow t6 until they abut against the two opposite side walls of the stacked bowl b. At this time, the bosses 312 at the bottom of the left clamping plate 310 and the right clamping plate 311 abut against the inclined side wall of the bottom bowl in the stacked bowls, which is equivalent to the bosses 312 holding the bottom bowl in the stacked bowls. With the further relative movement of the left clamping plate 310 and the right clamping plate 311, the bosses 312 push the inclined outer side wall of the bottom bowl, and the bowl moves upward, so that the stacked bowls are lifted (please refer to the specific principle). Figure 6-1 ); then, refer to Figure 10-3 The second left fence 110 and the second right fence 120 move in opposite directions, so that the second left gap d and the second right gap d1 are separated from the left clamping plate 310 and the right clamping plate 311, so as to prevent the side walls of the second left gap d and the second right gap d1 from hindering the movement of the left clamping plate 310 and the right clamping plate 311 (refer to Figure 10-3 At the same time, the first left fence 21 and the first right fence 22 move back to back to make room (as shown by the arrow t3 in FIG. Figure 10-3 Then, the left clamping plate 310 and the right clamping plate 311 move with the stacked bowls b into the bowl storage bin 2 (as shown by the arrow t1 in FIG. Figure 10-3 and Figure 10-4 The stacked bowls b are transported to the first bowl storage position in the bowl storage bin 2, as shown in the direction of the arrow t2. Figure 10-4 As shown, in this state, the left clamping plate 310 and the right clamping plate 311 holding the stacked bowls are located between the first left fence 21 and the first right fence 22 and are respectively aligned with the first left gap N and the first right gap M on the first left fence 21 and the first right fence 22 on both sides of the first bowl storage position; then, the first left fence 21 and the first right fence 22 move relatively, that is, as shown in FIG. Figure 10-5 As shown in the direction of arrow t4 in the figure, until the first left fence 21 and the first right fence 22 abut against the two opposite side walls of the bowl b, in this state, the first left gap N and the first right gap M corresponding to the stacked bowl b clamp the edges of the two opposite side walls of the bowl b to position the stacked bowl b, in this state, the left clamping plate 310 and the right clamping plate 311 clamping the stacked bowl b are located in the first left gap N and the first right gap M corresponding to the stacked bowl (as shown in FIG. Figure 10-5 shown); finally, refer to Figure 10-6 , the left clamping plate 310 and the right clamping plate 311 holding the stacked bowls b located in the first left gap N and the first right gap M move away from each other in the direction of arrow t5, and the left clamping plate 310 and the right clamping plate 311 leave the first left gap N and the first right gap M (at this time, the left clamping plate 310 and the right clamping plate 311 are located outside the first left fence 21 and the first right fence 22 on both sides, and are located inside the housing 208, refer to Figure 10-6As shown), Figure 10-7 As shown, the stack of bowls b on the bowl replenishing cart 1 is finally delivered to the bowl storage bin 2 (at this time, the left clamping plate 310 and the right clamping plate 311 are located outside the first left fence 21 and the first right fence 22, waiting for the next bowl replenishment). Similarly, when the next stack of bowls is to be delivered, after the next round of bowl replenishing cart 1 docks with the bowl inlet 201, the left clamping plate 310 and the right clamping plate 311 move toward the bowl inlet 201, as shown in FIG. Figure 10-1 By repeating the above steps, the next stack of bowls can be transported to another first bowl storage position in the bowl storage bin 2. Figure 10-7 There are a total of four groups of first left gaps N and first right gaps M that are opposite to each other on the first left fence 21 and the first right fence 22, that is, the bowl storage bin 2 is designed with four first bowl storage positions, so four stacks of bowls can be placed accordingly, and bowls can be replenished in sequence starting from the innermost first bowl storage position (relative to the bowl entrance 201 of the bowl storage bin 2).

[0052] The design of the technical solution is also conducive to moving the stacked bowls in the bowl storage bin 2 from one first bowl storage position to another bowl storage position (requires that the moving track is not blocked by other stacked bowls), for example, Figure 11-1 The working principle of moving the first storage bowl position where the stacked bowls b1 are located to the right by one first storage bowl position is as follows:

[0053] refer to Figure 11-1 When no bowls are added to the bowl storage bin 2, the first left fence 21 and the first right fence 22 are located on both sides of the first bowl storage position that is close to the linear arrangement, and the edges of all the stacked bowls on the first bowl storage position also extend into the corresponding first left gap N and first right gap M to fix the stacked bowls b1 placed on the first bowl storage position, that is, at this time, the two sides of the stacked bowls b1 are aligned with the first left gap N and the first right gap M respectively, and the opposite sides of the outer edge of the stacked bowls b1 are partially stuck in the first left gap N and the first right gap M to fix the stacked bowls b1 (the clearance fit is to facilitate the upward removal of a single bowl in the stacked bowls b1). When it is necessary to move the bowls b1 to an empty first bowl storage position next door, for example Figure 11-1 The stacked bowls b1 shown in FIG. 1 are to be moved rightward by a first bowl storage position (i.e., the first bowl storage position corresponding to the first left gap N and the first right gap M on the rightmost side). The specific working principle is as follows:

[0054] The left clamping plate 310 and the right clamping plate 311 can move left and right in the space outside the first left fence 21 and the first right fence 22 along the direction indicated by the arrow W11, so that they can move to any first storage bowl position and face the first left gap N and the first right gap M corresponding to the storage bowl position. Figure 11-1The stacked bowl b1 is positioned at the first left gap N and the first right gap M, and then the left clamping plate 310 and the right clamping plate 311 move relative to each other, that is, move along the direction of arrow W11 into the first left gap N and the first right gap M facing the stacked bowl b1 to clamp the bowl b1 (as shown in FIG. Figure 11-1 and Figure 11-2 Then, the first left fence 21 and the first right fence 22 move in opposite directions (as shown by the arrow w in FIG. Figure 11-3 The stacked bowl b1 is then moved in the direction of the arrow W1 (indicated by the direction of the middle arrow W1), so that the side walls of the first left gap N and the first right gap M that the stacked bowl b1 faces are offset from the side walls of the left clamping plate 310 and the right clamping plate 311 to prevent them from blocking the movement of the left clamping plate 310 and the right clamping plate 311. At the same time, the stacked bowl b1 is released to prepare for the next step of the left clamping plate 310 and the right clamping plate 311 to move with the stacked bowl b1 that has been clamped. Then, the left clamping plate 310 and the right clamping plate 311 move in the direction of W2 with the bowl b1 clamped, until the left clamping plate 310 and the right clamping plate 311 face the first left gap N and the first right gap M corresponding to the next first bowl storage position (the first bowl storage position on the far right) (as shown in the direction of the middle arrow W1). Figure 11-4 Then, the first left fence 21 and the first right fence 22 move relative to each other (as shown in Figure 11-5 As shown by the arrow W3, the left clamping plate 310 and the right clamping plate 311 move back to opposite sides of the first bowl storage position, thereby fixing the bowl b1 located on the first bowl storage position. The left clamping plate 310 and the right clamping plate 311 enter the first left gap N and the first right gap M on the rightmost side. Finally, the left clamping plate 310 and the right clamping plate 311 move back to opposite sides (as shown by the arrow W3). Figure 11-6 As shown by the arrow W4), the stacked bowls b1 are released, and the stacked bowls b1 are moved in the bowl storage bin 2. Figure 11-6 There are four parallel first bowl storage positions in the bowl storage bin. As long as there is no other stacked bowl obstruction during the movement, the bowls on any other first bowl storage position can be stacked and moved to the rightmost first bowl storage position according to the above method to provide bowl retrieval (when a bowl is needed, a single bowl should be taken from the bowl storage bin 2 for use). After all, the bowls in the bowl storage bin 2 still need to be used, and a fixed first bowl storage position (for example, the rightmost first bowl storage position in this example) can be defined as the bowl output position 205 (such as Figure 4 As shown in the figure, the robot reaches into the bowl discharging position 205 and performs a bowl-taking action on the bowl discharging position 205. If all the bowls stacked on the bowl discharging position 205 are taken out, the bowls stacked on other first bowl storage positions can be moved to the bowl discharging position 205 to take out the bowls according to the above working principle. After all the bowls in the bowl storage bin are taken out, the bowl replenishing vehicle 1 performs the next round of bowl replenishing work. A more specific description is as follows:

[0055] refer to Figure 1-Figure 4, the bowl storage bin 2 also includes a bowl output position 205 (one of the multiple first bowl storage positions can be designated as the bowl output position 205), and a bowl output opening 203 is arranged above the bowl output position 205; the bowl output position 205 is parallel to the first bowl storage position; the second bowl grabbing robot 4 grabs the bowls on the bowl position 205 from the bowl output opening 203, and sends the grabbed bowls out. In the figure, multiple first bowl storage positions are linearly arranged in the bowl storage bin 2, one end of the multiple linearly arranged first bowl storage positions is connected to the second bowl storage position of the bowl replenishing vehicle 1, and the other end of the multiple linearly arranged first bowl storage positions, that is, the first bowl storage position at the end is set as the bowl output position 205, and the second bowl grabbing robot 4 grabs the bowls on the bowl position 205 from the bowl output opening 203, and the stacked bowls in the bowl storage bin 2 can be sent to the bowl output position 205 according to the above principle for the second bowl grabbing robot 4 to take the bowls, that is, refer to Figure 4 The second bowl-grabbing robot 4 is connected to the telescopic vertical arm 81, and the second bowl-grabbing robot 4 can be raised and lowered along the H1 direction following the telescopic vertical arm 81. The telescopic vertical arm 81 is slidably connected to the crossbeam 80, and the telescopic vertical arm 81 is slidably connected to the crossbeam 80. One end of the crossbeam 80 is located above the bowl outlet 203. After the telescopic vertical arm 81 drives the second bowl-grabbing robot 4 to slide on the crossbeam 80 to above the bowl outlet 203, the telescopic vertical arm 81 drives the second bowl-grabbing robot 4 to descend. Figure 4 As shown by the middle arrow H3, the bowls on the bowl position 205 are taken out through the bowl outlet 203 into the bowl storage bin 2, that is, according to the height of a single bowl, the bowl is taken out at a time and descends the height of one bowl, and then the two clamps directly facing the second bowl grabbing robot 4 clamp the edge of a bowl and then rise along with the telescopic vertical arm 81, and the telescopic vertical arm 81 slides to the other end of the crossbeam 80 and then descends to put down the bowl, and the bowls are taken out in a cycle until the bowls on the bowl outlet 205 are taken out, and the stacked bowls on the other first bowl storage positions in the bowl storage bin 2 are sent to the bowl outlet 205 according to the above principle for the next round of bowl taking. If the bowls in the bowl storage bin 2 are taken out, the bowl replenishing cart 1 can replenish the bowls in time.

[0056] For a specific implementation of the second bowl gripping robot 4, please refer to Fig.12, which includes a first clamping plate 51, a second clamping plate 52, a connecting plate 59, a first clamping block 53 and a second clamping block 54; the first clamping plate 51 and the second clamping plate 52 are opposite to and movably installed on the connecting plate 59, the first clamping block 53 and the second clamping block 54 are relatively connected to the bottom of the first clamping plate 51 and the second clamping plate 52, wherein the first clamping plate 51 and the second clamping plate 52 can enter the first left gap N and the first right gap M of the fence on both sides of the bowl output position 205 as the second bowl grasping robot 4 descends, when the second bowl grasping robot 4 descends to the height of a bowl, the first clamping plate 51 and the second clamping block 52 move relatively, so that the first clamping block 53 and the second clamping block 52 are close to the two side walls of the topmost bowl in the stacked bowls and clamp the top bowl, the second bowl grasping robot 4 can rise with the clamped bowl as the telescopic vertical wall rises, and then the second bowl grasping robot 4 moves along the crossbeam 80 to send the clamped bowl out, completing the work of taking the bowl. Furthermore, the second bowl-grabbing robot 4 is provided with a preheating device 5 for heating the grasped bowls. The preheating device 5 may be an electric heating wire. When the second bowl-grabbing robot 4 grasps the bowls and is in the process of delivering the bowls, the preheating device 5 is heated to preheat the bowls.

[0057] refer to Fig.13 and Fig.14 Based on the above embodiment, another embodiment is provided below:

[0058] The bowl storage robot of the present invention may further include: a first elastic component 714 and a second elastic component 724; in a natural state, the elastic force of the first elastic component 714 acts on the first left fence 21 and the first right fence 22, so that the first left fence 21 and the first right fence 22 are close to each other on both sides of the first bowl storage position; in a natural state, the elastic force of the second elastic component 724 acts on the second left fence 110 and the second right fence 120, so that the second left fence 110 and the second right fence 120 are close to each other on both sides of the second bowl storage position.

[0059] In the present invention, “in a natural state” may be understood as a state in which the first left fence 21 and the first right fence 22 (the second left fence 110 and the second right fence 120) are not subjected to other external forces. Since the first left fence 21 and the first right fence 22 can move relative to and away from each other under the action of power (which can be driven by a cylinder), when the power fails, the first left fence 21 and the first right fence 22 can move relative to each other under the elastic force of the first elastic component 714, or have a tendency to move relative to each other, so that they can be close to both sides of the first bowl storage position, thereby fixing the stacked bowls on the first bowl storage position, that is, when the power fails, no matter whether the first left fence 21 and the first right fence 22 move relative to or away from each other, no matter where they are, they will eventually move relative to each other under the action of the elastic force, so that the first left fence 21 and the first right fence 22 are close to the two side walls of the first bowl storage position, thereby fixing the bowls to prevent one or more stacks of bowls on the first bowl storage position from shaking or falling over; in this embodiment, when the first left fence 21 and the first right fence 22 need to move away from each other (such as Figure 10-3 As shown by arrow t1 in Figure 11-3 As shown by the arrow W1 in the figure, the power only needs to overcome the elastic force of the first elastic component 714 to achieve the opposite movement. When the first left fence 21 and the first right fence 22 need to move relative to each other (as shown in the figure), the power only needs to overcome the elastic force of the first elastic component 714 to achieve the opposite movement. Figure 10-5 As shown by arrow t4, Figure 11-5 In the direction of arrow W3), the first left fence 21 and the first right fence 22 can be driven to move relative to each other by power, or the power can be released so that the first left fence 21 and the first right fence 22 move closer to each other under the elastic force of the first elastic component 714 to achieve opposite movement.

[0060] Similarly, the working principle and effect of the elastic force of the second elastic component 724 acting on the second left fence 110 and the second right fence 120 are the same as the principle and effect of the first elastic component 714 acting on the first left fence 21 and the first right fence 22, and will not be repeated here. A more specific design of the first elastic component 714 and the second elastic component 724 can be as follows:

[0061] Design 1, reference Fig.14, the first elastic component 714 and the second elastic component 724 are respectively the first spring and the second spring; the first spring is arranged between the first left fence 21 and the first right fence 22, and the two ends of the first spring are respectively connected to the first left fence 21 and the first right fence 22, the first spring is in a stretched state, and has a tendency to drag the first left fence 21 and the first right fence 22 together in real time (or, when the first left fence 21 and the first right fence 22 are close to the two sides of the first left bowl position, the first spring is just in a state of neither stretching nor contracting). In a natural state, the first The spring force of the spring simultaneously drags the first left fence 21 and the first right fence 22 together, so that the first left fence 21 and the first right fence 22 are close to each other on both sides of the first storage bowl; similarly, the second spring is arranged between the second left fence 110 and the second right fence 120, and the two ends of the second spring are respectively connected to the second left fence 110 and the second right fence 120. In a natural state, the spring force of the second spring simultaneously drags the second left fence 110 and the second right fence 120 together, so that the second left fence 110 and the second right fence 120 are close to each other on both sides of the second storage bowl. Both ends of the second left fence 110 and the second right fence 120 are stretched by the second spring at the same time, so that they have a tendency to move relative to each other in real time, so that in a natural state (during operation, the driving force driving the second left fence 110 and the second right fence 120 to move relative to or away from each other fails), the second left fence 110 and the second right fence 120 can move relative to or away from each other and can automatically return to the two side walls of the second bowl storage position under the pulling force of the spring force of the second spring to fix the stacked bowls on the second bowl storage position and prevent the bowls from shaking and tipping over. The principle or effect thereof refers to the first elastic component 714 described above.

[0062] Design 2, reference Fig.13 The second elastic component 724 includes: a second right spring 73 and a second left spring 74; the first elastic component 714 includes: a first right elastic 71 and a first left elastic 72;

[0063] In the natural state, the spring forces of the second right spring 73 and the second left spring 74 push the outside of the second right fence 120 and the second left fence 110 respectively, so that the second left fence 110 and the second right fence 120 are close to each other on both sides of the second storage bowl; that is, the second left fence 110 and the second right fence 120 have a tendency to be close to each other on both sides of the second storage bowl in real time. In the natural state, the spring forces of the first right spring 71 and the first left spring 72 push the outside of the first left fence 21 and the first right fence 22 respectively, so that the first left fence 21 and the first right fence 22 are close to each other on both sides of the second storage bowl; that is, the first left fence 21 and the first right fence 22 have a tendency to be close to each other on both sides of the second storage bowl in real time. Its working principle can refer to the above-mentioned "Design 1".

[0064] refer to Figure 7 and Fig. 9 The present invention also provides a bowl replenishing cart, comprising: a frame, a second left fence 110 and a second right fence 120; a second bowl storage position is arranged at the bottom of the frame, and a second left fence 110 and a second right fence 120 that can move relative to and opposite to each other are arranged on both sides of the second bowl storage position, wherein a bowl opening A for bowls to enter and exit is formed between the second left fence 110 and the second right fence 120.

[0065] The working principle of the bowl replenishing vehicle of the present invention is as described above. When the stacked bowls on the bowl storage vehicle need to be moved to the bowl storage bin, the second left fence 110 and the second right fence 120 move in opposite directions. On the one hand, the stacked bowls are no longer restricted. On the other hand, space is left for the robot to hold the whole stack of bowls and then move horizontally, and deliver them horizontally from the bowl opening A. This facilitates the automatic horizontal translation of the whole stack of bowls and their replenishment to the rough bowl bin. A new bowl replenishing solution is provided, namely, a horizontally moving bowl replenishing method.

[0066] More preferably, the second left fence 110 is provided with a second left gap d, and the second right fence 120 is provided with a second right gap d1, and the second left gap d and the second right gap d1 are aligned opposite to each other, wherein the second left gap d and the second right gap d1 are opposite to the second storage bowl position ( Figure 7 Two second bowl storage positions are set in the middle). The second bowl storage position can be considered as a flat plate for supporting bowls set at the bottom of the bowl replenishing cart, and the stacked bowls are placed on the flat plate, and each stack of bowls faces the second left gap d and the second right gap d1, so that the robot arm can enter the second left gap d and the second right gap d1 to lift the whole stack of bowls (refer to the principle described above).

[0067] It should be noted that the first left fence 21 and the first right fence 22 mentioned in the present invention move away from each other and relative to each other, and the second left fence 110 and the second right fence 120 move away from each other and relative to each other. To achieve these moves away from each other or relative to each other, any method in the prior art can be used, which will not be described in detail here. For example, refer to Figure 7 A track 14 and a slider 15 sliding on the track 14 are provided, and the second left fence 110 and the second right fence 120 are installed on the slider 15. The second left fence 110 and the second right fence 120 can be pushed (pulled) by the cylinder respectively and moved relative to or opposite to each other at the same time, so that the second left fence 110 and the second right fence 120 are close to both sides of the flat plate (second bowl storage position) to fix the stacked bowls on the flat plate, or the second left fence 110 and the second right fence 120 are away from both sides of the flat plate to release the fixation of the stacked bowls on the flat plate.

[0068] The above bowl replenishing cart may further include: a second elastic component 724; in a natural state, the elastic force of the second elastic component 724 acts on the second left fence 110 and the second right fence 120, so that the second left fence 110 and the second right fence 120 are close to each other on both sides of the second bowl storage position. A more specific method of this embodiment can use a spring, and the specific principle can be referred to the above description, which will not be repeated here.

[0069] It should be noted that, in addition to springs, the first elastic component 714 and the second elastic component 724 mentioned above may also be other elastic components, such as springs, elastic pressure rods, elastic plastic rubber, etc.

[0070] Fig.13 and Fig.14 As a top view schematic diagram, the first elastic component 714 and the second elastic component 724 can be installed at the bottom of the second left fence 110 and the second right fence 120, the first left fence 21 and the first right fence 22, so as not to hinder the movement of the left clamping plate 310 and the right clamping plate 311.

[0071] In the figure, the description of the positional relationship is only for illustrative purposes and should not be understood as a limitation on this patent; obviously, the above embodiments of the present invention are only examples for clearly illustrating the invention, and are not limitations on the implementation methods of the invention. For ordinary technicians in the relevant field, other different forms of changes or modifications can be made on the basis of the above description. It is not necessary and impossible to list all the implementation methods here. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the present invention should be included in the scope of protection of the invention claims.

Claims

1. A bowl storage robot, characterized in that: include: It comprises a bowl storage bin (2) with a bowl inlet (201), a bowl replenishing vehicle (1) docked with the bowl inlet (201), and a bowl grabbing robot (3); The bowl storage bin (2) is provided with one or more first bowl storage positions for placing bowls, and the bowl replenishment vehicle (1) is provided with a second bowl storage position for placing bowls. After the bowl replenishment vehicle (1) transports the bowls and docks them with the bowl inlet (201) of the bowl storage bin (2), the bowl grabbing robot (3) grabs the bowls on the second bowl storage position and sends them to the first bowl storage position in the bowl storage bin (2); The bowl gripping manipulator (3) comprises a left clamping plate (310) and a right clamping plate (311) facing each other, and bosses (312) facing each other are arranged at the bottom of the left clamping plate (310) and the right clamping plate (311); The left clamping plate (310) and the right clamping plate (311) move relative to or away from each other to approach or move away from the side wall of the stacked bowls. When the left clamping plate (310) and the right clamping plate (311) move relative to each other and approach the side wall of the stacked bowls, the boss (312) abuts against the inclined side wall of the bottom bowl in the stacked bowls. A first left fence (21) and a first right fence (22) are arranged on both sides of the first storage bowl position and can move relative to and away from each other, and a second left fence (110) and a second right fence (120) are arranged on both sides of the second storage bowl position and can move relative to and away from each other; A bowl opening (A) for bowls to enter and exit is formed between the second left fence (110) and the second right fence (120); a first bowl opening (A1) for bowls to enter and exit is formed between the first left fence (21) and the first right fence (22); When the bowl replenishing vehicle (1) transports the bowls and docks with the bowl entrance (201) of the bowl storage bin (2) so that the first bowl storage position and the second bowl storage position are arranged side by side, the bowl transfer opening (A) and the first bowl transfer opening (A1) are directly opposite.

2. The bowl storage robot according to claim 1, characterized in that: Also includes: A left guide block (204), a right guide block (214) and a positioning device (56); The side surfaces of the left guide block (204) and the right guide block (214) are arranged opposite to the left side and the right side of the bowl entrance (201), wherein the mutually opposing side surfaces of the left guide block (204) and the right guide block (214) form an "eight"-shaped opening; When the bowl-replenishing trolley (1) is pushed toward the bowl-entry opening (201), the left guide block (204) and the right guide block (214) of the "eight"-shaped opening guide the bowl-replenishing trolley (1) to dock with the bowl-entry opening (201), and then the positioning device (56) fixes the bowl-replenishing trolley (1) to the bowl-storage bin (2).

3. The bowl storage robot according to claim 1, characterized in that: The bowl storage bin (2) further comprises a casing (208), wherein the first bowl storage positions are linearly arranged and distributed in the casing (208), and the bowl grabbing robot (3) is arranged in the casing (208); when the first bowl storage position and the second bowl storage position are docked, the bowl grabbing robot (3) moves above the first bowl storage position and the second bowl storage position, and the bowl grabbing robot (3) grabs the bowls on the second bowl storage position and sends them to the first bowl storage position in the bowl storage bin (2).

4. The bowl storage robot according to claim 1, characterized in that: The first left fence (21) is provided with a first left gap (N) for the left clamping plate (310) of the bowl gripping manipulator (3) to pass through, and the first right fence (22) is provided with a first right gap (M) for the right clamping plate (311) of the bowl gripping manipulator (3) to pass through, and the first left gap (N) and the first right gap (M) are aligned; Wherein, the first left gap (N) and the first right gap (M) are directly opposite to the first storage bowl position.

5. The bowl storage robot according to claim 1 or claim 4, characterized in that: The second left fence (110) is provided with a second left gap (d) for the left clamping plate (310) of the bowl grasping robot (3) to pass through, and the second right fence (120) is provided with a second right gap (d1) for the right clamping plate (311) of the bowl grasping robot (3) to pass through, and the second left gap (d) and the second right gap (d1) are aligned, wherein the second left gap (d) and the second right gap (d1) are directly opposite to the second bowl storage position.

6. The bowl storage robot according to claim 1, characterized in that: Also includes: A first elastic component (714) and a second elastic component (724); In a natural state, the elastic force of the first elastic component (714) acts on the first left fence (21) and the first right fence (22), so that the first left fence (21) and the first right fence (22) are close to each other on both sides of the first storage bowl position; In a natural state, the elastic force of the second elastic component (724) acts on the second left fence (110) and the second right fence (120), so that the second left fence (110) and the second right fence (120) are close to each other on both sides of the second storage bowl position.

7. The bowl storage robot according to claim 6, characterized in that: The first elastic component (714) and the second elastic component (724) are respectively a first spring and a second spring; The first spring is arranged between the first left fence (21) and the first right fence (22), and the two ends of the first spring are respectively connected to the first left fence (21) and the first right fence (22). In a natural state, the spring force of the first spring simultaneously pulls the first left fence (21) and the first right fence (22) together, so that the first left fence (21) and the first right fence (22) are close to each other on both sides of the first storage bowl; The second spring is arranged between the second left fence (110) and the second right fence (120), and the two ends of the second spring are respectively connected to the second left fence (110) and the second right fence (120). In a natural state, the spring force of the second spring simultaneously drags the second left fence (110) and the second right fence (120) together, so that the second left fence (110) and the second right fence (120) are close to each other on both sides of the second storage bowl.

Images