Automatic dish dispensing machine and intelligent dish dispensing system

Abstract

The present invention relates to the field of automation equipment, specifically an automatic dish dispensing machine and an intelligent dish dispensing system. The automatic dish dispensing machine includes a dish dispensing mechanism and a dish dispensing conveyor line. The dish dispensing mechanism distributes dishes to the dish dispensing conveyor line, which is transmitted to the rear end by the dish dispensing conveyor line. The dish dispensing conveyor line includes a plate conveyor line, which transports the plate to the dish dispensing mechanism. The dish dispensing mechanism includes a shelf and a distribution device. The distribution device transfers the goods on the shelf to the plate, which is transmitted to the rear end with the plate. The intelligent dish dispensing system includes an ordering module, a dish dispensing module, a meal delivery module, a central control module, and a database. Customers select the required dishes through the ordering module, form a menu and send it to the central control module and the database. The central control module sends instructions to the dish dispensing module. The dish dispensing module sorts the dishes and dispenses the dishes. The dishes are received by the meal delivery module and transferred to the customer's designated location. The present invention realizes intelligent dish dispensing, automatic dish dispensing, improves efficiency, reduces manual labor intensity, reduces operating costs, and improves catering hygiene.

Description

Technical Field

[0001] The present invention relates to the technical field of automation equipment, and in particular to an automatic dish serving machine and an intelligent dish serving system. Background Art

[0002] At present, there is no automated equipment that can replace manual food delivery in the hot pot and other catering industries. Manual preparation and serving of dishes have many defects. For example, multiple waiters are needed to be responsible for delivering and picking up dishes; the food storage area is open and easily affected by the environment, the hygiene conditions are difficult to control, and human operation will inevitably cause food contamination; for catering operators, labor costs are gradually rising; information such as the type, quantity, and shelf life of ingredients is not easy to centrally process, etc. Therefore, the development of the catering industry towards intelligence and automation has become a current trend. Summary of the invention

[0003] In order to overcome the above-mentioned deficiencies of the prior art, an automatic dish serving machine and an intelligent dish serving system are now proposed.

[0004] The present invention is achieved through the following technical solutions:

[0005] An automatic dish dispensing machine includes a dish preparation mechanism and a dish dispensing conveying line. The dish preparation mechanism distributes dishes to the dish dispensing conveying line, and the dishes are conveyed to the rear end by the dish dispensing conveying line. The dish dispensing conveying line includes a plate conveying line, which conveys the plates to the dish preparation mechanism. The dish preparation mechanism includes a shelf and a dispensing device. The dispensing device distributes and transfers a plurality of goods on the shelf to the plates, and the plates are conveyed to the rear end for dispensing.

[0006] The food delivery conveyor line includes conveyor line section A, conveyor line section B and conveyor line section C. The starting end of conveyor line section A is provided with a delivery port. A manipulator and a first lifting mechanism are installed at the rear end of conveyor line section A. The manipulator transfers a single meal plate on the conveyor line to the first lifting mechanism. The meal plate is lifted by the first lifting mechanism to conveyor line section B and is transferred to the second lifting mechanism installed at the rear end. The meal plate is lifted by the second lifting mechanism and transferred to conveyor line section C.

[0007] The shelf includes a frame and a slideway, a plurality of slideways are arranged obliquely on the frame, the high and low ends of the slideway are respectively mounted on the high beam and the low beam, a single high beam and a single low beam form a group, the frame is provided with a plurality of groups of high beams and low beams in the vertical direction, a plurality of slideways are arranged above each group, and a plurality of RFID readers are installed on the shelf;

[0008] A vibrator is installed on the frame to make the shelf vibrate as a whole to prevent the vegetable box from stagnating on the slide.

[0009] Furthermore, the distribution device is a three-dimensional robotic arm. A three-dimensional robotic arm is arranged on one side of the shelf. The three-dimensional robotic arm removes goods from the shelf. Several aisles are arranged on the shelf. Goods are placed on corresponding aisles according to categories. The shelf automatically pushes the goods to the side of the aisle close to the three-dimensional robotic arm. The three-dimensional robotic arm can move in three dimensions, move to the aisle of the required type of goods, take out the closest goods, and pass them to the food delivery conveyor line.

[0010] Furthermore, the three-dimensional robotic arm includes a mechanical gripper, an x-axis linear module and a y-axis linear module. The mechanical gripper includes a connected clamp and a telescopic arm. The telescopic arm drives the clamp to move linearly in the y-axis direction. The x-axis linear module and the y-axis linear module respectively control the mechanical gripper to move linearly in the x-axis and y-axis directions.

[0011] Furthermore, the telescopic arm is a three-section structure, including a fixed section, a middle section, and a movable section, which overlap and slide with each other, with the fixed section being a reference system for relative motion, and the middle section and the movable section being slidable and extendable.

[0012] Furthermore, the fixture includes a slide cylinder and a finger connector. The slide cylinder includes a guide rail and two cylinder sliders slidably connected on the guide rail. The cylinder sliders are connected to the fingers through the finger connector, thereby controlling the distance between the two fingers.

[0013] Furthermore, the manipulator includes an actuator, a lifting module and a translation module. The translation module and the lifting module are linear modules. The lifting module is vertically erected on the translation module and moves horizontally. The actuator includes a suction cup and a suction cup seat. A plurality of suction cups are installed at the bottom of the suction cup seat. The suction cup seat is connected to the lifting module. The lifting module controls the vertical movement of the suction cup seat. The manipulator actuator can also use a clamp.

[0014] Furthermore, below the actuator is a storage area for dinner plates, and a partition is vertically arranged on one side of the storage area.

[0015] Furthermore, the first lifting mechanism includes a first lifting device and a lifting conveyor belt. The lifting conveyor belt performs horizontal transportation, and the first lifting device drives the lifting conveyor belt to perform vertical lifting.

[0016] Furthermore, the second lifting mechanism includes a second lifting device, an outer conveyor belt, and an inner conveyor belt. The outer conveyor belt has two, which are respectively installed on both sides of the inner conveyor belt. The outer conveyor belt is provided with a synchronous wheel, a connecting shaft and a driving device. A connecting shaft is installed between the synchronous wheels of the two outer conveyor belts. The driving device controls the rotation of the synchronous wheel so that the two outer conveyor belts are conveyed synchronously. The second lifting device is fixed to the bottom of the inner conveyor belt, and the second lifting device controls the inner conveyor belt to perform lifting and lowering movements relative to the outer conveyor belt.

[0017] Furthermore, the conveyor line section C is provided with a food picking area, and a plurality of shelves are installed above the food picking area.

[0018] Furthermore, an RFID reader is installed on the conveyor belt of section C of the conveyor line.

[0019] Furthermore, the conveyor line section C is provided with a scanner and a printer assembly.

[0020] Furthermore, a plurality of high-position clamping members are installed on the high-position crossbeam, a plurality of low-position clamping members are installed on the low-position crossbeam, and the slideway is clamped between the high-position clamping members and the low-position clamping members.

[0021] Furthermore, a plurality of indicator lights or displays are installed on the side surfaces of the high-position clamping member.

[0022] Furthermore, a soft buffer is installed on the side of the low-position holding member close to the slideway.

[0023] Furthermore, it comprises an outer shell, which covers the outside of the dish preparation mechanism and the dish delivery conveyor line, and a part of the dish delivery conveyor line protrudes out of the outer shell and is exposed to the outside.

[0024] Furthermore, a door body is installed at the place where the food delivery conveyor line protrudes out of the outer shell.

[0025] Furthermore, a display window is arranged on the outer shell, and dimming glass is installed on the display window.

[0026] Furthermore, a plurality of display screens are arranged outside the outer shell.

[0027] Furthermore, a refrigeration device is installed inside the outer shell.

[0028] An intelligent food serving system includes an ordering module, a food serving module, a delivery module, a central control module, and a database, wherein the automatic food serving machine is the food serving module. Customers select the desired dishes through the ordering module, form a menu and send it to the central control module and the database. The central control module sends instructions to the food serving module, and the food serving module sorts and serves the dishes. The dishes are received by the delivery module and transferred to the customer's designated location.

[0029] Furthermore, the food delivery module includes a shelf unit and a sorting unit. A number of aisles are arranged on the shelf unit, and a number of dishes are placed on each aisle. Each aisle is responsible for a single variety of dishes. The sorting unit moves to the corresponding aisle according to the instructions issued by the central control module and transfers the required dishes.

[0030] Furthermore, the dish serving module includes a dish serving sensing unit. When dishes in the dish serving module are served, they pass through the dish serving sensing unit, and dish information is sent to a database.

[0031] Furthermore, the dish delivery module includes a scanning unit or a printing unit. The dish delivery module presents the electronic tag when picking up the dishes. The scanning unit scans and enters the dish delivery module information and sends it to the database. The printing unit prints the menu information or customer information.

[0032] Furthermore, the food delivery module includes a display unit, which displays one or more information including menu information, customer information, food inventory information, and food delivery module information.

[0033] Furthermore, the shelf unit has two modes, namely, dish serving mode and dish replenishment mode. When in dish serving mode or dish replenishment mode, the shelf unit pushes the dishes on each aisle to the front row of the aisle.

[0034] Furthermore, the shelf unit includes an RFID reader / writer. When in the replenishment mode, the RFID reader / writer reads and writes the dish information and the quantity of the dishes in the replenishment aisle and sends them to the database.

[0035] Furthermore, the shelf unit includes indicator lights and displays. When in the replenishment mode, the central control module sends instructions to the indicator lights and the display. When replenishing a variety of dishes, the indicator lights on the aisle where the corresponding variety is stored give external indications, and the display of the aisle shows the number of dishes that need to be replenished or the number of dishes on the aisle.

[0036] Furthermore, the shelf unit includes an indicator light and a display. When in the replenishment mode, multiple aisles storing the same type of dishes correspond to a single electronic tag. When an external reader reads and writes the electronic tag, the indicator lights or displays on the multiple aisles of the same type of dishes respond uniformly. For example, a box of a single type of dish has a QR code attached to the outside of the box. When the code is scanned by a scanner, the indicator lights or displays on the aisles storing the same type of dishes all give indications, which is convenient for replenishment.

[0037] Compared with the prior art, the present invention has the following beneficial effects:

[0038] 1. Realize intelligent dish preparation and automatic dish serving, which greatly improves dish serving efficiency, reduces manual labor intensity, reduces operating costs, and improves catering hygiene conditions.

[0039] 2. The automatic dish serving machine has a wide range of applications. It can be used in hot pot restaurants, spicy hot pot restaurants and other restaurants, in restaurant kitchens, and can also be used as a food cold storage.

[0040] 3. Dishes are distributed on a single plate to facilitate back-end robot or manual delivery.

[0041] 4. A refrigeration device is installed inside the automatic dish serving machine to keep dishes refrigerated and safe, and it has a cold storage function.

[0042] 5. Menu information, customer information, inventory information, delivery module information, replenishment information and other data are entered into the database to facilitate dish statistics, shelf life monitoring, and information traceability.

[0043] 6. The automatic dish serving machine occupies a small area and its structure is easy to disassemble and transport.

[0044] 7. The present invention can be used as a part of a smart kitchen or catering conveyor line. BRIEF DESCRIPTION OF THE DRAWINGS

[0045] Figure 1 It is a three-dimensional diagram of an automatic food serving machine;

[0046] Figure 2 It is a three-dimensional diagram of the internal structure of the automatic dish serving machine;

[0047] Figure 3 This is a three-dimensional diagram of the food delivery conveyor line;

[0048] Figure 4 This is the front view of the manipulator and the first lifting mechanism at the end of section A of the conveyor line;

[0049] Figure 5 It is a three-dimensional diagram of the manipulator and the first lifting mechanism at the end of section A of the conveyor line;

[0050] Figure 6 is a three-dimensional diagram of the first jacking mechanism;

[0051] Figure 7 is a three-dimensional diagram of the robot;

[0052] Figure 8 It is a three-dimensional diagram of the second lifting mechanism and the delivery port;

[0053] Fig. 9 is a three-dimensional diagram of the second jacking mechanism;

[0054] Fig.10 It is a three-dimensional diagram of the outer conveyor belt;

[0055] Fig.11 This is a three-dimensional diagram of a portable door.

[0056] Fig.12 It is a three-dimensional diagram of the side dish mechanism;

[0057] Fig.13 is a stereogram of a three-dimensional robotic arm;

[0058] Fig.14 is a three-dimensional diagram of a mechanical gripper;

[0059] Fig.15 This is an exploded view of the telescopic arm;

[0060] Fig.16 is a three-dimensional diagram of the telescopic arm;

[0061] Fig.17 is a three-dimensional diagram of the fixture;

[0062] Fig.18 A three-dimensional diagram of the shelf;

[0063] Fig.19 It is a three-dimensional diagram of a high-position clamping member and a low-position clamping member;

[0064] Fig. 20 A three-dimensional diagram of the slide;

[0065] Fig.21 This is a three-dimensional image of a vegetable box.

[0066] The reference numerals are as follows: A-Conveyor line section A

[0067] A1-manipulator; A11-actuator; A111-suction cup; A112-suction cup seat; A113-first sensor; A12-lifting module; A121-first slider; A122-first rail beam; A123-first connecting piece; A13-translation module; A131-second slider; A132-second rail beam; A133-second connecting piece; A14-linear guide assembly; A141-A guide rail; A142-third slider; A143-third connecting piece; A2-first lifting mechanism; A21-first lifting device; A211-first cylinder; A212-auxiliary rod; A22-lifting conveyor belt; A221- The second sensor; A222- pallet; A223- conveyor belt body; A3- hand door; A31- door panel; A32- guide rod; A33- guide sleeve; A34- rack; A35- gear; A5- partition; A51- third sensor; A7- storage area; A8- delivery port; B- conveyor line section B; B1- second lifting mechanism; B11- second cylinder; B12- support seat; B13- guide rail B; B14- slider B; B15- connector B; B16- pallet; B2- outer conveyor belt; B21- synchronous wheel; B22- connecting shaft; B3- inner conveyor belt; C- conveyor line section C; C1- shelf; C2- scanner and Printer components; E-3D robotic arm; E1-fixture; E11-finger; E111-clip slot; E12-slide cylinder; E121-cylinder slider; E13-finger connector; E14-fixture sensor; E2-telescopic arm; E21-fixed section; E211-fixed seat; E212-fixed section slider; E22-middle section; E221-middle section beam; E222-upper guide rail; E223-lower guide rail; E224-first rack surface; E225-middle section slider; E23-movable section; E231-movable section beam; E232-second rack surface; E233-third rack surface; E234-movable section guide rail; E31 -first drive device; E32-second drive device; E33-third drive device; E4-clamp connector; E5-x-axis linear module; E51-bottom linear module; E52-top guide rail assembly; E6-y-axis linear module; F-shelf; F1-rack; F11-high beam; F12-low beam; F13-high clamp; F131-indicator light; F132-display; F14-low clamp; F15-buffer; F16-plug; F2-slide; F21-convex rail; F5-upper cover; F6-lower box; F61-recessed portion; G-outer shell; G1-window; H-door; I-display screen. DETAILED DESCRIPTION

[0068] In order to make the purpose, technical solution and advantages of the present invention more clear, the present invention is further described in detail below in conjunction with the accompanying drawings and embodiments. In the description of the invention, 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" and the like indicate the orientation or position relationship based on the orientation or position relationship shown in the accompanying drawings, which is only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and the specific embodiments described herein are only used to explain the present invention and are not used to limit the present invention.

[0069] Please refer to Figure 1 and Figure 2 A preferred embodiment of the present invention is an automatic dish serving machine, comprising a dish preparation mechanism and a dish serving conveyor line. The dish preparation mechanism distributes dishes to the dish serving conveyor line, and the dishes are conveyed to the rear end by the dish serving conveyor line. The dish serving conveyor line comprises a dinner plate conveyor line. The dinner plates are placed from the bottom layer and conveyed to the upper layer. When passing through the dish preparation mechanism, a three-dimensional robot arm E places dishes on the dinner plates, and conveys the dishes to the rear end along with the dinner plates.

[0070] like Fig.12 As shown, the food preparation mechanism includes several units of shelves F and three-dimensional robotic arms E, which are respectively as shown in Fig.13 , Fig.18 As shown, the front end of the shelf F of each unit is replenished, and the back end is equipped with a three-dimensional robotic arm E. The three-dimensional robotic arm E can remove the goods on the shelf F in the three-dimensional direction (as shown in the coordinate system in the attached figure). Several aisles are set on the shelf F. The dishes are suitable for vegetable box packaging and placed on the corresponding aisles according to categories. Each aisle can hold multiple vegetable boxes. The shelf F automatically pushes the vegetable box to the side of the aisle close to the three-dimensional robotic arm E. The three-dimensional robotic arm E can move in three dimensions, move to the aisle of the required dish type, take out the nearest vegetable box and pass it out, so as to realize automatic dish matching. The shelf of each unit is equipped with a corresponding three-dimensional robotic arm, and the number ratio may not be 1:1, that is, a single three-dimensional robotic arm is responsible for multiple shelf units or multiple three-dimensional robotic arms are responsible for a single shelf unit, but such a setting is inefficient or the division of the working area of ​​the three-dimensional robotic arm is chaotic.

[0071] like Fig.13As shown, the three-dimensional mechanical arm E includes a mechanical gripper, an x-direction linear module E5 and a y-direction linear module E6. The mechanical gripper includes a connected fixture E1 and a telescopic arm E2. The telescopic arm E2 drives the fixture E1 to move linearly in the y-axis direction. The x-direction linear module E5 and the y-direction linear module E6 control the mechanical gripper to move linearly in the x-direction and y-direction directions, respectively. That is, the mechanical gripper is installed on the two-dimensional linear module and moves in a stator-mover mode, including the x-direction linear module E5 and the y-direction linear module E6. This embodiment uses a synchronous belt linear module, and other linear motion mechanisms can also be used instead. The telescopic direction of the mechanical gripper is the z-axis direction of the coordinate system. The mechanical gripper is vertically slidably connected to the y-direction linear module E6, and the y-direction linear module E6 is vertically slidably connected to the x-direction linear module E5, forming a Cartesian robot. The x-axis linear module E5 includes a bottom linear module E51 and a top guide rail module E52. The bottom linear module E51 controls the movement of the y-axis linear module E6, and the top guide rail module 52 performs top limiting to make the three-dimensional robot arm movement more stable.

[0072] like Fig.14 As shown, the mechanical gripper includes a clamp E1 and a telescopic arm E2. The telescopic arm E2 is a three-section structure, including a fixed section E21, a middle section E22, and a movable section E23. The three sections overlap and slide on each other, can be slid and expanded, and are connected in pairs by limiting positions, and are limited by baffles or high-strength rubber, or by U-shaped photoelectric switches and hook-shaped sensor sheet components to prevent derailment.

[0073] Please refer to Fig.14 , Fig.15 , Fig.16 The linear motion of the middle section E22 is controlled by the first driving device E31, the linear motion of the movable section E23 is controlled by the second driving device E32, and the sliding of the fixture E1 on the movable section E23 is controlled by the third driving device E33. The driving device can be a stepping motor or a servo motor.

[0074] Please refer to Fig.14 , Fig.15 , Fig.16 The fixed section E21 includes a fixed seat E211 and a fixed section slider E212. The fixed seat E211 is an L-shaped sheet metal, and the fixed section slider E212 is fixedly installed on the fixed seat E211.

[0075] The middle section E22 includes a middle section beam body E221, a lower guide rail E223 and a first rack surface E224. The lower guide rail E223 is arranged at the bottom of the middle section beam body E221. The lower guide rail E223 is slidably connected with the fixed section slider E212. The middle section beam body E221 is provided with a first rack surface E224. The extension direction of the first rack surface E224 is the same as that of the lower guide rail E223. A first driving device E31 is installed on the fixed section E21 to control the rotation of a gear. The gear is meshed with the first rack surface E224, thereby controlling the sliding of the middle section E22.

[0076] The middle section E22 also includes an upper guide rail E222 and a middle section slider E225. The upper guide rail E222 is arranged on the top surface of the middle section beam body E221. The middle section slider E225 is slidably connected to the upper guide rail E222. The middle section slider E225 is fixedly connected to the movable section E23. The second driving device E32 is installed on the middle section E22 and moves with the middle section E22. The movable section E23 includes a movable section beam body E231 and a second rack surface E232. The second rack surface E232 is arranged on the movable section beam body E231. The second driving device E32 controls the rotation of a gear, and the gear is meshed with the second rack surface E232, thereby controlling the sliding of the movable section E23.

[0077] Please refer to Fig.16 , Fig.17 , a third driving device E33 and a fixture connecting member E4, the third driving device E33 is connected to the fixture E1 through the fixture connecting member E4, and the third driving device E33 controls the fixture E1 to move linearly on the movable segment E23. The movable segment E23 includes a third rack surface E233 and a movable segment guide rail E234, both of which are arranged on the movable segment beam body E231, and a slider is slidably connected to the movable segment guide rail E234, and the slider is fixedly connected to the fixture connecting member E4; the third driving device E33 controls a gear to rotate, and the gear is meshed with the third rack surface E233, thereby controlling the fixture E1 to slide on the movable segment E23.

[0078] The fixture E1 includes a finger E11, a slide cylinder E12, a finger connector E13, and a fixture sensor E14. The finger E11 is a parallel pneumatic finger. The slide cylinder E12 includes a guide rail and two cylinder sliders 1E21 slidably connected on the guide rail. The cylinder slider E121 is connected to the finger E11 through the finger connector E13, so as to control the distance between the two fingers E11. The clamping part of the finger E11 is in the shape of an elongated strip, and a buckle groove E111 is concavely provided on the upper part, which is convenient for stably clamping or supporting the object to be transferred. In addition to the slide cylinder, other structures can also be used to control the clamping of the finger, including worm gears, propulsion mechanisms with cams or slide grooves, screws and other structures. A fixture sensor E14 is installed on the finger connector E13 to sense whether the fixture E1 has clamped an object.

[0079] like Fig.18As shown, the shelf F includes a frame F1 and rows of slides F2 obliquely mounted on the frame F1. A row of high beams F11 are horizontally installed on one side of the frame F1, and a row of low beams F12 are correspondingly installed on the opposite side. A single high beam F11 and a low beam F12 form a group. The frame F1 is provided with a plurality of groups of high beams F11 and low beams F12 in the vertical direction. A plurality of slides F2 are arranged above each group, and the slides F2 are detachably mounted on the frame F1.

[0080] The high-position clamping member F13 is arranged on the high-position crossbeam F11. Fig.13 As shown, it is in the shape of a square with higher sides for anti-skewness. It is embedded with an RFID reader for reading and writing the electronic tags on the dish boxes. An indicator light F131 and a display F132 are installed on the front side. The indicator light F131 is controlled by the background system, and different numbers or on and off states or light colors are used to indicate different working states of the slide. The display F132 can display numbers, which can be used to indicate the number of dishes on the slide or data such as the number of dishes to be replenished or the number of dishes already replenished. A long block-shaped plug F16 is installed on the high-level crossbeam F11 for clamping the slide.

[0081] like Fig.19 As shown, a long block plug F16 is also installed on the low-position clamp F14, and a soft cushion F15 such as a foot pad is installed on the front side of the low-position clamp 14 to cushion the sliding vegetable box. The slide F2 is clamped between the high-position clamp F13 and the low-position clamp F14, and the optimal inclination angle of the slide F2 to the horizontal plane is 3.8 degrees.

[0082] Please refer to Fig. 20 and Fig.21 The middle of the slide F2 has a protruding convex rail F21, which is used to clamp the plugs F16 at both ends and better define the sliding track of the vegetable box above it. The vegetable box includes an upper cover 5 and a lower box F6. The bottom of the lower box F6 is provided with a recessed portion F61, which is adapted to the convex rail F21. The lower box F6 can be embedded with a chip or other RFID electronic tag, which can be recognized by the reader in the high-position holder F13 and is actually used to identify the type of dishes and count the number of shipments and replenishments. Multiple slides F2 can be installed in each horizontal row on the rack F1. Fig.18 For readability, only one row is set. In practice, multiple rows and columns can be set according to needs, and multiple shelves can be set for free assembly, which is highly flexible. A vibrator is installed on the rack F1 to make the shelf vibrate as a whole to prevent the vegetable boxes from stagnating on the slide and affecting the delivery of the vegetables.

[0083] like Figure 3As shown, the main body of the food delivery conveyor line adopts conveyor belt transportation, which is supported by a steel frame on the outside. The conveyor belt is divided into upper and lower layers as a whole. Taking the conveying of stacked plates as an example, the conveyor line process is as follows: stacks of plates are placed into the delivery port A8 from the lower layer, and enter the storage area A7 along the conveyor belt of section A of the conveyor line. The robot A1 uses a suction cup to suck up a single plate, translates it to the rear end, and places it on the first lifting mechanism A2 (the first lifting mechanism A2 is in a low position at this time). The first lifting mechanism A2 lifts the plate to the upper layer and is transported to the corner along the conveyor belt of section B of the conveyor line. During the transportation process of section B of the conveyor line, external dish preparation mechanisms can be used to place dishes on the plate. A second lifting mechanism B1 is set at the corner. The second lifting mechanism B1 rises to lift the plate and dishes and changes direction 90 degrees to convey them into section C of the conveyor line. Section C of the conveyor line is set as a dish picking area, which can be scanned and picked up manually or by robot.

[0084] like Figure 3 As shown, the food delivery conveyor line is divided into sections and several sections for easy transportation and assembly.

[0085] Please refer to Figure 4 , Figure 5 , which is the unit where the manipulator A1 and the first lifting mechanism A2 are located. A partition A5 is installed on one side of the storage area A7. The partition A5 is provided with a plurality of third sensors A51 of different heights, which can be used to detect the number or height of the objects to be transferred in the sensing storage area A7, such as measuring the number or height of the stacked plates.

[0086] like Figure 6 As shown, it is a first lifting mechanism A22, which includes a first lifting device A21 and a lifting conveyor belt A22. The lifting conveyor belt A22 itself can transport items horizontally. The first lifting device A21 is installed below the lifting conveyor belt A22 to control its overall lifting. In this embodiment, the first lifting device A21 adopts a double-rod first cylinder A211 and an auxiliary rod A212, which has a simple structure and low cost. The first lifting device A21 can be replaced by other linear motion devices. A support plate A222 is installed at the bottom of the conveyor belt body A223 of the lifting conveyor belt A22. The telescopic end of the first lifting device A21 and the auxiliary rod A212 are fixed to the support plate A222. The other end of the auxiliary rod A212 is restricted by a through hole so that it can only move up and down. The setting of the auxiliary rod A212 can increase the lifting stability. Preferably, an oil pressure buffer 213 is installed below the lifting conveyor belt A22 and on one side of the first cylinder A211. A second sensor A221 is provided on the lifting conveyor belt A22 for determining whether the conveyor belt has received the object to be transferred.

[0087] like Figure 7As shown in FIG. 1 , the robot A1 can perform two-dimensional removal of objects. The robot A1 includes an actuator A11, a lifting module A12, a translation module A13, and a linear guide assembly A14. The translation module A13 and the linear guide assembly A14 realize their horizontal movement function. Figure 4 As shown in , the translation module A13 is installed on one side of the bottom of the external steel frame, and the linear guide assembly A14 is installed above the same vertical plane, at the upper crossbeam of the external steel frame. This arrangement reserves sufficient space for the storage area A7, making the overall device space utilization rate high.

[0088] In this embodiment, the translation module A13 adopts a synchronous belt linear module, and other linear modules or linear transmission mechanisms may also be used, such as a screw module, an electric cylinder module, a cylinder, etc., and the technical effect can be achieved. The translation module A13 includes a second slider A131, a second rail beam A132, and a second connecting member A133. The second slider A131 moves linearly on the second rail beam A132. The second rail beam A132 is equipped with limit members and gaskets at both ends. The gaskets can be made of shock-absorbing materials such as PU.

[0089] The translation module A13 and the linear guide assembly A14 are installed parallel to each other on a vertical plane, and a lifting module A12 is vertically arranged between the two. Similarly, in this embodiment, the lifting module A12 adopts a synchronous belt linear module, and other linear modules can also be used, such as a screw module, an electric cylinder module, etc., all of which can achieve technical effects. The lifting module A12 includes a first slider A121, a first rail beam A122 and a first connecting member A123. The top of the first rail beam A122 is installed with a third connecting member A143, which is a U-shaped connecting plate and is fixedly connected to the two third sliders A142 of the linear guide assembly A14. The bottom of the first rail beam A122 is fixed with a second connecting member A133, which is an L-shaped connecting plate and is fixedly connected to the second slider A131. The second slider A131 drives the lifting module A12 to move horizontally as a whole. The installation of the linear guide assembly A14 can make its movement more stable.

[0090] A suction cup seat A112 is fixed to the first slider A121 of the lifting module A12 through a first connecting piece A123. A hole is opened on the suction cup seat A112, and a plurality of suction cups A111 are installed through suction cup hardware. Preferably, this embodiment adopts an accordion-type vacuum suction cup and its supporting vacuum generator, air pipe, vacuum breaking valve, etc. The vacuum suction cup is clean and meets the needs of the food industry. The accordion-type suction cup has a certain buffering function and does not need to install a buffering device. The actuator A11 can also adopt a magnetic suction cup or a mechanical gripper with pneumatic fingers, etc., and a vacuum suction cup is preferred. A plurality of first sensors A113 are installed on the bottom surface of the vacuum suction cup seat A112, which can be used to detect whether the object to be transferred is sucked or the stacking height of the object to be transferred. In this embodiment, the lifting module A12 and the translation module A13 are driven by a servo motor, and the servo motor can also be replaced by other driving mechanisms such as a progressive motor.

[0091] like Figure 8 As shown, this is the unit where the second lifting mechanism B1 and the portable door A3 are located. The second lifting mechanism B1 is arranged in the upper middle part of the unit to lift and turn the dishes and plates for transportation. The lower layer of the unit is the delivery port A8, and the portable door A3 is installed at the delivery port A8.

[0092] Please refer to Figure 8 , Fig. 9 , Fig.10 The second lifting mechanism B1 includes a second lifting device, an outer conveyor belt B2, and an inner conveyor belt B3. The outer conveyor belt B2 has two belts, which are respectively installed on both sides of the inner conveyor belt B3.

[0093] like Fig.10 As shown, the outer conveyor belt B2 is frame-shaped, and the inner conveyor belt 3 rises and falls in the empty part in the middle. The outer conveyor belt B2 is provided with a synchronous wheel B21, a connecting shaft B22 and a driving device. The connecting shaft B22 is installed between the synchronous wheels B21 of the two outer conveyor belts B2 through a coupling. The driving device controls the synchronous wheel B21 to rotate, so that the two outer conveyor belts B2 are conveyed synchronously.

[0094] like Fig. 9 As shown, a second lifting device is fixed at the bottom of the inner conveyor belt B3, and the inner conveyor belt B3 itself can be transported in the horizontal direction. The second lifting device controls the inner conveyor belt B3 to move up and down relative to the outer conveyor belt B2. The second lifting device includes a second cylinder B11, a supporting seat B12, a B guide rail B13, a B slider B14, a B connector B15 and a B support plate B16.

[0095] The support seat B12 is arranged at the bottom, and the support seat B12 is L-shaped. The second cylinder B11 and the B guide rail B13 are respectively vertically installed at both ends of the upper surface of the support seat B12. The piston rod of the second cylinder B11 is extended upward, and the direction of the B guide rail B13 is vertical. A plurality of B sliders B14 that can slide up and down along the B guide rail B13 are arranged. The B slider B14, the B support plate B16 and the guide rod of the second cylinder B11 are fixedly connected by the B connector B15. The B connector B15 is an inverted L-shaped sheet metal with two fixed connections. The large one fixes the B support plate B16 at the top and the slider at the side, and the small one fixes the piston rod of the second cylinder B11. In this way, when the piston rod of the second cylinder B11 moves, it drives the B connector B15, the B slider B14 and the B support plate B16 to move vertically. The B support plate B16 is installed at the bottom of the inner conveyor belt B3, thereby controlling the lifting of the inner conveyor belt B3.

[0096] The second lifting device mentioned above is a preferred configuration and may be replaced by other linear lifting mechanisms.

[0097] Please refer to Figure 8 , Fig.11 The portable door A3 includes a door panel A31, a guide rod A32, a guide sleeve A33, a rack A34, and a gear A35; two guide rods A32 are provided, which are vertically installed on one side of the external steel frame and are parallel to each other. A plurality of guide sleeves A33 are sleeved on the guide rod A32, and the guide sleeve A33 can slide along the guide rod A32. The guide sleeve A33 is fixedly connected to the door panel A31, driving the door panel A31 to slide up and down. A vertical rack A34 is fixed to the door panel A31, and a rotatable gear A35 is installed at a corresponding position on the external steel frame. The rack A34 is meshed with the gear A35. When the door panel A31 is lifted, the rack A34 moves up to drive the gear A35 to roll. A handle is provided on the front of the door panel A31 for the user to pull up.

[0098] like Figure 3 As shown, the conveyor line C section C is provided with a food pick-up area, and several I-shaped shelves C1 are installed above the conveyor belt, which can be used to temporarily place food plates and their lids when picking up food. Several RFID readers are installed in the conveyor belt to read and write radio frequency tags such as chips pre-installed in the outer boxes of food, and record the food delivery information. Several scanners and printer components are installed on one side of the external steel frame of the food pick-up area, which can be used for scanning codes to record the information of the person picking up food when picking up food manually or by robots, so as to facilitate source tracing and performance statistics. The printer is used to print receipts, food information, etc.

[0099] An intelligent food serving system includes an ordering module, a food serving module, a delivery module, a central control module, and a database, wherein the automatic food serving machine is the food serving module. Customers select the desired dishes through the ordering module, form a menu and send it to the central control module and the database. The central control module sends instructions to the food serving module, and the food serving module sorts and serves the dishes. The dishes are received by the delivery module and transferred to the customer's designated location.

[0100] The food serving module includes a shelf unit and a sorting unit, which can be replaced by the shelf and three-dimensional robotic arm of the food serving machine. Several aisles are set on the shelf unit, and several dishes are placed on each aisle. Each aisle is responsible for a single variety of dishes. The sorting unit moves to the corresponding aisle according to the instructions issued by the central control module and transfers the required dishes.

[0101] The serving module includes a serving sensor unit. When the food in the serving module is delivered, it passes through the serving sensor unit, and the food information is sent to the database, such as the type, weight, shelf life, etc. When the inventory is insufficient or the shelf life expires, an alarm can be triggered to replenish or replace the food.

[0102] The dish delivery module includes a scanning unit or a printing unit. The delivery module presents an electronic tag when picking up dishes. The scanning unit scans and enters the delivery module information and sends it to the database. The printing unit prints the menu information or customer information. The delivery module can be a robot or a manual one. Each robot or manual one has a separate electronic tag. It can be queried which manual or robot delivered the customer's dish. The dish collection information is entered into the database for easy traceability and employee performance statistics. The role of traceability, for example: when a customer feels unwell after dining for a period of time, the restaurant can query the customer's dining information, dining time, type of dishes, dish procurement channels, dish shelf life, etc.

[0103] The food delivery module includes a display unit, which displays one or more of menu information, customer information, inventory food information, and food delivery module information. The display unit can be a display to facilitate customers and employees to obtain information intuitively.

[0104] The shelf unit has two modes, namely dish serving mode and dish replenishment mode. When in dish serving mode or dish replenishment mode, the shelf unit pushes the dishes on each aisle to the front row of the aisle to facilitate grabbing by the sorting unit or replenishment at the other end of the aisle.

[0105] The shelf unit includes an RFID reader / writer. In the high-position card holder F13, when in the replenishment mode, the RFID reader / writer reads and writes the information and quantity of the dishes replenished in the aisle and sends them to the database.

[0106] The shelf unit includes indicator lights and displays. When in the replenishment mode, the central control module sends instructions to the indicator lights and displays. When replenishing a variety of dishes, the indicator lights on the aisle where the corresponding variety is stored give external instructions, and the display of the aisle shows the number of dishes that need to be replenished or the number of dishes on the aisle.

[0107] The shelf unit includes an indicator light and a display. When in the replenishment mode, multiple aisles storing the same type of dishes correspond to a single electronic tag. When an external reader reads and writes the electronic tag, the indicator lights or displays on the multiple aisles of the same type of dishes respond uniformly. For example, a box of a single type of dish has a QR code attached to the outside of the box. When the code is scanned by a scanner, the indicator lights or displays on the aisles storing the same type of dishes all give indications, which is convenient for replenishment.

[0108] In summary, the present invention can realize intelligent dish matching and automatic dish serving, which greatly improves dish serving efficiency, can reduce manual labor intensity, reduce operating costs, and improve catering hygiene conditions; the automatic dish serving machine has a wide range of applications and can be used in hot pot restaurants, malatang and other catering stores, can be used in restaurant kitchens, and can also be used as a food cold storage; the form of distributing dishes on a single plate is adopted, which is convenient for back-end robots or manual food delivery; a refrigeration device is arranged in the automatic dish serving machine, which can refrigerate and insure dishes, and has a cold storage function; menu information, customer information, inventory dish information, delivery module information, replenishment dish information and other data are entered into a database, which is convenient for dish statistics, shelf life monitoring, and information traceability; the automatic dish serving machine occupies a small area and the structure is easy to disassemble and transport; the present invention can be used as a part of a smart kitchen or a catering conveyor line.

[0109] The above description is only a preferred embodiment of the present invention, and does not limit the patent scope of the present invention. All equivalent structural changes made using the contents of the present invention specification and drawings, or directly or indirectly applied in other related technical fields, are also included in the same manner.

Claims

1. An automatic dish dispensing machine, comprising a dish preparation mechanism and a dish dispensing conveyor line, wherein the dish preparation mechanism distributes dishes to the dish dispensing conveyor line, and the dishes are conveyed to the rear end by the dish dispensing conveyor line, characterized in that: The food delivery conveyor line includes a plate conveyor line, which delivers the plate to the food preparation mechanism. The food preparation mechanism includes a shelf (F) and a distribution device. The distribution device distributes and transfers multiple goods on the shelf (F) to the plate, and then delivers the food to the rear end together with the plate. The food delivery conveyor line comprises a conveyor line section A (A), a conveyor line section B (B) and a conveyor line section C (C); a starting end of the conveyor line section A (A) is provided with a delivery port (A8); a manipulator (A1) and a first lifting mechanism (A2) are installed at the rear end of the conveyor line section A (A); the manipulator (A1) transfers a single meal plate on the conveyor line to the first lifting mechanism (A2); the meal plate is lifted by the first lifting mechanism (A2) to the conveyor line section B (B) and is then transferred to a second lifting mechanism (B1) installed at the rear end; the meal plate is lifted by the second lifting mechanism (B1) and transferred to the conveyor line section C (C); The shelf (F) comprises a frame (F1) and a slideway (F2), the frame (F1) is provided with a plurality of slideways (F2) in an inclined manner, the upper and lower ends of the slideway (F2) are respectively mounted on a high beam (F11) and a low beam (F12), a single high beam (F11) and a low beam (F12) form a group, the frame (F1) is provided with a plurality of groups of high beams (F11) and low beams (F12) in a vertical direction, and a plurality of slideways (F2) are arranged above each group; a plurality of RFID readers are installed on the shelf (F); A vibrator is installed on the rack (F1) to make the shelf vibrate as a whole, thereby preventing the vegetable box from stagnating on the slideway (F2).

2. The automatic dish serving machine according to claim 1, characterized in that: The distribution device is a three-dimensional robotic arm (E). The three-dimensional robotic arm (E) is arranged on one side of the shelf (F). The three-dimensional robotic arm (E) removes the goods on the shelf (F). A plurality of aisles are arranged on the shelf (F). The goods are placed on the corresponding aisles according to their categories. The shelf (F) automatically pushes the goods to the side of the aisle close to the three-dimensional robotic arm (E). The three-dimensional robotic arm (E) can move in three dimensions, move to the aisle of the required type of goods, take out the closest goods, and pass them to the food delivery conveyor line.

3. The automatic dish serving machine according to claim 2, characterized in that: The three-dimensional mechanical arm (E) comprises a mechanical gripper, an x-axis linear module (E5) and a y-axis linear module (E6); the mechanical gripper comprises a connected fixture (E1) and a telescopic arm (E2); the telescopic arm (E2) drives the fixture (E1) to move linearly in the y-axis direction; the x-axis linear module (E5) and the y-axis linear module (E6) respectively control the mechanical gripper to move linearly in the x-axis and y-axis directions.

4. The automatic dish serving machine according to claim 3, characterized in that: The telescopic arm (E2) is a three-section structure, including a fixed section (E21), a middle section (E22), and a movable section (E23). The three sections overlap and slide with each other, with the fixed section (E21) serving as a reference system for relative motion, and the middle section (E22) and the movable section (E23) being slidable and extendable.

5. The automatic dish serving machine according to claim 3, characterized in that: The clamp (E1) comprises a slide cylinder (E12) and a finger connector (E13); the slide cylinder (E12) comprises a guide rail and two cylinder sliders (E121) slidably connected on the guide rail; the cylinder slider (E121) is connected to the finger (E11) through the finger connector (E13), thereby controlling the distance between the two fingers (E11).

6. The automatic dish serving machine according to claim 1, characterized in that: The manipulator (A1) comprises an actuator (A11), a lifting module (A12) and a translation module (A13); the translation module (A13) and the lifting module (A12) are linear modules; the lifting module (A12) is vertically arranged on the translation module (A13) and moves horizontally; the actuator (A11) comprises a suction cup (A111) and a suction cup seat (A112); a plurality of suction cups (A111) are installed at the bottom of the suction cup seat (A112); the suction cup seat (A112) is connected to the lifting module (A12); and the lifting module (A12) controls the vertical movement of the suction cup seat (A112).

7. The automatic dish serving machine according to claim 6, characterized in that: Below the actuator (A11) is a storage area (A7) for dining plates, and a partition (A5) is vertically arranged on one side of the storage area (A7).

8. The automatic dish serving machine according to claim 1, characterized in that: The first lifting mechanism (A2) comprises a first lifting device (A21) and a lifting conveyor belt (A22); the lifting conveyor belt (A22) performs horizontal conveying, and the first lifting device (A21) drives the lifting conveyor belt (A22) to perform vertical lifting.

9. The automatic dish serving machine according to claim 1, characterized in that: The second lifting mechanism (B1) comprises a second lifting device, an outer conveyor belt (B2), and an inner conveyor belt (B3). The outer conveyor belt (B2) has two and is respectively installed on both sides of the inner conveyor belt (B3). The outer conveyor belt (B2) is provided with a synchronous wheel (B21), a connecting shaft (B22) and a driving device. A connecting shaft (B22) is installed between the synchronous wheels (B21) of the two outer conveyor belts (B2). The driving device controls the synchronous wheel (B21) to rotate so that the two outer conveyor belts (B2) are transported synchronously. The second lifting device is fixed to the bottom of the inner conveyor belt (B3). The second lifting device controls the inner conveyor belt (B3) to perform lifting and lowering movement relative to the outer conveyor belt (B2).

10. The automatic dish serving machine according to claim 1, characterized in that: The conveyor line section C (C) is provided with a food taking area, and a plurality of shelf racks (C1) are installed above the food taking area.

11. The automatic dish serving machine according to claim 1, characterized in that: An RFID reader is installed on the conveyor belt of the conveyor line section C (C).

12. The automatic dish serving machine according to claim 1, characterized in that: The conveying line section C (C) is provided with a scanner and a printer component (C2).

13. The automatic dish serving machine according to claim 1, characterized in that: A plurality of high-position clamping parts (F13) are installed on the high-position crossbeam (F11), a plurality of low-position clamping parts (F14) are installed on the low-position crossbeam (F12), and the slideway (F2) is clamped between the high-position clamping parts (F13) and the low-position clamping parts (F14).

14. The automatic dish serving machine according to claim 13, characterized in that: A plurality of indicator lights (F131) or displays (F132) are installed on the side of the high-position holding piece (F13).

15. The automatic dish serving machine according to claim 13, characterized in that: A soft buffer (F15) is installed on the side of the low-position holding piece (F14) close to the slideway (F2).

16. The automatic dish serving machine according to any one of claims 1 to 15, characterized in that: The utility model comprises an outer shell (G) which covers the outside of the dish preparation mechanism and the dish delivery conveying line, and a part of the dish delivery conveying line protrudes out of the outer shell (G) and is exposed to the outside.

17. The automatic dish serving machine according to claim 16, characterized in that: A door body is installed at the place where the food delivery conveying line protrudes out of the outer shell (G).

18. The automatic dish serving machine according to claim 16, characterized in that: The outer shell (G) is provided with a display window, and dimming glass is installed on the display window.

19. The automatic dish serving machine according to claim 16, characterized in that: A plurality of display screens (I) are arranged outside the outer shell (G).

20. The automatic dish serving machine according to claim 16, characterized in that: A refrigeration device is installed inside the outer shell (G).

21. An intelligent food serving system, comprising the automatic food serving machine according to any one of claims 1 to 20, characterized in that: It includes an ordering module, a dish serving module, a food delivery module, a central control module, and a database, wherein the automatic dish serving machine is the dish serving module. Customers select the desired dishes through the ordering module, form a menu and send it to the central control module and the database. The central control module sends instructions to the dish serving module, which sorts and serves the dishes. The dishes are received by the food delivery module and transferred to the customer's designated location.

22. The intelligent food serving system according to claim 21, characterized in that: The dish delivery module includes a shelf unit and a sorting unit. A number of aisles are arranged on the shelf unit, and a number of dishes are placed on each aisle. Each aisle is responsible for a single variety of dishes. The sorting unit moves to the corresponding aisle according to the instructions issued by the central control module and transfers the required dishes.

23. The intelligent food serving system according to claim 21, characterized in that: The dish serving module comprises a dish serving sensing unit. When dishes are served from the dish serving module, they pass through the dish serving sensing unit, and the dish information is sent to a database.

24. The intelligent food serving system according to claim 21, characterized in that: The dish delivery module includes a scanning unit or a printing unit. When the dish delivery module picks up the dish, it presents the electronic tag. The scanning unit scans and enters the dish delivery module information and sends it to the database. The printing unit prints the menu information or customer information.

25. The intelligent food serving system according to claim 22, characterized in that: The food delivery module includes a display unit, which displays one or more information including menu information, customer information, food inventory information, and food delivery module information.

26. The intelligent food serving system according to claim 22, characterized in that: The shelf unit has two modes, namely, dish serving mode and dish replenishment mode. When in dish serving mode or dish replenishment mode, the shelf unit pushes the dishes on each aisle to the front row of the aisle.

27. The intelligent food serving system according to claim 26, characterized in that: The shelf unit includes an RFID reader / writer. When in a replenishment mode, the RFID reader / writer reads and writes information about dishes and the quantity of dishes replenished in the aisle and sends them to a database.

28. The intelligent food serving system according to claim 26, characterized in that: The shelf unit includes indicator lights and displays. When in the replenishment mode, the central control module sends instructions to the indicator lights and the display. When replenishing a variety of dishes, the indicator lights on the aisle where the corresponding variety is stored give external instructions, and the display of the aisle shows the number of dishes that need to be replenished or the number of dishes on the aisle.

29. The intelligent food serving system according to claim 26, characterized in that: The shelf unit includes indicator lights and displays. When in replenishment mode, multiple aisles storing the same type of dishes correspond to a single electronic tag. When an external reader reads and writes the electronic tag, the indicator lights or displays on the multiple aisles of this type of dishes respond uniformly.

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