Automatic meal dispensing robot

Abstract

The application provides an automatic meal distributing mechanical arm device, belonging to the technical field of automatic meal distribution, comprising a meal taking mechanical arm and a soup storage bin arranged on the side wall of the meal taking mechanical arm, and further comprising a driving mechanism comprising a linear motor with a sliding rail design, a first driving cylinder and a second driving cylinder which are designed below the linear motor and are linked, for driving the meal taking mechanical arm to descend, open and close, take meals, and ascend, translate, descend, open and close, and distribute meals. When taking meals, the second driving cylinder is used to ascend and the internal pressure of the sealing sleeve is reduced, and the elastic connection between the piston rod and the elastic piston ring can play a damping effect, so that the sealing sleeve can automatically inhale air from the soup storage bin during the meal transportation process, the soup is effectively prevented from falling and spilling to pollute the environment during the meal transportation process through the suction of the soup suction hole, and automatic clean meal delivery is realized.

Description

Technical Field

[0001] This invention relates to the field of automated meal distribution technology, and more specifically, to an automated meal distribution robotic arm device. Background Technology

[0002] A food sorting robot is an automated device used to sort, move, and stack food. It typically consists of a robotic arm, sensors, and a control system. The working principle of a food sorting robot is to use sensors to detect the food or objects that need to be sorted, and then, according to a preset program and path, the robotic arm performs the operations of grasping, moving, and placing them.

[0003] Existing technology disclosure number CN115991382A discloses an automated food dispensing robot device, including a tabletop, a display window, buttons, a track, and a robot body. The display window is fixedly connected to the upper right end of the tabletop, and a button is located on the right side of the display window. The button is connected to the robot body via a wiring harness, and a track is welded to the left end of the tabletop. The device also includes a serving spoon, rotatably mounted on the right end of the robot body. A water tank is screwed to the left end of the robot body, and a water spray assembly extends into the upper right end of the water tank. The right end of the water spray assembly is fixed to a support rod, and the bottom of the support rod extends into the interior of the right end of the robot body. This automated food dispensing robot device is equipped with buttons. By pressing the buttons, the robot body receives a signal and can dispense food according to the corresponding dish on the button. The robot body can then use the serving spoon to dispense the food, thus enriching its functions.

[0004] However, existing technologies still have certain limitations. When transporting foods with broth or stickiness, during the horizontal movement of the food from the container to the plate, residual broth can drip down the outer wall of the container, causing continuous dripping and affecting the hygiene and environment of the serving area. Furthermore, sticky foods tend to stick to the inner wall of the container when being discharged, making them difficult to drain. Food residue inside the container not only easily breeds bacteria, affecting food hygiene, but also affects the quantity and uniformity of each serving due to incomplete emptying.

[0005] How to invent an automated food dispensing robot to improve these problems has become an urgent issue for those skilled in the art. Summary of the Invention

[0006] To overcome the above shortcomings, the present invention provides an automatic food dispensing robot device, which aims to improve the problem of spillage that easily occurs when handling and transporting dishes with soup in the prior art.

[0007] This invention is implemented as follows:

[0008] This invention provides an automatic food dispensing robot device, including a food-retrieving robot and a soup storage compartment disposed on the side wall of the food-retrieving robot, and further comprising:

[0009] The drive mechanism includes a linear motor with a slide rail design and a first drive cylinder and a second drive cylinder designed for linkage below the linear motor, used to drive the food retrieval robot to descend, open and close to retrieve food, and to rise, translate, descend, open and close and distribute food.

[0010] The pneumatic mechanism is located at the connection between the drive mechanism and the food-picking robot. When the food-picking robot opens to deliver food, the movable impact shaft inside the pneumatic mechanism can be inflated and stored. When the food-picking robot rotates and opens to its maximum lower position, the movable impact shaft will pop out and vibrate the food-picking robot, so that the food-picking robot can completely empty the food and reduce food residue.

[0011] A sealing sleeve is located at the connection between the first drive cylinder and the second drive cylinder. When the first drive cylinder drives the second drive cylinder to rise, the pressure at the bottom of the sealing sleeve can be continuously reduced. Through the connecting hose between the sealing sleeve and the soup storage tank, a suction force can be continuously generated on the bottom and lower side wall of the food-picking robot, drawing the soup into the soup storage tank. This can reduce the amount of soup dripping from the outside when the food-picking robot moves and delivers food.

[0012] Preferably, a drive mechanism is provided above the food-retrieving robot. The drive mechanism includes a set of linear motors with slide rails. A first drive cylinder is fixedly mounted on the bottom of the linear motors. A second drive cylinder is fixedly mounted on the bottom telescopic shaft of the first drive cylinder. A fixed slide rod is fixedly mounted at the bottom center of the second drive cylinder. A drive slider is slidably sleeved on the outer side of the fixed slide rod. The drive slider is connected to the telescopic shaft at the bottom of the second drive cylinder. A rotating shaft connected to the food-retrieving robot is provided at the bottom of the fixed slide rod. Limiting slide shafts are slidably connected to both sides of the drive slider. The limiting slide shafts and the top of the food-retrieving robot are connected by a rotating shaft and a connecting rod. The end of the fixed slide rod is fixed. The device is equipped with a pneumatic mechanism, which has a sealed air chamber inside. A limiting slide shaft is connected to the inside of the sealed air chamber. The top of the limiting slide shaft is fixedly connected to the bottom of the drive slider through a connecting rod. The connecting rod connected to the limiting slide shaft and the top of the pneumatic mechanism are connected in a sealed sliding connection. The limiting slide shaft divides the sealed air chamber into upper and lower sealing chambers in the vertical direction. A second air pipe is opened on the inside of the pneumatic mechanism and is connected to the upper part of the sealed air chamber. A first air pipe is also opened inside the pneumatic mechanism and is connected to the lower part of the sealed air chamber. The edges of the pneumatic mechanism close to the two food-picking robotic arms are designed to be inclined, and an impact mechanism is set inside the inclined side wall at the bottom of the pneumatic mechanism.

[0013] Preferably, the impact mechanism includes a limiting slide groove inside the pneumatic mechanism, the limiting slide groove being connected to a first air pipe, and a one-way valve flowing towards the inside of the limiting slide groove being provided in the part connecting the limiting slide groove and the first air pipe. A movable impact shaft is movably sleeved inside the limiting slide groove, and a set of springs for resetting is connected between the movable impact shaft and the outlet of the limiting slide groove. A sealing slide groove connected to a second air pipe is provided on the outside of the limiting slide groove, and a sealing slip ring is rotatably connected to the limiting seal inside the sealing slide groove. Multiple sets of uniformly designed rectangular grooves are provided between the sealing slide groove and the limiting slide groove.

[0014] Preferably, the inner end of the limiting slide groove close to the first air passage is designed with an elastic sealing cavity. The elastic sealing cavity is a set of elastic sealing airbags, and the pneumatic mechanism has a gap inside for the expansion of the elastic sealing cavity.

[0015] Preferably, the movable impact shaft is designed as a combination of two sets of cylinders with different diameters, with the side of the movable impact shaft with a larger diameter close to the design direction of the first air passage pipe, and the end of the movable impact shaft with a larger diameter maintaining a limiting seal sliding connection with the inside of the limiting slide groove, while the end of the movable impact shaft with a smaller diameter extends to the outside of the pneumatic mechanism.

[0016] Preferably, the movable impact shaft has a channel inside that connects to the side wall of the movable impact shaft and the end near the first air pipe. When the movable impact shaft extends outside the pneumatic mechanism, the elastic sealing cavity can be connected to the outside of the pneumatic mechanism through this channel, thereby achieving pressure relief and balance inside the elastic sealing cavity.

[0017] Preferably, the sealing groove is provided with a set of fixing blocks that fit and seal against the outer wall of the sealing slip ring, the side wall of the sealing slip ring is provided with a protrusion that fits and seals against the inner side wall of the sealing groove, and a set of arc-shaped springs for resetting the sealing slip ring is provided between the protrusion on the side wall of the sealing slip ring and the fixing blocks inside the sealing groove.

[0018] Preferably, the inner side of the sealing slip ring is elastically connected to a limiting block corresponding to the rectangular groove by a spring limit, and the two sides of the limiting block and the edge away from the first air passage are chamfered.

[0019] Preferably, the bottom of the first driving cylinder is provided with a sealing sleeve, the top of the second driving cylinder is provided with a set of piston rods extending to the inside of the sealing sleeve and maintaining a sealed sliding connection with the inner cavity of the sealing sleeve, the bottom of the piston rod is connected by a spring to a set of elastic piston rings maintaining a sealed sliding connection with the inner cavity of the sealing sleeve, and a connecting hose is designed between the bottom of the sealing sleeve and the top of the soup storage tank.

[0020] Preferably, the bottom edge of the food-retrieving robot is designed with staggered teeth, which can increase the sealing area and contact area when closed. The bottom and lower side wall of the food-retrieving robot are provided with multiple sets of soup suction holes. The soup suction holes are connected to the inner cavity of the soup storage tank through the pipes opened on the inside of the food-retrieving robot. The inner side of the soup storage tank is provided with a set of inclined baffles, which can guide the soup entering the soup storage tank downward through the baffles and prevent the soup from entering the inside of the connecting hose.

[0021] The beneficial effects of this invention are:

[0022] When the food is picked up, the second drive cylinder rises and the internal pressure of the sealing sleeve decreases. The elastic connection between the piston rod and the elastic piston ring can play a damping role, so that the sealing sleeve can automatically suck air into the soup storage compartment during the food transportation process. Through the suction hole, it can effectively prevent the soup from spilling and polluting the environment during the transportation of the food, and realize automatic and clean food delivery. At the same time, when the food picking robot picks up the food, the second drive cylinder descends and blows air into the internal pipes of the food picking robot to the soup suction hole, which can automatically blow air to clear blockages in the internal pipes and soup suction hole of the food picking robot.

[0023] During food retrieval, the downward movement of the drive slider pressurizes and stores energy in the movable impact shaft. During food discharge, pressurization inside the second air duct causes the sealing slip ring to rotate, releasing the limit block from restricting the movable impact shaft. The pressure inside the elastic sealing cavity is released, pushing the movable impact shaft out. Multiple sets of movable impact shafts extend simultaneously, creating impact vibration on the food retrieval robot. This vibration reduces the adhesion between the food and the robot's interior, allowing for efficient food discharge and minimizing food residue. Consequently, the robot can completely empty its interior each time it delivers food, ensuring uniformity and hygiene in each meal delivery. Attached Figure Description

[0024] To more clearly illustrate the technical solutions of the embodiments of the present invention, the accompanying drawings used in the embodiments will be briefly introduced below. It should be understood that the following drawings only show some embodiments of the present invention and should not be regarded as a limitation of the scope. For those skilled in the art, other related drawings can be obtained from these drawings without creative effort.

[0025] Figure 1 This is a schematic diagram of the overall structure of the automatic meal-dispensing robotic arm device provided in an embodiment of the present invention;

[0026] Figure 2 This is a schematic diagram of the internal structure of the automatic meal-dispensing robotic arm device provided in an embodiment of the present invention;

[0027] Figure 3 This is a schematic diagram of the internal structure of the automatic meal-dispensing robotic arm provided in an embodiment of the present invention.

[0028] Figure 4 This is a schematic diagram of the internal structure of the soup storage compartment of the automatic meal-dispensing robotic arm device provided in the embodiments of the present invention;

[0029] Figure 5 This is a schematic diagram of the internal structure of the sealing sleeve of the automatic meal-dispensing robot provided in an embodiment of the present invention;

[0030] Figure 6 This is a schematic diagram of the internal structure of the sealed air chamber of the automatic meal-dispensing robot provided in the embodiments of the present invention;

[0031] Figure 7 This is a schematic diagram of the internal structure of the pneumatic mechanism of the automatic meal-dispensing robot provided in the embodiments of the present invention;

[0032] Figure 8 This is a schematic diagram of the overall structure of the pneumatic mechanism of the automatic meal-dispensing robot provided in the embodiments of the present invention;

[0033] Figure 9 This is a schematic diagram of the internal structure of the limiting slide of the automatic meal-dispensing robot provided in the embodiments of the present invention;

[0034] Figure 10 This is a schematic diagram of the overall internal structure of the sealing groove of the automatic meal-dispensing robot provided in an embodiment of the present invention;

[0035] Figure 11 This is a schematic diagram of the overall structure of the sealing slip ring of the automatic meal-dispensing robot provided in the embodiments of the present invention;

[0036] Figure 12 This is a schematic diagram of the internal structure of the movable impact shaft of the automatic meal-dispensing robotic arm device provided in an embodiment of the present invention;

[0037] Figure 13 This is a schematic diagram of the overall structure of the limit block of the automatic meal dispensing robot provided in the embodiment of the present invention.

[0038] In the diagram: 1. Meal-collecting robot; 2. Drive mechanism; 3. Pneumatic mechanism; 11. Soup storage tank; 12. Soup suction hole; 21. Linear motor; 22. First drive cylinder; 23. Second drive cylinder; 24. Drive slider; 25. Fixed slide rod; 31. Sealing air chamber; 32. First air pipe; 33. Second air pipe; 34. Impact mechanism; 111. Connecting hose; 221. Sealing sleeve; 231. Piston rod; 232. Elastic piston ring; 241. Limiting slide shaft; 341. Elastic sealing cavity; 342. Movable impact shaft; 343. Sealing groove; 344. Sealing slip ring; 345. Rectangular groove; 346. Limiting groove; 347. Limiting block. Detailed Implementation

[0039] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0040] Example

[0041] Reference Figure 1-13 The automatic food dispensing robot device includes a food-retrieving robot 1 and a soup storage tank 11 disposed on the side wall of the food-retrieving robot 1, and further includes:

[0042] The drive mechanism 2 includes a linear motor 21 with a slide rail design and a first drive cylinder 22 and a second drive cylinder 23 designed for linkage below the linear motor 21, which are used to drive the food retrieval robot 1 to descend, open and close to retrieve food, and to rise, translate, descend, open and close and distribute food.

[0043] The pneumatic mechanism 3 is located at the connection between the drive mechanism 2 and the food-picking robot 1. When the food-picking robot 1 opens to deliver food, the movable impact shaft 342 located inside the pneumatic mechanism 3 can be inflated and stored. When the food-picking robot 1 rotates and opens to its maximum lower position, the movable impact shaft 342 is ejected to shock the food-picking robot 1, so that the food-picking robot 1 can completely empty the food and reduce food residue.

[0044] The sealing sleeve 221 is located at the connection between the first drive cylinder 22 and the second drive cylinder 23. When the first drive cylinder 22 drives the second drive cylinder 23 to rise, the pressure at the bottom of the sealing sleeve 221 can be continuously reduced. Through the connecting hose 111 located between the sealing sleeve 221 and the soup storage tank 11, a suction force can be continuously generated on the bottom and lower side wall of the food-picking robot 1 to draw the soup into the soup storage tank 11, which can reduce the dripping of soup adhering to the outside when the food-picking robot 1 moves and delivers food.

[0045] Reference Figure 1-6 A drive mechanism 2 is installed above the food-retrieving robot 1. The drive mechanism 2 includes a set of linear motors 21 with slide rails. A first drive cylinder 22 is fixedly installed at the bottom of the linear motors 21. A second drive cylinder 23 is fixedly installed on the bottom telescopic shaft of the first drive cylinder 22. A fixed slide rod 25 is fixedly installed at the bottom center of the second drive cylinder 23. A drive slider 24 is slidably sleeved on the outer side of the fixed slide rod 25. The drive slider 24 is connected to the telescopic shaft at the bottom of the second drive cylinder 23. A rotating shaft is provided at the bottom of the fixed slide rod 25 and is rotatably connected to the food-retrieving robot 1. Limiting slide shafts 241 are slidably connected to both sides of the drive slider 24. The limiting slide shafts 241 and the top of the food-retrieving robot 1 are connected by a rotating shaft and a connecting rod. The end of the fixed slide rod 25 is fixedly mounted with... The device is equipped with a pneumatic mechanism 3. The pneumatic mechanism 3 has a sealed air chamber 31 inside. The sealed air chamber 31 is connected to a limiting slide shaft 241. The top of the limiting slide shaft 241 is fixedly connected to the bottom of the drive slider 24 through a connecting rod. The connecting rod connected to the limiting slide shaft 241 is connected to the top of the pneumatic mechanism 3 in a sealed sliding connection. The limiting slide shaft 241 divides the sealed air chamber 31 into upper and lower sealing chambers in the vertical direction. The inner side of the pneumatic mechanism 3 has a second air pipe 33 that communicates with the upper part of the sealed air chamber 31. The pneumatic mechanism 3 also has a first air pipe 32 that communicates with the lower part of the sealed air chamber 31. The edges of the pneumatic mechanism 3 that are close to the two food-picking robot arms 1 are designed to be inclined. The inclined side wall at the bottom of the pneumatic mechanism 3 is equipped with an impact mechanism 34.

[0046] It should be noted that an external control system is also installed to control the operation of the device. The position of the plate and the device is adjusted by the external control system, and the device delivers food into the plate.

[0047] Reference Figure 7-10 The impact mechanism 34 includes a limiting slide groove 346 inside the pneumatic mechanism 3. The limiting slide groove 346 is connected to the first air pipe 32, and a one-way valve is provided at the connection between the limiting slide groove 346 and the first air pipe 32, allowing flow towards the inside of the limiting slide groove 346. A movable impact shaft 342 is movably sleeved inside the limiting slide groove 346. A set of springs for resetting is connected between the movable impact shaft 342 and the outlet of the limiting slide groove 346. A sealing slide groove 343 connected to the second air pipe 33 is provided on the outside of the limiting slide groove 346. A sealing slip ring 344 is rotatably connected inside the sealing slide groove 343, and multiple sets of uniformly designed rectangular grooves 345 are provided between the sealing slide groove 343 and the limiting slide groove 346.

[0048] Furthermore, the inner end of the limiting slide groove 346, close to the first air passage pipe 32, is designed with an elastic sealing cavity 341. The elastic sealing cavity 341 is a set of elastic sealing airbags, and the pneumatic mechanism 3 has a gap inside for the expansion of the elastic sealing cavity 341.

[0049] Furthermore, the movable impact shaft 342 is designed as a combination of two sets of cylinders with different diameters. The side with the larger diameter of the movable impact shaft 342 is close to the design direction of the first air passage pipe 32, and the end with the larger diameter of the movable impact shaft 342 is in a limiting, sealing, and sliding connection with the inside of the limiting slide groove 346. The end with the smaller diameter of the movable impact shaft 342 extends to the outside of the pneumatic mechanism 3.

[0050] It should be noted that the movable impact shaft 342 has a channel inside that connects to the side wall of the movable impact shaft 342 and the end close to the first air pipe 32. When the movable impact shaft 342 extends outside the pneumatic mechanism 3, the elastic sealing cavity 341 can be connected to the outside of the pneumatic mechanism 3 through this channel, so as to achieve pressure relief and balance inside the elastic sealing cavity 341.

[0051] Furthermore, the sealing groove 343 is provided with a set of fixing blocks that fit and seal against the outer wall of the sealing slip ring 344. The side wall of the sealing slip ring 344 is provided with a protrusion that fits and seals against the inner side wall of the sealing groove 343. A set of arc-shaped springs for resetting the sealing slip ring 344 is provided between the protrusion on the side wall of the sealing slip ring 344 and the fixing blocks inside the sealing groove 343.

[0052] It should be noted that the inner side of the sealing slip ring 344 is elastically connected to a limiting block 347 corresponding to the rectangular groove 345 by a spring limit, and the two sides of the limiting block 347 and the edge away from the first air passage 32 are chamfered.

[0053] Furthermore, a sealing sleeve 221 is provided at the bottom of the first driving cylinder 22, and a set of piston rods 231 are provided at the top of the second driving cylinder 23, extending to the inside of the sealing sleeve 221 and maintaining a sealed sliding connection with the inner cavity of the sealing sleeve 221. A set of elastic piston rings 232, which maintain a sealed sliding connection with the inner cavity of the sealing sleeve 221, are connected to the bottom of the sealing sleeve 221 by a spring. A connecting hose 111 is designed to connect the bottom of the sealing sleeve 221 and the top of the soup storage tank 11.

[0054] It should be noted that the bottom edge of the food-retrieving robot 1 is designed with staggered teeth, which can increase the sealing area and contact area when closed. The bottom and lower side wall of the food-retrieving robot 1 are provided with multiple sets of soup suction holes 12. The soup suction holes 12 are connected to the inner cavity of the soup storage tank 11 through the pipes opened inside the food-retrieving robot 1. The inner side of the soup storage tank 11 is provided with a set of inclined baffles, which can guide the soup entering the soup storage tank 11 downward through the baffles and prevent the soup from entering the interior of the connecting hose 111.

[0055] The working principle of this automated food dispensing robot:

[0056] When retrieving food, the first drive cylinder 22 is extended by the external control center, which drives the second drive cylinder 23 to move down. During this process, the extension end of the second drive cylinder 23 retracts, which drives the drive slider 24 to rise. The soup storage compartment 11 opens to the food area through the rotating shaft and connecting rod between the limit sliding shaft 241 and the food retrieval robot 1. Then, the extension end of the second drive cylinder 23 extends, which drives the drive slider 24 to move down. Through the cooperation of the rotating shaft and connecting rod between the limit sliding shaft 241 and the food retrieval robot 1, the food retrieval robot 1 is pushed to close, thus retrieving food. When the food retrieval robot 1 closes, the staggered toothed design of the area close to the soup storage compartment 11 can achieve a sealing effect when the bottom of the food retrieval robot 1 is closed, preventing the soup inside the food retrieval robot 1 from leaking out.

[0057] After the food is collected, the retraction of the first drive cylinder 22 causes the second drive cylinder 23 to rise. The relative movement between the piston rod 231 and the sealing sleeve 221 causes the piston rod 231 and the elastic piston ring 232 to rise within the sealing sleeve 221, lowering the pressure below them. This is achieved through the connecting hose 111, creating a suction effect. The broth near the suction hole 12 is then drawn into the broth storage tank 11 through the internal pipes of the broth collection robot 1, and then through the baffle inside the broth storage tank 11. The liquid is guided downwards and stored inside the soup storage tank 11 to prevent it from spilling and contaminating the ground and the food collection area during the movement and delivery of food by the food-collecting robot 1. It should be noted that when the piston rod 231 rises, the spring connection between the piston rod 231 and the elastic piston ring 232 provides a damping effect. Because the connecting hose 111 and the internal channel of the food-collecting robot 1 are relatively narrow, the pressure change inside the sealing sleeve 221 during the rise of the piston rod 231 causes a large instantaneous pressure inside the connecting hose 111. The elastic piston ring 232 helps to control this pressure. When the machine reaches its highest point, the spring is first stretched, and then the elastic piston ring 232 slowly returns to its original position under the spring's elastic force. During this process, the rise of the elastic piston ring 232 continuously and slowly draws air from the connecting hose 111. After the second drive cylinder 23 rises, when the linear motor 21 moves to transport the food, the elastic piston ring 232 can continuously draw air through the connecting hose 111 under negative pressure. This allows the soup that drips onto the outer wall of the soup storage tank 11 to be continuously drawn into the soup through the soup suction hole 12 below the soup storage tank 11 during the food transport process. The inner cavity of the juice storage tank 11 enables continuous automatic suction of the juice storage tank 11 during the food retrieval and transportation process, effectively preventing the soup from spilling and polluting the environment during food transportation, and achieving automatic and clean food delivery. When the food retrieval robot 1 retrieves food, the second drive cylinder 23 descends, which can compress and discharge the gas in the inner cavity of the sealing sleeve 221 through the connecting hose 111, realizing the blowing of air into the internal pipe of the food retrieval robot 1 to the soup suction hole 12. By blowing air in the opposite direction, the internal pipe and soup suction hole 12 of the food retrieval robot 1 can be automatically blown to clear blockages.

[0058] After the second drive cylinder 23 is lifted, the entire device is moved horizontally along the slide rail to the plate area by the linear motor 21. After aligning with the plate, the first drive cylinder 22 drives the second drive cylinder 23 to move down, bringing the food-picking robot 1 closer to the plate. Then, the second drive cylinder 23 drives the drive slider 24 to rise. Through the combination of the limit slide shaft 241 and the rotating shaft connecting rod between the food-picking robot 1, the food-picking robots 1 on both sides open, and the food grabbed inside the food-picking robot 1 is placed into the inside of the plate, realizing automatic food delivery.

[0059] It should be noted that during the food retrieval process, as the driving slider 24 moves downward to cause the food retrieval robot 1 to close and grasp the food, the downward movement of the limiting slide shaft 241 can compress the air below the inner cavity of the sealed air chamber 31. This compresses the air inside the limiting slide groove 346 and the elastic sealing chamber 341 through the first air pipe 32, increasing the air pressure inside these chambers. This pushes the movable impact shaft 342 towards the outside of the pneumatic mechanism 3. During this process, the larger diameter end of the movable impact shaft 342 is blocked by the flat bottom end of the limiting block 347, causing the pressure inside the elastic sealing chamber 341 to continuously increase, resulting in the overall expansion of the elastic sealing chamber 341. Meanwhile, as the driving slider 24 rises to deliver the food, the rising limiting slide shaft 241 pumps gas into the second air pipe 33, and the gas inside the second air pipe 33 enters the sealed slide groove. The sealing slip ring 344 is rotated by the protrusion on the side wall of the sealing slip ring 344 inside 343. Then, when the chamfered edge of the limiting block 347 passes through the rectangular groove 345, the limiting block 347 can be pushed into the interior of the sealing slip ring 344, thereby releasing the limiting block 347 from the movable impact shaft 342. This releases the pressure inside the elastic sealing cavity 341 and pushes the movable impact shaft 342 out. Multiple sets of movable impact shafts 342 extend simultaneously to impact and vibrate the food-picking robot 1. Under the vibration force, the food attached to the inside of the food-picking robot 1 is reduced, thereby efficiently expelling the food from the inside of the food-picking robot 1 and reducing food residue. This ensures that the food-picking robot 1 can empty the food inside each time it delivers food, reducing food residue and ensuring the uniformity and hygiene of each meal delivery.

[0060] It should be noted that a one-way valve for air intake is provided at the bottom of the sealed air chamber 31. When the limiting slide shaft 241 descends, the internal pressure of the second air passage pipe 33 decreases, and the sealing slide ring 344 can be reset by the negative pressure and the elastic force of the arc spring. During the spring elastic force reset process, the movable impact shaft 342 can push the limiting block 347 into the sealing slide ring 344 by the angle of the limiting block 347, thereby achieving direct passage through the limiting block 347.

[0061] It should be noted that the specific model and specifications of the motor need to be selected and determined based on the actual specifications of the device. The specific selection and calculation method adopts the existing technology in this field, so it will not be described in detail here.

[0062] The above description is merely a preferred embodiment of the present invention and is not intended to limit the invention. Various modifications and variations can be made to the invention by those skilled in the art. Any modifications, equivalent substitutions, or improvements made within the spirit and principles of the invention should be included within the scope of protection of the invention.

Claims

1. An automatic food dispensing robot device, comprising a food-retrieving robot (1) and a soup storage compartment (11) disposed on the side wall of the food-retrieving robot (1), characterized in that, Also includes: The drive mechanism (2) includes a linear motor (21) with a slide rail design and a first drive cylinder (22) and a second drive cylinder (23) designed for linkage below the linear motor (21), which are used to drive the food-picking robot (1) to descend, open and close to pick up food and to rise, translate, descend, open and close and distribute food; The pneumatic mechanism (3) is located at the connection between the drive mechanism (2) and the food-picking robot (1). When the food-picking robot (1) opens to deliver food, the movable impact shaft (342) located inside the pneumatic mechanism (3) is inflated and stored. When the food-picking robot (1) rotates and opens to the maximum angle, the movable impact shaft (342) is ejected to shock the food-picking robot (1), so that the food-picking robot (1) can completely empty the food and reduce food residue. The sealing sleeve (221) is located at the connection between the first drive cylinder (22) and the second drive cylinder (23). When the first drive cylinder (22) drives the second drive cylinder (23) to rise, the pressure at the bottom of the sealing sleeve (221) continuously decreases. Through the connecting hose (111) located between the sealing sleeve (221) and the soup storage tank (11), a suction force is continuously generated on the bottom and lower side wall of the food-picking robot (1), which draws the soup into the soup storage tank (11) and reduces the amount of soup dripping from the outside when the food-picking robot (1) moves and delivers food. A drive mechanism (2) is provided above the food-retrieving robot (1). The drive mechanism (2) includes a set of linear motors (21) with slide rails. A first drive cylinder (22) is fixedly installed at the bottom of the linear motor (21). A second drive cylinder (23) is fixedly installed on the bottom telescopic shaft of the first drive cylinder (22). A fixed slide rod (25) is fixedly installed at the bottom center of the second drive cylinder (23). A drive slider (24) is slidably sleeved on the outer side of the fixed slide rod (25). The drive slider (24) is connected to the telescopic shaft at the bottom of the second drive cylinder (23). A rotating shaft is provided at the bottom of the fixed slide rod (25) and rotatably connected to the food-retrieving robot (1). A first limiting slide shaft is slidably connected on both sides of the drive slider (24). The first limiting slide shaft and the top of the food-retrieving robot (1) are connected by a rotating shaft and a connecting rod. The end of the fixed slide rod (25) A pneumatic mechanism (3) is fixedly installed at the end. A sealed air chamber (31) is opened inside the pneumatic mechanism (3). A second limiting slide shaft is connected to the sealed air chamber (31) with a limiting seal. The top of the second limiting slide shaft is fixedly connected to the bottom of the drive slider (24) through a connecting rod. The connecting rod connected to the second limiting slide shaft is connected to the top of the pneumatic mechanism (3) with a sealed sliding connection. The second limiting slide shaft divides the sealed air chamber (31) into upper and lower sealing chambers in the vertical direction. A second air pipe (33) is opened on the inner side of the pneumatic mechanism (3) and communicates with the upper half of the sealed air chamber (31). A first air pipe (32) is also opened inside the pneumatic mechanism (3) and communicates with the lower half of the sealed air chamber (31). The edge of the pneumatic mechanism (3) close to the two food-picking robot arms (1) is designed to be inclined. An impact mechanism (34) is set inside the inclined side wall at the bottom of the pneumatic mechanism (3). The impact mechanism (34) includes a limiting slide groove (346) opened inside the pneumatic mechanism (3). The limiting slide groove (346) is connected to the first air pipe (32). The connecting part of the limiting slide groove (346) and the first air pipe (32) is provided with a one-way valve that flows toward the inside of the limiting slide groove (346). The limiting slide groove (346) is internally limited and sealed with a movable impact shaft (342). The movable impact shaft (342) is connected to the outlet of the limiting slide groove (346) with a set of springs for reset. The outer side of the limiting slide groove (346) is provided with a sealing slide groove (343) connected to the second air pipe (33). The sealing slide groove (343) is internally limited and sealed with a sealing slip ring (344). The sealing slide groove (343) is internally limited and sealed with a sealing slip ring (344). Multiple sets of uniformly designed rectangular grooves (345) are opened between the sealing slide groove (343) and the limiting slide groove (346).

2. The automatic meal-dispensing robotic arm device according to claim 1, characterized in that, The limiting groove (346) has an elastic sealing cavity (341) designed at one end close to the first air passage pipe (32). The elastic sealing cavity (341) is a set of elastic sealing airbags, and the pneumatic mechanism (3) has a gap inside for the expansion of the elastic sealing cavity (341).

3. The automatic meal-dispensing robotic arm device according to claim 1, characterized in that, The movable impact shaft (342) is designed as a combination of two sets of cylinders with different diameters. The side with the larger diameter of the movable impact shaft (342) is close to the design direction of the first air passage pipe (32). The end with the larger diameter of the movable impact shaft (342) is in a limited sealing sliding connection with the inside of the limiting slide groove (346). The end with the smaller diameter of the movable impact shaft (342) extends to the outside of the pneumatic mechanism (3).

4. The automatic meal-dispensing robotic arm device according to claim 3, characterized in that, The movable impact shaft (342) has a channel inside that connects to the side wall of the movable impact shaft (342) and the end close to the first air pipe (32). When the movable impact shaft (342) extends outside the pneumatic mechanism (3), the elastic sealing cavity (341) and the outside of the pneumatic mechanism (3) are connected through this channel, so as to realize the depressurization and balance inside the elastic sealing cavity (341).

5. The automatic meal-dispensing robotic arm device according to claim 1, characterized in that, The sealing groove (343) is provided with a set of fixing blocks that fit and seal against the outer wall of the sealing slip ring (344). The side wall of the sealing slip ring (344) is provided with a protrusion that fits and seals against the inner side wall of the sealing groove (343). A set of arc-shaped springs for resetting the sealing slip ring (344) is provided between the protrusion on the side wall of the sealing slip ring (344) and the fixing blocks inside the sealing groove (343).

6. The automatic meal-dispensing robotic arm device according to claim 1, characterized in that, The inner side of the sealing slip ring (344) is elastically connected to a limiting block (347) corresponding to the rectangular groove (345) by a spring limit, and the two sides of the limiting block (347) and the edge away from the first air pipe (32) are chamfered.

7. The automatic meal-dispensing robotic arm device according to claim 1, characterized in that, The bottom of the first driving cylinder (22) is provided with a sealing sleeve (221), and the top of the second driving cylinder (23) is provided with a set of piston rods (231) extending to the inside of the sealing sleeve (221) and maintaining a sealed sliding connection with the inner cavity of the sealing sleeve (221). The bottom of the piston rod (231) is connected by a spring to a set of elastic piston rings (232) maintaining a sealed sliding connection with the inner cavity of the sealing sleeve (221). A connecting hose (111) is designed to connect the bottom of the sealing sleeve (221) and the top of the soup storage tank (11).

8. The automatic meal-dispensing robotic arm device according to claim 7, characterized in that, The bottom edge of the food-collecting robot (1) is designed with staggered teeth to increase the sealing area and contact area when closed. The bottom and lower side wall of the food-collecting robot (1) are provided with multiple sets of soup suction holes (12). The soup suction holes (12) are connected to the inner cavity of the soup storage tank (11) through the pipes opened on the inner side of the food-collecting robot (1). The inner side of the soup storage tank (11) is provided with a set of inclined baffles so that the soup entering the soup storage tank (11) is guided down through the baffles to prevent the soup from entering the interior of the connecting hose (111).

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