Intelligent tray discharging machine with intelligent delivery and monitoring functions

Abstract

The invention discloses an intelligent dish discharging machine with intelligent delivery and monitoring functions, and relates to the field of tableware management. According to the technical scheme, the tray discharging device comprises a main machine box, and a tray discharging opening used for discharging trays is formed in the surface of the main machine box; the information acquisition module is fixed on the surface of the main body case and is used for acquiring facial information; the plate rack is fixed in the main body case and is used for storing dinner plates; the surface of the supporting table is slidably connected with a first reciprocating screw rod, and the first reciprocating screw rod is rotatably connected with the main body case; the plate taking assembly is connected to the supporting table in a sliding mode, and the plate taking assembly comprises clamping jaws used for clamping dinner plates; the electric push rod is fixed to the supporting table, and a push block is fixed to the output end of the electric push rod and used for pushing the dinner plates into the plate outlet. The dinner plate ID is input through the information scanning module and is bound with the preset information base, after the user swipes the face to recognize the face information, only the bound dinner plate is obtained, and mixed use of the dinner plates is avoided.

Description

Technical Field

[0001] The present invention relates to the field of tableware management, and in particular to an intelligent dish dispensing machine with intelligent delivery and monitoring capabilities. Background Art

[0002] The smart plate dispensing machine is a device with intelligent delivery and monitoring functions. It can automatically distribute plates and provide a convenient dining experience.

[0003] For example, the authorization announcement number is: CN216996703U, which discloses an intelligent plate dispensing machine with a disinfection function, including: a rectangular shell, a supporting seat, a transfer component, an ultraviolet disinfection component and a laser sensor component, and a plate dispensing port and an intelligent face-scanning touch screen are provided on one side of the rectangular shell;

[0004] The Chinese patent with the authorization announcement number CN216996697U discloses an intelligent dish dispensing machine based on face recognition, including a face recognition display screen, a rectangular shell, a regular lifting component, an ejection component and a laser sensor, one side of the rectangular shell is provided with a dish outlet for taking a dish, and a supporting platform is provided on the side of the dish outlet facing the inside of the rectangular shell;

[0005] The main function of the current smart dish dispensing machine is based on facial recognition identity information, including the common functions of storing personal meal card balance and monitoring body temperature. It can only manage dishes in a unified manner, with one person being issued a dish, but the dishes are still mixed, rather than one person being assigned a unique dish. Summary of the invention

[0006] In view of this, the purpose of the present invention is to propose an intelligent plate dispensing machine with intelligent delivery and monitoring functions, so as to realize the tracking of plate, independently bind each person's information to an exclusive plate, and avoid the problem of mixing plates.

[0007] In order to achieve the above technical objectives, the present invention provides an intelligent tray dispensing machine with intelligent delivery and monitoring:

[0008] The machine comprises: a main chassis, a plate outlet for taking out plates is provided on the surface of the main chassis; a plate rack fixed in the main chassis for storing plates; a support platform, a first reciprocating screw rod is slidably connected to the surface of the support platform, and the first reciprocating screw rod is rotatably connected to the main chassis; a plate taking assembly is slidably connected to the support platform, and the plate taking assembly includes a clamping claw for clamping the plate; an electric push rod is fixed on the support platform, and a push block is fixed on the output end of the electric push rod for pushing the plate into the plate outlet; a first servo motor is fixed in the main chassis, and the first servo motor The output end of the machine is linked to the first reciprocating screw rod; the information scanning module is fixed on the lower surface of the support platform, and is used to obtain the preset plate ID of the plate and the corresponding height value of the plate; the information collection module is fixed on the surface of the main chassis, and is used to obtain facial information; the information recognition module inputs the facial information into the preset information library for comparison, and calls the height value of the corresponding plate; the control module calculates and generates a plate-taking instruction according to the height value, and the first servo motor drives the support platform to the corresponding position according to the plate-taking instruction, and then moves to the plate outlet to push out the plate after picking up the plate through the clamp.

[0009] Preferably, a partition door is rotatably connected to the outer surface of the main chassis.

[0010] Preferably, a partition is fixed inside the main chassis, the first servo motor is fixed on the partition, a driving gear is fixed to the output end of the first servo motor, the first reciprocating screw is rotatably connected to the partition, a driven gear is fixed to the end of the first reciprocating screw, and the driving gear is meshed with the driven gear, a first thread sleeve is fixed on the support platform, the first reciprocating screw is threadedly connected to the first thread sleeve, a first guide rod is provided on the side of the first reciprocating screw, both ends of the first guide rod are respectively fixedly connected to the partition and the main chassis, and the support platform is slidably connected to the first guide rod.

[0011] Preferably, an interlayer tray for placing dinner plates is evenly fixed in the plate rack, a fixing seat is fixed on the surface of the plate rack, a connecting block is rotatably connected to the surface of the fixing seat, a limiting strip is fixed on the surface of the connecting block, a tension spring is provided between the connecting block and the fixing seat, and both ends of the tension spring are fixedly connected to the fixing seat and the connecting block respectively.

[0012] Preferably, the tray removal assembly further comprises a shell, the shell is slidably connected to the support platform, two clamping claws are arranged in the shell, and the clamping directions of the two clamping claws are opposite.

[0013] Preferably, the clamping claw comprises: a double-headed electric push rod, fixed in the outer shell; a connecting rod, the two ends of which are respectively hinged to the output end and the clamping finger of the double-headed electric push rod; a spiral shaft, fixed in the outer shell, and the clamping finger is spirally connected to the spiral shaft; two clamping fingers are relatively arranged on each of the connecting rods, and the spiral connection directions of the two clamping fingers and the spiral shaft are opposite.

[0014] Preferably, the bottom of the support is equipped with a translation drive mechanism for driving the disc removal assembly to translate, and the translation drive mechanism includes: a second servo motor fixed to the outer surface of the support; a second reciprocating screw fixed to the outer surface of the support; a second wire sleeve threadedly connected to the second reciprocating screw, and the top of the second wire sleeve is fixedly connected to the lower surface of the outer shell; a driving pulley fixed to the output end of the second servo motor; a driven pulley fixed to the end of the second reciprocating screw; a synchronous toothed belt, and the driven pulley is linked to the driving pulley through the synchronous toothed belt; a second guide rod fixed to the outer surface of the support; a slider slidably connected to the second guide rod, and the end of the slider is fixed to the lower surface of the outer shell.

[0015] Preferably, the method by which the information scanning module obtains the preset plate ID of the plate and the corresponding height value of the plate is:

[0016] Each plate is engraved with a QR code containing a unique number;

[0017] After each plate is used for the first time, a unique number is written into the preset information database and bound to the user's facial information;

[0018] When it is used again, the information scanning module scans the QR codes one by one, that is, the tray moves from the head to the tail of the plate rack with the information scanning module to obtain the corresponding height value of each plate ID, marked as H. L , H L is an integer greater than or equal to 0, H L Indicates the height of the Lth plate.

[0019] Preferably, the control module generates a disk fetching instruction according to the height value by:

[0020] Get the real-time height value of the platform, marked as HS, HS is an integer greater than or equal to 0, according to H L Generate real-time target value ZB with HS 1 The expression is: Where P is the pitch of the first reciprocating screw, that is, the number of threads per unit length, M is the number of pulses required for each rotation of the first servo motor, ZB 1 is the number of pulses executed by the first servo motor, which is based on ZB 1 Execute, send the tray to the required place to pick up the plate;

[0021] After the disk is taken, the real-time target value ZB is generated according to 2 The expression is: The first servo motor is based on ZB 2 Execution, ZB 2 It is the number of pulses executed by the first servo motor to send the tray to the tray outlet to unload the tray.

[0022] Preferably, the control module imposes constraints on the first servo motor control:

[0023] If H L -HS or HS-H L greater than 0, the first servo motor rotates in the forward direction;

[0024] If H L -HS or HS-H L is less than 0, the first servo motor rotates in the reverse direction.

[0025] It can be seen from the above technical solutions that the present application has the following beneficial effects:

[0026] 1: Enter the plate ID through the information scanning module and bind it to the preset information library. After the user scans the face to recognize the facial information, only the bound plate will be obtained to avoid mixing of plates.

[0027] 2: The trays can be picked up by the support and tray retrieval components, so that the plates can be distributed in mixed order. There is no need to sort out the positions of the plates in advance, nor do users need to line up in a specific order, making it more convenient to use. BRIEF DESCRIPTION OF THE DRAWINGS

[0028] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on the provided drawings without paying creative work.

[0029] Figure 1 The overall structural diagram of the intelligent tray dispensing machine with intelligent delivery and monitoring provided by the present invention;

[0030] Figure 2 A front view structural schematic diagram of an intelligent plate dispensing machine with intelligent delivery and monitoring provided by the present invention;

[0031] Figure 3 The intelligent plate-spitting machine with intelligent delivery and monitoring provided by the present invention Figure 2 A schematic diagram of the cross-sectional structure at AA;

[0032] Figure 4 A partial side structural schematic diagram of the intelligent tray dispensing machine with intelligent delivery and monitoring provided by the present invention;

[0033] Figure 5 The intelligent plate-spitting machine with intelligent delivery and monitoring provided by the present invention Figure 3 Schematic diagram of the overall structure of the middle plate rack;

[0034] Figure 6The intelligent plate-spitting machine with intelligent delivery and monitoring provided by the present invention Figure 5 The enlarged structural diagram at B in the middle;

[0035] Figure 7 The intelligent plate-spitting machine with intelligent delivery and monitoring provided by the present invention Figure 3 Schematic diagram of the overall structure of the middle support platform;

[0036] Figure 8 The intelligent plate-spitting machine with intelligent delivery and monitoring provided by the present invention Figure 7 A schematic diagram of a partially disassembled structure of the middle tray assembly;

[0037] Fig. 9 The intelligent plate-spitting machine with intelligent delivery and monitoring provided by the present invention Figure 3 A schematic diagram of the overall structure of the first servo motor and the first reciprocating screw rod;

[0038] Fig.10 The intelligent plate-spitting machine with intelligent delivery and monitoring provided by the present invention Figure 3 Schematic diagram of the structure of the middle support platform when viewed from above;

[0039] Fig.11 A block diagram of a smart tray dispensing machine system with intelligent delivery and monitoring provided in Example 2 of the present invention;

[0040] Fig.12 A block diagram of a smart tray dispensing machine system with intelligent delivery and monitoring provided in Example 3 of the present invention;

[0041] Fig.13 A schematic diagram of installing a pressure sensor on the intelligent plate-spitting machine with intelligent delivery and monitoring provided by the present invention.

[0042] Description of the drawings: 1. Main chassis; 101. Partition door; 102. Disk outlet; 103. Partition; 2. Information acquisition module; 3. Disk rack; 31. Interlayer support plate; 32. Limiting strip; 33. Fixed seat; 34. Connecting block; 35. Tension spring; 4. Support platform; 5. Disk retrieval assembly; 51. Housing; 52. Double-headed electric push rod; 53. Connecting rod; 54. Clamp finger; 55. Screw shaft; 6. Electric push rod; 61. Push block; 7. First servo motor; 71. Driving gear; 72. Driven gear; 8. First reciprocating screw; 81. First guide rod; 82. First thread sleeve; 9. Second servo motor; 91. Synchronous toothed belt; 92. Second reciprocating screw; 93. Second thread sleeve; 94. Second guide rod; 95. Slider; 10. Information scanning module. DETAILED DESCRIPTION

[0043] The following description is merely exemplary in nature and is not intended to limit the present disclosure, application, and use. It should be understood that in all of these figures, the same or similar reference numerals indicate the same or similar parts and features. The various drawings only schematically represent the concepts and principles of the embodiments of the present disclosure, and do not necessarily show the specific dimensions and proportions of the various embodiments of the present disclosure. Specific parts in specific drawings may be exaggerated to illustrate the relevant details or structures of the embodiments of the present disclosure.

[0044] Reference Figure 1-11 :

[0045] Example 1

[0046] See also Figure 1 , Figure 2 , Figure 3 , Figure 4 and Figure 5 As shown, the intelligent plate dispensing machine with intelligent delivery and monitoring comprises a main chassis 1, a plate outlet 102 is provided on the surface of the main chassis 1, the plate outlet 102 is communicated with the inside of the main chassis 1, and the plate is used to be sent out from the plate outlet 102, a plate rack 3 is placed in the main chassis 1, and a partition door 101 is rotatably connected to the outer surface of the main chassis 1, the plate rack 3 can be taken out by opening the partition door 101, and after closing the partition door 101, the partition door 101 abuts against the plate rack 3, so that the plate rack 3 is fixed in the main chassis 1, and the plate rack 3 is evenly distributed. A plurality of interlayer support plates 31 are fixed, and the dinner plates are placed on the interlayer support plates 31. A fixing seat 33 is fixed on the surface of the dish rack 3. A connecting block 34 is rotatably connected to the surface of the fixing seat 33. A limiting strip 32 is fixed on the surface of the connecting block 34. A tension spring 35 is provided between the connecting block 34 and the fixing seat 33. The two ends of the tension spring 35 are respectively fixedly connected to the fixing seat 33 and the connecting block 34. The tension spring 35 provides elastic force to the connecting block 34, so that the limiting strip 32 can press against the edge of the dinner plate, thereby ensuring the stability of the dinner plate in the dish rack 3.

[0047] Specifically, a partition 103 is fixed in the main chassis 1, and a first servo motor 7 is fixed on the partition 103. The output end of the first servo motor 7 is linked with the first reciprocating screw rod 8, and the first reciprocating screw rod 8 is rotatably connected with the partition 103 and the main chassis 1. A support 4 is provided on the side of the plate rack 3, and a first thread sleeve 82 is fixed on the support 4. The first reciprocating screw rod 8 is threadedly connected with the first thread sleeve 82, and a first guide rod 81 limiting it is slidably connected on the support 4. The two ends of the first guide rod 81 are respectively fixed on the partition 103 and the main chassis 1, so that the support 4 moves up and down along the first guide rod 81. The first servo motor 7 drives the first reciprocating screw rod 8 to rotate, which can drive the support 4 to move up and down. A plate taking assembly 5 is slidably connected to the surface of the support 4, and the plate taking assembly 5 includes a clamp for clamping a dinner plate. When the support 4 moves to a corresponding height, the clamp can clamp the dinner plate onto the support 4, and then the first servo motor 7 works in reverse to send the support 4 to the rear of the dish outlet 102;

[0048] For more details, see Figure 4 and Figure 7 As shown, an electric push rod 6 is fixed to the lower surface of the tray 4, which does not affect the flatness of the surface of the tray 4, and a push block 61 is fixed to the output end of the electric push rod 6. A guide groove is provided on the surface of the tray 4, and the push block 61 passes through the guide groove and is slidably connected to the tray 4. The electric push rod 6 drives the push block 61 to work, so that the meal plate placed on the tray 4 can be pushed out from the tray outlet 102.

[0049] See also Figure 7 and Figure 8 As shown, in this embodiment, the tray removal assembly 5 also includes a shell 51, and the clamping claw includes a double-headed electric push rod 52, a connecting rod 53, a clamping finger 54 and a spiral shaft 55. The double-headed electric push rod 52 is fixed in the shell 51, and the two ends of the connecting rod 53 are respectively hinged with the output end of the double-headed electric push rod 52 and the clamping finger 54, the spiral shaft 55 is fixed in the shell 51, and the clamping finger 54 is spirally connected with the spiral shaft 55. Two clamping fingers 54 are relatively arranged on each connecting rod 53, and the connection spiral directions of the two clamping fingers 54 and the spiral shaft 55 are opposite. When the double-headed electric push rod 52 is in a retracted state, the connecting rod 53 pulls the clamping finger 54 into the shell 51, and the two clamping fingers 54 are in a separated state. When the double-headed electric push rod 52 is in an extended state, the connecting rod 53 pushes the clamping finger 54 to rotate and extend out of the shell 51, and due to the effect of the spiral pattern on the surface of the spiral shaft 55, the two clamping fingers 54 can merge together during the rotation process to clamp the tray.

[0050] Further, such as Figure 7 and Fig.10 As shown, the bottom of the support platform 4 is equipped with a translation driving mechanism for driving the disc taking assembly 5 to translate, and the translation driving mechanism includes: a second servo motor 9, a synchronous toothed belt 91, a second reciprocating screw rod 92, a second wire sleeve 93, a second guide rod 94 and a slider 95. The second servo motor 9 is fixed to the outer surface of the support platform 4, the second reciprocating screw rod 92 is fixed to the outer surface of the support platform 4, the second wire sleeve 93 is threadedly connected to the second reciprocating screw rod 92, and the top of the second wire sleeve 93 is fixedly connected to the lower surface of the housing 51, the second guide rod 94 is fixed to the outer surface of the support platform 4, and the slider 95 is slidably connected to the second guide rod 94, and The end of the slider 95 is fixed to the lower surface of the outer shell 51. The slider 95 cooperates with the second guide rod 94 to guide the outer shell 51. The driving pulley is fixed to the output end of the second servo motor 9, and the driven pulley is fixed to the end of the second reciprocating screw rod 92. The driven pulley is linked to the driving pulley through the synchronous toothed belt 91. The second servo motor 9 can drive the second reciprocating screw rod 92 to rotate through the driving gear, the synchronous toothed belt 91 and the driven gear, so that the second wire sleeve 93 slides on the support table 4 with the outer shell 51, so that after the tray removal assembly 5 clamps the tray, the tray can be pulled out from the tray rack 3.

[0051] Embodiment 2

[0052] See also Fig.11 As shown, the intelligent discharging system with intelligent delivery and monitoring includes an information collection module 2, an information scanning module 10, an information identification module and a control module. The modules are connected through a wired and / or wireless network, and the control module is electrically connected to the first servo motor 7, the second servo motor 9, the double-headed electric push rod 52 and the electric push rod 6 through a wired connection.

[0053] The information scanning module 10 is fixed on the lower surface of the support platform 4, and is used to obtain the preset plate ID and the corresponding height value of the plate. The information scanning module 10 integrates an infrared scanner, a camera and a height sensor, or uses hardware equipment that meets the requirements;

[0054] An information collection module 2 is fixed on the surface of the main chassis 1 and is used to obtain facial information. The information collection module 2 can be implemented using a camera;

[0055] The information recognition module inputs the facial information into the preset information database for comparison, and calls the height value of the corresponding plate. This is implemented based on storage hardware such as hard disks and retrieval software or tools, such as retrieval tools such as MySQL, Oracle Database, and MicrosoftSQL Server;

[0056] The control module generates a plate-taking instruction according to the height value calculation. The first servo motor 7 drives the support platform 4 to the corresponding position according to the plate-taking instruction, takes the plate through the clamping claws and then moves it to the plate outlet 102, and then pushes the plate out of the plate outlet 102 through the electric push rod 6. The control module is implemented based on PLC, Raspberry Pi, servo driver or encoder;

[0057] The information identification module and the control module are fixed in the main chassis 1 .

[0058] Specifically, the method for the information scanning module 10 to obtain the preset plate ID and the corresponding height value of the plate is:

[0059] Each plate is engraved with a QR code containing a unique number, i.e. a QR code containing the plate ID;

[0060] After each plate is used for the first time, a unique number is written into the preset information database and bound to the user's facial information;

[0061] When it is used again, that is, after the dish rack 3 with the washed dishes is put into the main chassis 1, the information scanning module 10 is moved from the head to the tail of the dish rack 3 by the support platform 4, and the information scanning module 10 scans the QR code one by one to obtain the corresponding height value of each dish ID, which is marked as H. L , H L is an integer greater than or equal to 0, H L Indicates the height of the Lth plate.

[0062] Further, the control module generates a disk fetching instruction method according to the height value by: obtaining the real-time height value of the tray 4, marked as HS, HS is an integer greater than or equal to 0, and calculating the height value according to H L Generate real-time target value ZB with HS 1 The expression is: Wherein P is the pitch of the first reciprocating screw 8, that is, the number of threads per unit length. For example, if the pitch of the first reciprocating screw 8 is 2 mm, then the screw will move 2 mm in the vertical direction for each rotation of the first reciprocating screw. P is obtained by a person skilled in the art according to the specification parameters of the first reciprocating screw 8;

[0063] M is the number of pulses required for the first servo motor 7 to rotate once. For example, the first servo motor 7 requires 2000 pulses to rotate once, so M is equal to 2000. M is specifically obtained by those skilled in the art according to the model parameters selected by the first servo motor 7. The first servo motor 7 is calculated according to ZB 1 Execution, ZB 1 is the number of pulses executed by the first servo motor 7 to send the tray 4 to the desired location to pick up the plate;

[0064] After the disk is taken, the real-time target value ZB is generated according to 2 , the expression of real-time target value 2 is: The first servo motor 7 is based on ZB 2 Execution, ZB 2 is the number of pulses executed by the first servo motor 7 to send the tray 4 to the tray outlet 102 to discharge the tray;

[0065] Considering that the first servo motor 7 rotates in different directions, the first reciprocating screw rod 8 can be rotated forward and reversely, so that the support platform 4 can be controlled to rise or fall. and Using absolute value calculation in will only produce positive numbers, so the calculated real-time target value 1 and real-time target value 2 are integers greater than or equal to 0. Therefore, the control module imposes constraints on the control of the first servo motor 7. If H L -HS or HS-H L greater than 0, the first servo motor 7 rotates in the forward direction;

[0066] If H L -HS or HS-H L If the value is less than 0, the first servo motor 7 rotates in the opposite direction; this can realize the control of the up and down movement of the support platform 4, that is, after the support platform 4 reaches the plate-taking position to obtain the plate, it returns to the plate-dispensing port 102 to dispense the plate.

[0067] Embodiment 3

[0068] See also Fig.12 and Fig.13A pressure sensor is embedded in the surface of the tray 4, which is used to identify the pressure value on the surface of the tray 4. The pressure value is a value greater than or equal to 0. By identifying the pressure value on the surface of the tray 4, it can be determined whether there is a dinner plate on the surface of the tray 4. If the pressure value on the surface of the tray 4 is greater than or equal to a preset pressure value, a dinner plate is placed on the surface of the tray 4. If the pressure value on the surface of the tray 4 is less than the preset pressure value, no dinner plate is placed on the surface of the tray 4. The preset pressure value is the value obtained by the pressure sensor when a normal dinner plate is placed on the tray 4.

[0069] The intelligent tray discharging system with intelligent delivery and monitoring also includes a tray conveying recognition module for determining the tray conveying status. The determination method of the tray recognition module includes:

[0070] Obtain real-time characteristic data of the plate conveyor, including pressure value, H L and HS;

[0071] The real-time feature data of the meal tray conveying is input into the trained meal tray conveying recognition model to obtain the meal tray conveying status, which includes taking the meal tray, taking the meal tray, delivering the meal tray, delivering the meal tray, and delivering the meal tray;

[0072] The training method of the tray delivery recognition model is as follows:

[0073] Before training the tray delivery recognition model, k groups of historical feature data are collected, and the tray delivery status of the k groups of historical feature data are numerically labeled. When the tray delivery status is in the process of taking the tray, it is labeled as 1, when the tray delivery status is completed, it is labeled as 2, when the tray delivery status is in the process of delivering the tray, it is labeled as 3, when the tray delivery status is completed, it is labeled as 4, and when the tray delivery status is completed, it is labeled as 5; each group of historical feature data is used as the input of the machine learning model, and the machine learning model uses the predicted labeling of each group of historical feature data as the output, the actual labeling as the prediction target, and the minimization of the sum of the prediction accuracy of all labels as the training target; the calculation formula for the prediction accuracy is: k =(a k -w k ) 2 , where k is the number of the plate conveying characteristic data, z k is the prediction accuracy, a k is the predicted label value corresponding to the kth group of plate delivery feature data, w k The actual annotation corresponding to the k-th group of plate delivery feature data is used to train the machine learning model until the sum of the prediction accuracies reaches a stable state. The training is stopped and the trained machine learning model is used as a plate delivery recognition model, which is a naive Bayes model or a support vector machine model.

[0074] Furthermore, the control module determines whether to generate a control instruction based on the conveying status output by the tray conveying recognition model. The control instruction includes a primary instruction and a secondary instruction:

[0075] If the tray conveying status is that the tray is taken, a first-level instruction is generated;

[0076] If the tray delivery status is completed, a secondary instruction is generated;

[0077] If the tray conveying status is in the process of picking up the tray, delivering the tray, or the tray is finished being discharged, no control instruction is generated.

[0078] Furthermore, if the plate conveying state is that the plate is taken, that is, the support platform 4 reaches the specified position, the control module controls the double-headed electric push rod 52 and the second servo motor 9 in the translation drive mechanism to work successively based on the first-level instruction to complete the action of clamping the plate and translating the plate onto the support platform 4. The working process control principle of the double-headed electric push rod 52 and the second servo motor 9 is the same as the control principle of the first servo motor 7, which will not be repeated here;

[0079] If the plate delivery status is completed, that is, the tray 4 reaches the plate outlet 102, the control module controls the electric push rod 6 to push the plate out of the plate outlet 102 through the push block 61 based on the secondary instruction. After the plate is ejected, the electric push rod 6 is reset;

[0080] The meal tray conveying and identifying module stops working until a tray taking instruction is generated here, and then the meal tray conveying and identifying module starts working again.

[0081] Embodiment 4

[0082] See also Figure 7 and Figure 8 As shown, the housing 51 is slidably connected to the support platform 4, and two clamping claws are arranged in the housing 51, and the clamping directions of the two clamping claws are opposite, and two double-headed electric push rods 52 are correspondingly arranged, namely double-headed electric push rod 1 and double-headed electric push rod 2, so that two plate rack 3 placement positions can be set in the main chassis 1, respectively arranged on both sides of the support platform 4, thereby improving the utilization rate of the space in the main chassis 1 and the storage capacity of the plates;

[0083] The control difference only needs to be scanned twice based on the second embodiment (when used again, that is, after the dish rack 3 with the washed dishes is just put into the main chassis 1, the information scanning module 10 is moved from the head of the dish rack 3 to the tail by the support 4, and the information scanning module 10 scans the QR code one by one to obtain the corresponding height value of each dish ID.), and the corresponding height value of each dish ID obtained for the first time is marked as R area, and the corresponding height value of each dish ID obtained for the first time is marked as L area;

[0084] Based on the second embodiment (information recognition module, inputting facial information into the preset information library for comparison and calling the height value of the corresponding plate), the plate picking instruction is divided into plate picking instruction one and plate picking instruction two. The difference is that when the plate ID recognized by the information recognition module is in the R zone, it is operated by the double-headed electric push rod one, and in the L zone, it is operated by the double-headed electric push rod two.

[0085] Embodiment 5

[0086] See also Fig. 9 As shown, a driving gear 71 is fixed to the output end of the first servo motor 7, a driven gear 72 is fixed to the end of the first reciprocating screw rod 8, and the driving gear 71 meshes with the driven gear 72, a first wire sleeve 82 is fixed on the support platform 4, the first reciprocating screw rod 8 is threadedly connected to the first wire sleeve 82, a first guide rod 81 is provided on the side of the first reciprocating screw rod 8, the two ends of the first guide rod 81 are respectively fixedly connected to the partition plate 103 and the main chassis 1, and the support platform 4 is slidably connected to the first guide rod 81, the first reciprocating screw rod 8 and the first servo motor 7 are driven by the driving gear 71 and the driven gear 72, the driving gear 71 and the driven gear 72 have the same pitch, the driving gear 71 has a larger number of teeth than the driven gear 72, thereby obtaining a larger transmission ratio, compared with the first servo motor 7 directly driving the first reciprocating screw rod 8, the first servo motor 7 requires fewer rotations, that is, the speed remains unchanged, and the lifting speed of the support platform 4 is faster under the same lifting distance, which solves the problem of disk discharge time, which is different from the second embodiment (after the disk is taken out, according to H L With H S The expression of real-time target value 2 is: ), the expression of the real-time target value 2 in the fifth embodiment needs to increase the transmission ratio to:

[0087]

[0088] The exemplary implementation scheme of the present disclosure is described in detail above with reference to the preferred embodiments. However, it can be understood by those skilled in the art that, without departing from the concept of the present disclosure, various modifications and variations can be made to the above-mentioned specific embodiments, and various technical features and structures proposed in the present disclosure can be combined in various ways without exceeding the protection scope of the present disclosure, which is determined by the attached claims.

Claims

1. Intelligent plate dispensing machine with intelligent delivery and monitoring, characterized by: include: A main machine case (1), wherein a disk outlet (102) for discharging disks is provided on a surface of the main machine case (1); A plate rack (3), fixed in the main chassis (1), for storing plates; The support platform (4) has a first reciprocating screw rod (8) slidably connected to its surface, and the first reciprocating screw rod (8) is rotatably connected to the main machine case (1); A plate taking assembly (5) is slidably connected to the support platform (4), wherein the plate taking assembly (5) comprises a clamping claw for clamping the dinner plate; An electric push rod (6) is fixed on the support platform (4), and a push block (61) is fixed on the output end of the electric push rod (6) for pushing the meal tray into the tray outlet (102); A first servo motor (7) is fixed in the main machine case (1), and an output end of the first servo motor (7) is linked to a first reciprocating screw rod (8); An information scanning module (10) is fixed to the lower surface of the support platform (4) and is used to obtain a preset plate ID of the plate and a corresponding height value of the plate; An information collection module (2) is fixed on the surface of the main chassis (1) and is used to obtain facial information; The information recognition module inputs the facial information into the preset information library for comparison and calls the height value of the corresponding plate; The control module generates a plate taking instruction according to the height value calculation, and the first servo motor (7) drives the support platform (4) to the corresponding position according to the plate taking instruction, and then moves the plate to the plate outlet (102) to push the plate out after the plate is taken by the clamping claws.

2. The intelligent tray dispensing machine with intelligent delivery and monitoring according to claim 1 is characterized in that: The outer surface of the main chassis (1) is rotatably connected to a partition door (101).

3. The intelligent tray dispensing machine with intelligent delivery and monitoring according to claim 1 is characterized in that: A partition (103) is fixed inside the main chassis (1), the first servo motor (7) is fixed on the partition (103), a driving gear (71) is fixed at the output end of the first servo motor (7), the first reciprocating screw rod (8) is rotatably connected to the partition (103), a driven gear (72) is fixed at the end of the first reciprocating screw rod (8), and the driving gear (71) is meshed with the driven gear (72), a first thread sleeve (82) is fixed on the support platform (4), the first reciprocating screw rod (8) is threadedly connected to the first thread sleeve (82), a first guide rod (81) is provided on the side of the first reciprocating screw rod (8), two ends of the first guide rod (81) are respectively fixedly connected to the partition (103) and the main chassis (1), and the support platform (4) is slidably connected to the first guide rod (81).

4. The intelligent plate dispensing machine with intelligent delivery and monitoring according to claim 1 is characterized in that: An interlayer support plate (31) for placing dinner plates is evenly fixed in the plate rack (3), a fixing seat (33) is fixed on the surface of the plate rack (3), a connecting block (34) is rotatably connected to the surface of the fixing seat (33), a limiting strip (32) is fixed to the surface of the connecting block (34), a tension spring (35) is provided between the connecting block (34) and the fixing seat (33), and two ends of the tension spring (35) are respectively fixedly connected to the fixing seat (33) and the connecting block (34).

5. The intelligent tray dispensing machine with intelligent delivery and monitoring according to claim 1 is characterized in that: The tray removal assembly (5) further comprises a shell (51), wherein the shell (51) is slidably connected to the support platform (4), and two clamping claws are arranged inside the shell (51), and the clamping directions of the two clamping claws are opposite.

6. The intelligent tray dispensing machine with intelligent delivery and monitoring according to claim 5 is characterized in that: The clamping jaws include: A double-ended electric push rod (52) is fixed inside the housing (51); The connecting rod (53) has two ends respectively hinged to the output end of the double-headed electric push rod (52) and the clamping finger (54); A spiral shaft (55) is fixed in the housing (51), and the clamping fingers (54) are spirally connected to the spiral shaft (55); Two clamping fingers (54) are arranged opposite to each other on each connecting rod (53), and the connection spiral directions of the two clamping fingers (54) and the spiral shaft (55) are opposite.

7. The intelligent tray dispensing machine with intelligent delivery and monitoring according to claim 5 is characterized in that: The bottom of the support platform (4) is equipped with a translation driving mechanism for driving the disk taking assembly (5) to translate, and the translation driving mechanism comprises: A second servo motor (9) is fixed on the outer surface of the support platform (4); a second reciprocating screw rod (92) is fixed on the outer surface of the support platform (4); A second thread sleeve (93) is threadably connected to the second reciprocating screw rod (92), and the top of the second thread sleeve (93) is fixedly connected to the lower surface of the housing (51); A driving pulley fixed to the output end of the second servo motor (9); A driven pulley fixed to the end of the second reciprocating screw rod (92); A synchronous toothed belt (91), wherein the driven pulley is linked with the driving pulley via the synchronous toothed belt (91); A second guide rod (94) is fixed on the outer surface of the support platform (4); The slider (95) is slidably connected to the second guide rod (94), and the end of the slider (95) is fixed to the lower surface of the housing (51).

8. The intelligent tray dispensing machine with intelligent delivery and monitoring according to claim 5 is characterized in that: The method by which the information scanning module (10) obtains the preset plate ID of the plate and the corresponding height value of the plate is: Each plate is engraved with a QR code containing a unique number; After each plate is used for the first time, a unique number is written into the preset information database and bound to the user's facial information; When used again, the information scanning module (10) scans the QR codes one by one, that is, the support platform (4) moves from the head to the tail of the plate rack (3) with the information scanning module (10) to obtain the corresponding height value of each plate ID, which is marked as H. L , H L is an integer greater than or equal to 0, H L Indicates the height of the Lth plate.

9. The intelligent tray dispensing machine with intelligent delivery and monitoring according to claim 8 is characterized in that: The control module generates a disk fetching instruction method based on the height value calculation: Get the real-time height value of the platform (4), marked as HS, where HS is an integer greater than or equal to 0. L The real-time target value ZB1 is generated with HS. The expression of the real-time target value ZB1 is: Wherein P is the pitch of the first reciprocating screw (8), that is, the number of threads per unit length, M is the number of pulses required for the first servo motor (7) to rotate once, ZB1 is the number of pulses executed by the first servo motor (7), and the first servo motor (7) executes according to ZB1 to send the support platform (4) to the desired plate picking location to pick up the plate; After the disk is retrieved, the real-time target value 2 is generated according to and the expression of the real-time target value 2 ZB2 is: The first servo motor (7) executes according to ZB2, where ZB2 is the number of pulses executed by the first servo motor (7), to send the pallet (4) to the disk outlet (102) to discharge the disk.

10. The intelligent tray dispensing machine with intelligent delivery and monitoring according to claim 8, characterized in that: The control module imposes constraints on the control of the first servo motor (7): If H L -HS or HS-H L greater than 0, the first servo motor (7) rotates in the forward direction; If H L -HS or HS-H L is less than 0, the first servo motor (7) rotates in the reverse direction.

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