Intelligent spittoon machine with intelligent delivery and monitoring

Abstract

The application discloses an intelligent dish throwing machine with intelligent dish throwing and monitoring, and relates to the field of tableware management. The application discloses the following scheme, which comprises a main machine box, a dish outlet is formed in the surface of the main machine box for dish throwing; an information acquisition module is fixed on the surface of the main machine box and is used for acquiring facial information; a dish rack is fixed in the main machine box and is used for storing dishes; a supporting table is provided with a first reciprocating screw rod which is slidably connected to the surface of the supporting table and is rotatably connected to the main machine box; a dish taking assembly is slidably connected to the supporting table and comprises a clamping jaw for clamping dishes; an electric push rod is fixed to the supporting table and has a push block fixed to the output end of the electric push rod and used for pushing dishes into the dish outlet. The dish ID is bound to a preset information database through an information scanning module, and only the bound dishes are acquired after the user's facial information is identified through face recognition, so that the dishes are prevented from being mixed.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of tableware management, in particular to an intelligent tray dispenser with intelligent delivery and monitoring. BACKGROUND

[0002] The intelligent tray dispenser is a device with intelligent delivery and monitoring functions, which can automatically distribute trays and provide convenient dining experience

[0003] For example, the authorized announcement No. CN216996703U discloses an intelligent tray dispenser with disinfection function, which comprises a rectangular shell, a supporting seat, a transfer assembly, an ultraviolet disinfection assembly and a laser sensing assembly.

[0004] The Chinese patent with the authorized announcement No. CN216996697U discloses an intelligent tray dispenser based on face recognition, which comprises a face recognition display screen, a rectangular shell, a regular lifting assembly, an ejection assembly and a laser sensor.

[0005] The current intelligent tray dispenser mainly functions based on face recognition identity information, including personal meal card balance storage and common functions of monitoring body temperature, which can only manage trays uniformly and issue one tray per person, but the trays are still mixed and not specified for each person. SUMMARY

[0006] Therefore, the present application aims to provide an intelligent tray dispenser with intelligent delivery and monitoring to realize tracking of trays and independent binding of each person's information to a dedicated tray, thereby avoiding the problem of mixed use of trays.

[0007] To achieve the above technical purposes, the present application provides an intelligent tray dispenser with intelligent delivery and monitoring:

[0008] It includes: main body case, the main body case surface is equipped with the dish outlet for the dish outlet; dish rack, fixed in the main body case, for storing dishes; support table, the surface is slidably connected with first reciprocating screw rod, the first reciprocating screw rod is rotatably connected with the main body case;Take dish assembly, slidingly connected on the support table, the take dish assembly includes the jaw for clamping dishes;Electric push rod, fixed on the support table, the output end of the electric push rod is fixed with a push block, for pushing dishes into the dish outlet;First servo motor, fixed in the main body case, and the output end of the first servo motor is linked with the first reciprocating screw rod;Information scanning module, fixed on the lower surface of the support table, for obtaining the preset dish ID and dish corresponding height value of the dish;Information acquisition module, fixed on the surface of the main body case, for obtaining facial information;Information identification module, the facial information is input into the preset information base comparison, the height value of the corresponding dish is called;Control module, according to the height value calculation generates dish taking instruction, the first servo motor drives the support table to the corresponding position according to the dish taking instruction, and then moves to the dish outlet to push out the dish after taking the dish by the jaw.

[0009] Preferably, the outer surface of the main body case is rotatably connected with a door.

[0010] Preferably, the inside of the main body case is fixed with a partition plate, the first servo motor is fixed on the partition plate, the output end of the first servo motor is fixed with a driving gear, the first reciprocating screw rod is rotatably connected with the partition plate, the end of the first reciprocating screw rod is fixed with a driven gear, and the driving gear is engaged with the driven gear, the first screw sleeve is fixed on the support table, the first reciprocating screw rod is threadedly connected with the first screw sleeve, the first guide rod is provided on the side of the first reciprocating screw rod, the two ends of the first guide rod are respectively fixedly connected with the partition plate and the main body case, and the support table is slidably connected with the first guide rod.

[0011] Preferably, the dish rack is uniformly fixed with a partition plate for placing dishes, the surface of the dish rack is fixed with a fixed seat, the surface of the fixed seat is rotatably connected with a connecting block, the surface of the connecting block is fixed with a limiting strip, a tension spring is arranged between the connecting block and the fixed seat, and the two ends of the tension spring are respectively fixedly connected with the fixed seat and the connecting block.

[0012] Preferably, the dish taking assembly further comprises a shell, the shell is slidably connected with the support table, two jaws are arranged in the shell, and the clamping directions of the two jaws are opposite.

[0013] Preferably, the jaw comprises: a double-head electric push rod fixed in the shell; a connecting rod hingedly connected with the output end of the double-head electric push rod and a finger at two ends; a spiral shaft fixed in the shell, and the finger is screwedly connected with the spiral shaft; two fingers are oppositely arranged on each connecting rod, and the connecting screw directions of the two fingers and the spiral shaft are opposite.

[0014] Preferably, the bottom of the tray is equipped with a translation driving mechanism for driving the translation of the tray assembly, which comprises: a second servo motor fixed to the outer surface of the tray; a second reciprocating screw rod fixed to the outer surface of the tray; a second screw sleeve threadedly connected with the second reciprocating screw rod, and the top of the second screw sleeve is fixedly connected with the lower surface of the housing; 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 rod; a synchronous toothed belt, the driven pulley is linked with the driving pulley through the synchronous toothed belt; and a second guide rod fixed to the outer surface of the tray, and a sliding block slidably connected with the second guide rod, and the end of the sliding block is fixed to the lower surface of the housing.

[0015] Preferably, the method for the information scanning module to obtain the preset tray ID and the corresponding height value of the tray is as follows:

[0016] A two-dimensional code containing a unique number is engraved on each tray;

[0017] After the first use of each tray, the unique number is written into a preset information library and is bound with the facial information of the user;

[0018] When the tray is used again, the two-dimensional code is scanned one by one by the information scanning module, that is, the tray moves from the head to the tail of the tray rack with the information scanning module, and the corresponding height value of each tray ID is obtained and marked as H L , H L is an integer greater than or equal to 0, and H L represents the height value of the Lth tray.

[0019] Preferably, the method for the control module to calculate and generate the tray picking instruction according to the height value is as follows:

[0020] The real-time height value of the tray is obtained and marked as HS, and HS is an integer greater than or equal to 0, and the real-time target value one is generated according to H L and HS, and the expression of the real-time target value one ZB1 is as follows: wherein P is the pitch of the first reciprocating screw rod, that is, the number of threads per unit length, M is the number of pulses required by the first servo motor per revolution, ZB1 is the number of pulses executed by the first servo motor, and the first servo motor is executed according to ZB1 to send the tray to the required tray picking position to pick the tray;

[0021] After the tray picking is completed, the real-time target value two is generated according to H L and HS, and the expression of the real-time target value two ZB2 is as follows:

[0022] Preferably, the control module applies constraints to the first servo motor:

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

[0024] if H L -HS or HS-H L less than 0, the first servo motor rotates reversely.

[0025] From the above technical solutions, the present application has the following beneficial effects:

[0026] 1: The tray ID is bound with the preset information library through the information scanning module, and after the user's face recognition information is recognized, only the bound tray is obtained, so as to avoid tray mixing.

[0027] 2: The tray is taken by the tray and tray taking assembly, the tray is distributed in disorder, and there is no need to arrange the tray position in advance or arrange the queue in a specific order, so that the use is more convenient. BRIEF DESCRIPTION OF DRAWINGS

[0028] In order to more clearly illustrate the technical solutions in the embodiments of the present application or the prior art, the drawings needed to be used in the embodiments or prior art description will be briefly introduced. Obviously, the drawings in the following description are only embodiments of the present application, and other drawings can be obtained by those skilled in the art without creative labor on the basis of the provided drawings.

[0029] Figure 1 The overall structure schematic diagram of the intelligent tray ejecting machine provided by the present application with intelligent delivery and monitoring is shown.

[0030] Figure 2 The front view structure schematic diagram of the intelligent tray ejecting machine provided by the present application with intelligent delivery and monitoring is shown.

[0031] Figure 3 The overall structure schematic diagram of the intelligent tray ejecting machine provided by the present application with intelligent delivery and monitoring is shown. Figure 2 The A-A section view structure schematic diagram of the intelligent tray ejecting machine provided by the present application with intelligent delivery and monitoring is shown.

[0032] Figure 4 The local side view structure schematic diagram of the intelligent tray ejecting machine provided by the present application with intelligent delivery and monitoring is shown.

[0033] Figure 5 The overall structure schematic diagram of the intelligent tray ejecting machine provided by the present application with intelligent delivery and monitoring is shown. Figure 3 The overall structure schematic diagram of the tray rack of the intelligent tray ejecting machine provided by the present application with intelligent delivery and monitoring is shown.

[0034] Figure 6 The overall structure schematic diagram of the intelligent tray ejecting machine provided by the present application with intelligent delivery and monitoring is shown. Figure 5 The enlarged structure schematic diagram of B of the intelligent tray ejecting machine provided by the present application with intelligent delivery and monitoring is shown.

[0035] Figure 7 The intelligent disc throwing machine provided by the application has the advantages of intelligent disc throwing and monitoring Figure 3 The overall structure diagram of the middle supporting table

[0036] Figure 8 The intelligent disc throwing machine provided by the application has the advantages of intelligent disc throwing and monitoring Figure 7 The partial disassembly structure diagram of the disc taking assembly in the middle

[0037] Figure 9 The intelligent disc throwing machine provided by the application has the advantages of intelligent disc throwing and monitoring Figure 3 The overall structure diagram of the first servo motor and the first reciprocating screw rod

[0038] Figure 10 The intelligent disc throwing machine provided by the application has the advantages of intelligent disc throwing and monitoring Figure 3 The bottom view structure diagram of the supporting table

[0039] Figure 11 The system block diagram of the intelligent disc throwing machine provided by the second embodiment of the application has the advantages of intelligent disc throwing and monitoring

[0040] Figure 12 The system block diagram of the intelligent disc throwing machine provided by the third embodiment of the application has the advantages of intelligent disc throwing and monitoring

[0041] Figure 13 The schematic diagram of the intelligent disc throwing machine provided by the application with a pressure sensor

[0042] BRIEF DESCRIPTION OF DRAWINGS: 1, main body case; 101, door; 102, disc outlet; 103, partition; 2, information acquisition module; 3, disc rack; 31, layer supporting plate; 32, limiting strip; 33, fixed seat; 34, connecting block; 35, tension spring; 4, supporting table; 5, disc taking assembly; 51, shell; 52, double-end electric push rod; 53, connecting rod; 54, clamping finger; 55, spiral shaft; 6, electric push rod; 61, push block; 7, first servo motor; 71, driving gear; 72, driven gear; 8, first reciprocating screw rod; 81, first guide rod; 82, first screw sleeve; 9, second servo motor; 91, synchronous tooth belt; 92, second reciprocating screw rod; 93, second screw sleeve; 94, second guide rod; 95, sliding block; 10, information scanning module. DETAILED DESCRIPTION

[0043] The following description is merely illustrative in nature and is not intended to limit the present disclosure, its applications, or uses. It should be understood that throughout the drawings, identical or similar reference numerals indicate identical or similar parts and features. The drawings merely schematically illustrate the concepts and principles of the embodiments of the present disclosure and do not necessarily depict the specific dimensions and proportions of the various embodiments of the present disclosure. Certain portions of certain drawings may be exaggerated to illustrate relevant details or structures of the embodiments of the present disclosure.

[0044] Reference Figures 1-11 :

[0045] Example 1

[0046] See Figure 1 、 Figure 2 、 Figure 3 、 Figure 4 and Figure 5 As shown, the intelligent plate dispensing machine with intelligent delivery and monitoring includes a main chassis 1, a plate outlet 102 is opened on the surface of the main chassis 1, the plate outlet 102 is connected to 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. After closing the partition door 101, the partition door 101 presses 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 to 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 to 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 8, and the first reciprocating screw 8 is rotatably connected to the partition 103 and the main chassis 1. A supporting platform 4 is provided on the side of the dish rack 3, and a first wire sleeve 82 is fixed on the supporting platform 4. The first reciprocating screw 8 is threadedly connected to the first wire sleeve 82, and a first guide rod 81 is slidably connected to the supporting platform 4 to limit it. The two ends of the first guide rod 81 are respectively fixed on the partition 103 and the main chassis 1, so that the supporting platform 4 can move up and down along the first guide rod 81. The first servo motor 7 drives the first reciprocating screw 8 to rotate, which can drive the supporting platform 4 to move up and down. A plate-taking assembly 5 is slidably connected to the surface of the supporting platform 4, and the plate-taking assembly 5 includes a clamping claw for clamping the dinner plate. When the supporting platform 4 moves to a corresponding height, the clamping claw can clamp the dinner plate onto the supporting platform 4, and then the first servo motor 7 works in reverse to send the supporting platform 4 to the rear of the dish outlet 102;

[0048] More specifically, referring to Figure 4 and Figure 7 It is shown that the lower surface of the support platform 4 is fixed with an electric push rod 6, which does not affect the flatness of the surface of the support platform 4, and the output end of the electric push rod 6 is fixed with a push block 61, and the surface of the support platform 4 is provided with a guide groove, and the push block 61 is slidingly connected with the support platform 4 through the guide groove, and the electric push rod 6 drives the push block 61 to work, so that the dinner plate placed on the support platform 4 can be pushed out of the plate outlet 102.

[0049] Referring to Figure 7 and Figure 8 It is shown that in the embodiment, the plate taking assembly 5 further comprises a shell 51, and the clamping jaw comprises a double-headed electric push rod 52, a connecting rod 53, a clamping finger 54 and a screw shaft 55, the double-headed electric push rod 52 is fixed in the shell 51, the connecting rod 53 is hingedly connected with the output end of the double-headed electric push rod 52 and the clamping finger 54 at two ends respectively, the screw shaft 55 is fixed in the shell 51, and the clamping finger 54 is screwedly connected with the screw shaft 55, two clamping fingers 54 are oppositely arranged on each connecting rod 53, the connecting screw directions of the two clamping fingers 54 and the screw 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 to be retracted 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 screw thread on the surface of the screw shaft 55, the two clamping fingers 54 can be combined together in the rotating process to clamp the tray.

[0050] Further, as shown in Figure 7 and Figure 10 It is shown that the bottom of the support platform 4 is provided with a translation driving mechanism for driving the plate taking assembly 5 to translate, and the translation driving mechanism comprises a second servo motor 9, a synchronous toothed belt 91, a second reciprocating screw rod 92, a second screw sleeve 93, a second guide rod 94 and a sliding block 95, the second servo motor 9 is fixed on the outer surface of the support platform 4, the second reciprocating screw rod 92 is fixed on the outer surface of the support platform 4, the second screw sleeve 93 is threadedly connected with the second reciprocating screw rod 92, and the top of the second screw sleeve 93 is fixedly connected with the lower surface of the shell 51, the second guide rod 94 is fixed on the outer surface of the support platform 4, the sliding block 95 is slidingly connected with the second guide rod 94, and the end of the sliding block 95 is fixed on the lower surface of the shell 51, the shell 51 can be guided through the cooperation of the sliding block 95 and the second guide rod 94, a driving pulley is fixed on the output end of the second servo motor 9, a driven pulley is fixed on the end of the second reciprocating screw rod 92, the driven pulley is linked with the driving pulley through the synchronous toothed belt 91, and the second servo motor 9 can drive the second reciprocating screw rod 92 to rotate through the cooperation of the driving gear, the synchronous toothed belt 91 and the driven gear, so that the second screw sleeve 93 slides with the shell 51 on the support platform 4, and after the plate taking assembly 5 clamps the tray, the tray can be pulled out of the tray rack 3.

[0051] Embodiment two

[0052] Referring toFigure 11 The intelligent spit disc system with intelligent delivery and monitoring is shown, including an information acquisition module 2, an information scanning module 10, an information identification module, and a control module. Each module is connected through a wired and / or wireless network, and the control module is electrically connected with the first servo motor 7, the second servo motor 9, the double-head electric push rod 52, and the electric push rod 6 through a wire.

[0053] The information scanning module 10 is fixed on the lower surface of the support table 4, and is used to obtain the preset disc ID and the corresponding height value of the disc. The information scanning module 10 is integrated with an infrared scanner, a camera, and a height sensor, or uses a required hardware device;

[0054] The information acquisition module 2 is fixed on the surface of the main body case 1, and is used to obtain facial information. The information acquisition module 2 can be realized by using a camera;

[0055] The information identification module inputs the facial information into a preset information library for comparison, and calls the height value of the corresponding disc. It is realized based on a storage hardware such as a hard disk and a retrieval software or tool, such as a retrieval tool such as MySQL, Oracle Database, and Microsoft SQL Server;

[0056] The control module calculates and generates a disc taking instruction according to the height value. The first servo motor 7 drives the support table 4 to the corresponding position according to the disc taking instruction. After the disc is taken by the clamping jaw, the support table 4 is moved to the disc outlet 102, and then the disc is pushed out of the disc outlet 102 by the electric push rod 6. The control module is realized based on a PLC, a Raspberry Pi, a servo driver, or an encoder;

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

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

[0059] A two-dimensional code containing a unique number, i.e., a two-dimensional code containing a disc ID, is engraved on each disc;

[0060] After each disc is used for the first time, the unique number is written into a preset information library and is bound with the facial information of the user;

[0061] When the disc rack 3 containing the cleaned disc is placed into the main body case 1, the support table 4 with the information scanning module 10 moves from the head to the tail of the disc rack 3, so that the information scanning module 10 scans the two-dimensional codes one by one to obtain the corresponding height value of each disc ID, which is marked as H L , H L is an integer greater than or equal to 0, and H L represents the height value of the Lth disc.

[0062] Further, the control module generates the tray taking instruction method according to the height value, that is, obtaining the real-time height value of the turntable 4, marked as HS, HS is an integer greater than or equal to 0, and generating a real-time target value one according to HS L The expression of the real-time target value one ZB1 is: Wherein, P is the pitch of the first reciprocating screw rod 8, that is, the number of threads per unit length, for example, the pitch of the first reciprocating screw rod 8 is 2 mm, so that the screw rod moves 2 mm in the vertical direction per rotation of the first reciprocating screw rod, and P is obtained by a person skilled in the art according to the specification parameters of the first reciprocating screw rod 8;

[0063] M is the number of pulses required for one rotation of the first servo motor 7, for example, 2000 pulses are required for the first servo motor 7 to rotate a full circle, so that M is equal to 2000, and M is obtained by a person skilled in the art according to the model parameters of the first servo motor 7, the first servo motor 7 is executed according to ZB1, and ZB1 is the number of pulses executed by the first servo motor 7, and the turntable 4 is sent to the required tray taking position to take the tray;

[0064] After the tray is taken, a real-time target value two ZB2 is generated according to the expression: The first servo motor 7 is executed according to ZB2, and ZB2 is the number of pulses executed by the first servo motor 7, and the turntable 4 is sent to the tray outlet 102 to take the tray;

[0065] Considering that the first servo motor 7 rotates in different directions, the first reciprocating screw rod 8 can be reversed, that is, the turntable 4 can be controlled to ascend or descend, and And The absolute value is used in the expression, only positive numbers are generated, so the calculated real-time target value one and real-time target value two are integers greater than or equal to 0, so the control module controls the first servo motor 7 to be restrained, if H L -HS or HS-H L Greater than 0, the first servo motor 7 rotates forward;

[0066] If H L -HS or HS-H L Less than 0, the first servo motor 7 rotates reversely; in this way, the up and down movement of the turntable 4 can be realized, that is, the turntable 4 reaches the tray taking position to take the tray and then returns to the tray outlet 102 to take the tray.

[0067] Embodiment three

[0068] Referring to Figure 12 And Figure 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 dispensing system with intelligent delivery and monitoring also includes a tray conveying recognition module for determining the tray conveying status. The tray recognition module's identification methods include:

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

[0071] The real-time feature data of the tray conveying is input into the trained tray conveying recognition model to obtain the tray conveying status, which is tray picking up, tray picking up completed, tray delivering, tray delivering completed, and tray discharging completed.

[0072] The training method for the tray delivery recognition model is:

[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 machine learning model is trained for the actual annotations corresponding to the k-th group of plate delivery feature data until the sum of the prediction accuracies reaches a stable state. The training is then stopped and the trained machine learning model is used as the plate delivery recognition model. The plate delivery recognition model is either a naive Bayes model or a support vector machine model.

[0074] Further, the control module determines whether to generate a control instruction based on the conveying state output by the dish conveying recognition model. The control instruction includes a primary instruction and a secondary instruction.

[0075] If the dish conveying state is the dish taking completion, the primary instruction is generated.

[0076] If the dish conveying state is the dish sending completion, the secondary instruction is generated.

[0077] If the dish conveying state is the dish taking, the dish sending or the dish taking end, no control instruction is generated.

[0078] Further, if the dish conveying state is the dish taking completion, i.e., the tray 4 reaches the specified position, the control module controls the double-end electric push rod 52 and the second servo motor 9 in the translation driving mechanism to work in sequence based on the primary instruction, to complete the action of clamping the dish and translating the dish to the tray 4. The working process control principle of the double-end electric push rod 52 and the second servo motor 9 is the same as that of the first servo motor 7, which will not be described here.

[0079] If the dish conveying state is the dish sending completion, i.e., the tray 4 reaches the dish outlet 102, the control module controls the electric push rod 6 to push the dish out of the dish outlet 102 through the push block 61 based on the secondary instruction. After the dish is sent out, the electric push rod 6 is reset.

[0080] The dish conveying recognition module stops working until the dish taking instruction is generated, and the dish conveying recognition module works again.

[0081] Embodiment Four

[0082] Referring to FIGS. 1, 2 and 3, Figure 7 and Figure 8 The shell 51 is in sliding connection with the tray 4, and two clamping jaws are arranged in the shell 51, and the clamping directions of the two clamping jaws are opposite. Correspondingly, two double-end electric push rods 52 are arranged, which are double-end electric push rod one and double-end electric push rod two. In this way, two dish racks 3 can be arranged in the main body case 1, which are arranged on both sides of the tray 4, so as to improve the utilization rate of the space in the main body case 1 and the storage amount of the dishes.

[0083] The control difference only needs to be scanned twice on the basis of embodiment two (when it is used again, i.e., after the dish rack 3 with the cleaned dishes is placed in the main body case 1, the information scanning module 10 is moved from the head to the tail of the dish rack 3 by the tray 4, and the information scanning module 10 scans the two-dimensional code one by one to obtain the corresponding height value of each dish ID.). The first time is to obtain the corresponding height value of each dish ID marked as R area, and the second time is to obtain the corresponding height value of each dish ID marked as L area.

[0084] On the basis of the embodiment two (information identification module, input face information into preset information library comparison, call corresponding height value of meal tray), the tray taking instruction is divided into tray taking instruction one and tray taking instruction two, the difference is that the meal tray ID identified by the information identification module is in the R area, that is, worked by the double-head electric push rod one, and in the L area, that is, worked by the double-head electric push rod two.

[0085] Embodiment five

[0086] Referring to Figure 9 As shown in the drawings, the output end of the first servo motor 7 is fixed with a driving gear 71, the end of the first reciprocating lead screw 8 is fixed with a driven gear 72, and the driving gear 71 is engaged with the driven gear 72. The first lead screw 8 is screwed with a first lead sleeve 82 fixed on the support table 4. The first reciprocating lead screw 8 is provided with a first guide rod 81 on the side surface, and the two ends of the first guide rod 81 are fixedly connected with the partition plate 103 and the main body case 1 respectively. The support table 4 is slidably connected with the first guide rod 81. The first reciprocating lead screw 8 and the first servo motor 7 are cooperatively driven through the driving gear 71 and the driven gear 72. The driving gear 71 and the driven gear 72 have the same pitch, and the number of teeth of the driving gear 71 is greater than that of the driven gear 72, so that a larger transmission ratio is obtained. Compared with the direct driving of the first reciprocating lead screw 8 by the first servo motor 7, the number of rotation turns required by the first servo motor 7 is smaller, that is, the speed is unchanged. Under the same lifting distance, the lifting speed of the support table 4 is faster, the tray taking time is solved, and the difference with the embodiment two (after the tray taking is completed, according to the H L With H S The expression of the second real-time target value is: In the embodiment five, the expression of the second real-time target value needs to increase the transmission ratio:

[0087]

[0088] The above describes the exemplary embodiments of the scheme proposed by the present disclosure in detail with reference to the preferred embodiments. However, those skilled in the art can understand that various modifications and improvements can be made to the above specific embodiments without departing from the concept of the present disclosure, and various technical features and structures proposed by the present disclosure can be combined without exceeding the protection scope of the present disclosure. The protection scope of the present disclosure is determined by the appended claims.

Claims

1. Intelligent plate dispensing machine with intelligent delivery and monitoring, characterized by: include: A main chassis (1), wherein a disk outlet (102) for discharging disks is provided on a surface of the main chassis (1); A plate rack (3), fixed in the main chassis (1), for storing plates; The support platform (4) has a first reciprocating screw (8) slidably connected to its surface, and the first reciprocating screw (8) is rotatably connected to the main chassis (1); A plate taking assembly (5) is slidably connected to the support platform (4), and the plate taking assembly (5) includes 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 chassis (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 and a corresponding height value of the plate; An information acquisition 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 database for comparison and calls the height value of the corresponding plate; The control module generates a plate-taking instruction based on the height value calculation. The first servo motor (7) drives the support platform (4) to a corresponding position according to the plate-taking instruction, picks up the plate through the clamping claws, and then moves to the plate outlet (102) to push the plate out.

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 to 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 to 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), the 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 tray dispensing machine with intelligent delivery and monitoring according to claim 1 is characterized in that: Interlayer support plates (31) for placing dinner plates are evenly fixed in the dish rack (3), 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 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 fixedly connected to the fixing seat (33) and the connecting block (34) respectively.

5. The intelligent plate dispensing machine with intelligent delivery and monitoring according to claim 1 is characterized in that: The tray removal assembly (5) further comprises a housing (51), wherein the housing (51) is slidably connected to the support platform (4), and two clamping claws are provided in the housing (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 in 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 drive mechanism for driving the disk removal assembly (5) to translate, and the translation drive mechanism includes: 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 to the driving pulley via the synchronous toothed belt (91); A second guide rod (94) is fixed to 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 for the information scanning module (10) to obtain the preset plate ID 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 QR codes are scanned one by one by the information scanning module (10), that is, the support platform (4) moves from the head to the tail of the plate rack (3) with the information scanning module (10), and the corresponding height value of each plate ID is obtained, 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-taking instruction based on the height value by calculation as follows: Get the real-time height value of the platform (4), marked as HS, HS is an integer greater than or equal to 0, according to H L Generate real-time target value 1 with HS. The expression of real-time target value 1 ZB1 is: Wherein P is the pitch of the first reciprocating screw (8), i.e., the number of threads per unit length, M is the number of pulses required for the first servo motor (7) to rotate one circle, 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 tray (4) to the desired location to pick up the plate; After the disk is retrieved, the real-time target value ZB2 is generated based on the expression of the real-time target value ZB2: 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 plate dispensing machine with intelligent delivery and monitoring according to claim 8 is 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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