Material taking mechanism, meal cabinet and control method

Abstract

The invention provides a material taking mechanism, a meal cabinet and a control method, the material taking mechanism is suitable for a discharging device, the discharging device comprises a material storage mechanism and a discharging mechanism, and the material taking mechanism comprises a transportation structure which is movably arranged; the transportation structure is used for carrying the to-be-taken materials taken out from the material storage mechanism to the feeding end of the discharging mechanism; the clamping structure is movably arranged on the transportation structure; the clamping structure is used for clamping the to-be-taken materials stored in the material storage mechanism to the conveying structure. The material taking mechanism can effectively solve the technical problems that in a meal outlet structure of a meal selling cabinet in the prior art, each goods channel needs to be independently provided with a motor and a crawler belt, so that cost is increased, and control is complex.

Description

Technical Field

[0001] The present invention relates to the technical field of catering equipment, and in particular to a material taking mechanism, a dining cabinet and a control method. Background Art

[0002] Meal vending machines are convenient and fast vending machines that can provide meal boxes with various flavors of food for consumers to choose from. For busy urban people, meal vending machines are very practical and have great market potential. Consumers only need to choose their favorite flavors and then complete the payment and meal collection process through the vending machine without waiting for manual service, saving time and labor costs. This unmanned service is in line with the modern society's pursuit of an efficient and convenient lifestyle.

[0003] At present, the meal vending cabinets on the market only have the automatic delivery function. Customers still need to manually heat the food after picking up the food, which brings inconvenience to users and affects the overall experience. In addition, in the existing meal vending cabinets, the aisles of the meal delivery structure are usually equipped with motors and tracks for each aisle independently. When the number of aisles increases, the number of motors and tracks also needs to increase accordingly, resulting in rising costs. At the same time, during the assembly process of the whole machine, more man-hours are required to install the motors and tracks. And in terms of the control system, each motor needs to be controlled separately, and the meal picking process is lengthy and repetitive, resulting in cumbersome overall operation. Summary of the invention

[0004] The purpose of the present invention is to overcome the above-mentioned technical deficiencies and provide a material taking mechanism, a meal cabinet and a control method to solve the technical problem that in the meal serving structure of the meal vending cabinet in the prior art, each cargo aisle needs to be independently equipped with a motor and a track, resulting in increased costs and complex control.

[0005] In order to achieve the above technical objectives, according to one aspect of the present invention: a material picking mechanism is provided, the material picking mechanism is suitable for a discharging device, the discharging device includes a storage mechanism and a discharging mechanism, the material picking mechanism includes: a transport structure, which is movably arranged; the transport structure is used to transport the material to be taken out from the storage mechanism to the feed end of the discharging mechanism; a clamping structure, which is movably arranged on the transport structure; the clamping structure is used to clamp the material to be taken stored in the storage mechanism onto the transport structure.

[0006] Furthermore, the clamping structure includes: a clamping assembly, which is movably arranged; the clamping assembly is used to clamp or avoid the material to be taken; a telescopic assembly, which is telescopically arranged on the transport structure in a direction close to or away from the storage mechanism; the telescopic assembly has an extended state extending in the direction of the storage mechanism and a retracted state retracted in the direction of the transport structure, the telescopic assembly is connected to the clamping assembly, and the clamping assembly moves synchronously with the telescopic assembly; wherein, when the telescopic assembly is in the extended state, it drives the clamping assembly to move toward the storage mechanism, so that the clamping assembly is located in the storage mechanism to clamp the material to be taken; when the telescopic assembly switches from the extended state to the retracted state, it drives the clamping assembly that has clamped the material to be taken to move toward the transport structure, so as to move the material to be taken to the transport structure.

[0007] Furthermore, the clamping assembly includes: a clamping member for clamping or avoiding the material to be taken; the clamping member has a clamping space for placing the material to be taken; the clamping member is connected to the telescopic assembly, and the clamping member is retractably arranged relative to the telescopic assembly to adjust the size of the clamping space; wherein the clamping member has an avoiding state and a clamping state, and when the clamping member is in the avoiding state, the clamping member is opened relative to the telescopic assembly to avoid the material to be taken; when the clamping member is in the clamping state, the clamping member is closed relative to the telescopic assembly to clamp the material to be taken located in the clamping space.

[0008] Furthermore, the clamping member includes: a first clamping plate, a second clamping plate and a third clamping plate connected in sequence; the first clamping plate and the third clamping plate are arranged opposite to each other, and the first clamping plate, the second clamping plate and the third clamping plate enclose a clamping space; the first clamping plate and the third clamping plate are both swingably arranged relative to the second clamping plate, and the first clamping plate and the third clamping plate move relative to each other; the size of the clamping space can be adjusted by swinging the first clamping plate and the third clamping plate relative to the second clamping plate.

[0009] Furthermore, the material picking mechanism also includes: a first detection structure, which is arranged on the transport structure to detect whether the clamping structure clamps the material to be picked up stored in the material storage mechanism onto the transport structure; a control structure, the first detection structure and the clamping structure are both connected to the control structure, and the control structure controls the clamping structure according to the signal detected by the first detection structure.

[0010] Furthermore, the material taking mechanism also includes: a heating component, which is arranged on the clamping part of the clamping structure to heat the clamped material to be taken; wherein the heating component is connected to the control structure, and the control structure is used to control the start or stop of the heating component.

[0011] Furthermore, the material picking mechanism also includes: a second detection structure, which is arranged on the transport structure to detect the temperature of the clamped material to be picked up; the second detection structure is spaced apart from the first detection structure; wherein the second detection structure is connected to the control structure, and the control structure controls the start-up of the heating component according to the detection result of the second detection structure.

[0012] Furthermore, the material picking mechanism also includes: a pushing structure, which is movably arranged on the transport structure along a direction close to or away from the feed end of the discharging mechanism; the pushing structure is used to push the material to be picked up on the transport structure to the discharging mechanism; the pushing structure has an initial state of avoiding the clamping structure and a pushing state of pushing the material to be picked up on the transport structure; wherein, when the transport structure moves to the feed end of the discharging mechanism and docks with the feed end of the discharging mechanism, the clamping structure avoids the pushing structure and the material to be picked up, and the pushing structure is in a pushing state; when the material to be picked up is pushed to the discharging mechanism, the pushing structure switches from the pushing state to the initial state.

[0013] Furthermore, the material picking mechanism also includes: a third detection structure, which is arranged on the discharging mechanism to detect whether there is material to be taken out in the discharging mechanism; a control structure, the third detection structure and the transport structure are both connected to the control structure, and the control structure controls the transport structure according to the signal detected by the third detection structure.

[0014] Furthermore, the material picking mechanism also includes: a first driving structure, which is drivingly connected to the transport structure, and the first driving structure drives the transport structure to move along the direction from the storage mechanism to the feeding end of the discharging mechanism; a second driving structure, which is drivingly connected to the transport structure, and the second driving structure drives the transport structure to move along the height direction of the discharging device; wherein the first driving structure and the second driving structure are both connected to the control structure, and the control structure controls the first driving structure and / or the second driving structure according to the signal detected by the third detection structure.

[0015] Furthermore, the material picking mechanism also includes: a supporting component, which extends along the direction of the transport structure from the storage mechanism to the feed end of the discharging mechanism; the supporting component is connected to the second driving structure, and the second driving structure drives the transport structure to move along the height direction of the discharging device through the supporting component; the supporting component is provided with a first guide groove, and the first guide groove extends along the extension direction of the supporting component; at least a part of the transport structure is movably arranged in the first guide groove along the extension direction of the first guide groove.

[0016] Furthermore, the second driving structure includes: a transmission assembly, which is movably arranged along the height direction of the discharging device, and the transmission assembly is transmission-connected to the transport structure; a driving assembly, which is connected to the transmission assembly, and the driving assembly drives the transport structure to move along the height direction of the discharging device through the transmission assembly.

[0017] Furthermore, the transmission assembly includes: a first transmission wheel and a second transmission wheel, the first transmission wheel and the second transmission wheel are rotatably arranged, and the first transmission wheel and the second transmission wheel are spaced apart along the height direction of the discharging device; a driving assembly is drivingly connected to the first transmission wheel or the second transmission wheel; a transmission belt, the transmission belt is rotatably mounted on the first transmission wheel and the second transmission wheel to drive the transmission belt to move through the first transmission wheel or the second transmission wheel; and a transport structure is drivingly connected to the transmission belt, and the transmission belt drives the transport structure to move along the height direction of the discharging device.

[0018] Furthermore, the transmission assembly also includes: a fixing member, the fixing member is installed on the transmission belt, and the transport structure is arranged on the fixing member, and the transmission belt drives the transport structure to move along the height direction of the discharge device through the fixing member.

[0019] Furthermore, the transmission assembly also includes: a guide member, which is arranged at one side of the first transmission wheel, the guide member extends along the height direction of the discharging device, and the guide member is provided with a second guide groove extending along the extension direction of the guide member; at least a part of the fixing member is movably arranged in the second guide groove along the extension direction of the second guide groove; and / or, a counterweight member, which is installed on the side of the transmission belt away from the transport structure, and the counterweight member is arranged opposite to the transport structure; the counterweight member is used to balance the transport structure.

[0020] According to another aspect of the present invention: a meal cabinet is provided, comprising: a box body, an installation space is provided in the box body; a storage mechanism, the storage mechanism is arranged in the installation space, and a plurality of storage cavities are provided in the storage mechanism; a discharging mechanism, the discharging mechanism is installed in the box body, and the discharging mechanism is provided with a placement cavity and a dining port respectively connected with the placement cavity and the installation space; a picking mechanism, the picking mechanism is the above-mentioned picking mechanism; the picking mechanism is arranged in the box body, and at least part of the picking mechanism is located in the installation space; wherein the picking mechanism comprises a movably arranged transport structure, the transport structure is used to move between the discharge port and the dining port of any one of the multiple storage cavities, and carry the food to be picked up from any one of the multiple storage cavities to the dining port.

[0021] According to another aspect of the present invention: a control method is provided, and the control method is applicable to the above-mentioned material picking mechanism; the control method comprises: after the material picking mechanism receives a material picking instruction and identifies that there is no material to be picked in the material discharging mechanism, the transport structure moves to the material discharging end of the storage mechanism according to the material picking instruction; when the transport structure moves to the corresponding position, the clamping structure clamps the material to be picked stored in the material storage mechanism onto the transport structure; after the clamping structure completes the clamping, the transport structure transports the material to be picked to the material feeding end of the material discharging mechanism.

[0022] Furthermore, the control method also includes: judging whether it is necessary to heat the material to be picked up according to the material picking instruction; if necessary, heating the material to be picked up when the material to be picked up is located on the transport structure; if not necessary, after the transport structure is docked with the feed end of the discharging mechanism, pushing the material to be picked up placed on the transport structure to the feed end of the discharging mechanism.

[0023] Further, if necessary, when the material to be taken is located on the transport structure, the method for heating the material to be taken includes: obtaining the current temperature and the optimal edible temperature of the material to be taken; calculating the heating time Δt required to heat the material to be taken according to the current temperature and the optimal edible temperature of the material to be taken; heating the material to be taken located on the transport structure according to the heating time Δt; when the material to be taken located on the transport structure reaches the optimal edible temperature and the transport structure is docked with the feed end of the discharging mechanism, pushing the material to be taken placed on the transport structure to the feed end of the discharging mechanism.

[0024] Furthermore, if necessary, when the material to be taken is located on the transport structure, the method for heating the material to be taken also includes: obtaining the heating power Px required to heat the material to be taken according to the optimal edible temperature of the material to be taken; adjusting the heating power of the heating structure according to the obtained heating power Px required to heat the material to be taken; and the heating structure heats the material to be taken located on the transport structure according to the adjusted heating power Px.

[0025] Further, according to the current temperature and the optimal edible temperature of the material to be taken, a method for calculating the heating time Δt required for heating the material to be taken includes: obtaining the specific heat capacity C of the material to be taken and the weight m of the material to be taken; calculating the difference ΔT between the optimal edible temperature and the current temperature of the material to be taken according to the current temperature and the optimal edible temperature of the material to be taken; and calculating the heating time Δt required for heating the material to be taken according to the specific heat capacity C of the material to be taken, the weight m of the material to be taken, the difference ΔT between the optimal edible temperature and the current temperature of the material to be taken, and the heating power Px required for heating the material to be taken, and the calculation formula is:

[0026] Furthermore, the control method also includes: when the material taking mechanism receives the material taking instruction and identifies that there is material to be taken in the material discharging mechanism, the transport structure is controlled to move to the origin or remain stationary.

[0027] Beneficial effects:

[0028] The technical solution of the present invention is applied. The material taking mechanism provided by the present invention is provided with a transport structure and a clamping structure, and the transport structure is movably provided, and the clamping structure is movably provided on the transport structure. When it is necessary to take materials, the transport structure moves to the storage mechanism, and then the clamping structure moves into the storage mechanism to clamp the materials to be taken stored in the storage mechanism and drive the materials to be taken to be placed on the transport structure, and finally the materials to be taken taken out from the storage mechanism are carried to the feeding end of the discharging mechanism by the transport structure. It can be seen that by providing the clamping structure on the transport structure, and the clamping structure is movably provided relative to the transport structure, it is possible to quickly transport the materials to be taken stored in the storage mechanism to the transport structure, thereby effectively reducing the installation requirements for the motor and crawler during the equipment assembly process, thereby saving production and assembly time and improving production efficiency. In addition, the redundancy of each cargo channel being independently configured with a motor and crawler is avoided, which significantly reduces the manufacturing and maintenance costs of the overall equipment, and avoids the complexity of controlling multiple motors separately, improves the stability and response speed of the control system, and simplifies the operation process. Moreover, the clamping structure can clamp the material according to the size and shape of different materials to be taken, and flexibly adapt to the needs of multiple aisles or different types of materials to be taken. This flexibility improves the scope of application of the entire material-taking mechanism and enhances the versatility and practicality of the equipment. At the same time, by setting up the clamping structure, it is possible to quickly clamp and place, and transfer the material to the transport structure in the shortest path, thereby speeding up the meal-taking speed and improving the overall work efficiency. And when the clamping structure clamps the material, it can provide stable support and fixation to ensure the safety of the material to be taken during transportation. This stability can significantly reduce the risk of falling of the material due to vibration or external force, and improve the safety of operation. Moreover, through the coordinated operation of the transport structure and the clamping structure, it can ensure that the material to be taken can be accurately clamped on the transport structure, thereby achieving a smoother meal-taking process, reducing the waiting time during the meal-taking process, and making the user experience more convenient. The material-taking mechanism can effectively solve the technical problems that each aisle of the meal-selling cabinet in the prior art needs to be independently equipped with a motor and a crawler, resulting in increased costs and complex control. BRIEF DESCRIPTION OF THE DRAWINGS

[0029] Figure 1 A schematic structural diagram showing an embodiment of a material taking mechanism of the present invention in which the material taking mechanism is located in a box of a dining cabinet;

[0030] Figure 2A schematic structural diagram from a first viewing angle is shown in an embodiment of the material taking mechanism of the present invention with the second driving structure removed;

[0031] Figure 3 A schematic diagram of the structure from a second viewing angle in an embodiment of the material taking mechanism of the present invention without the second driving structure is shown;

[0032] Figure 4 A third perspective structural schematic diagram showing an embodiment of a material taking mechanism of the present invention without the second driving structure is shown;

[0033] Figure 5 A schematic diagram showing the structure of the clamping structure of the material taking mechanism in the embodiment of the present invention when clamping the material to be taken;

[0034] Figure 6 A schematic structural diagram of a second driving structure in an embodiment of a material taking mechanism of the present invention is shown;

[0035] Figure 7 A schematic structural diagram of a dining cabinet according to an embodiment of the present invention from a first viewing angle is shown;

[0036] Figure 8 A second perspective structural schematic diagram of an embodiment of a meal cabinet of the present invention is shown;

[0037] Fig. 9 A schematic flow chart showing a first embodiment of the control method of the present invention;

[0038] Fig.10 A schematic flow chart of a second embodiment of the control method of the present invention is shown.

[0039] The above drawings include the following reference numerals:

[0040] 100, material taking mechanism; 1, transport structure; 10, placement space; 2, clamping structure; 21, clamping assembly; 211, clamping member; 2110, clamping space; 2111, first clamping plate; 2112, second clamping plate; 2113, third clamping plate; 22, telescopic assembly; 3, first detection structure; 4, second detection structure; 5, pushing structure; 6, supporting member; 60, first guide groove; 7, first driving structure; 8, second driving structure ;81. Transmission assembly;811. First transmission wheel;812. Second transmission wheel;813. Transmission belt;814. Fixing member;815. Guide member;8150. Second guide groove;816. Counterweight member;817. Second slide rail;200. Storage mechanism;201. Storage cavity;202. Discharge port;300. Discharge mechanism;301. Food inlet;302. Food discharge port;303. Touch screen;400. Box;401. Installation space. DETAILED DESCRIPTION

[0041] In order to enable those skilled in the art to better understand the present application, the technical solutions in the embodiments of the present application will be described clearly and completely below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in the field without creative work should fall within the scope of protection of the present application.

[0042] Embodiment 1

[0043] See also Figures 1 to 6 As shown, according to an embodiment of the present invention, the present invention provides a material picking mechanism, the material picking mechanism 100 is suitable for a discharging device, the discharging device includes a storage mechanism 200 and a discharging mechanism 300, the material picking mechanism 100 includes: a transport structure 1 and a clamping structure 2 are movably arranged; the transport structure 1 is used to transport the material to be taken out from the storage mechanism 200 to the feeding end of the discharging mechanism 300; the clamping structure 2 is movably arranged on the transport structure 1; the clamping structure 2 is used to clamp the material to be taken stored in the storage mechanism 200 onto the transport structure 1.

[0044] It can be seen that the material-taking mechanism provided by the present invention is provided with a transport structure 1 and a clamping structure 2, and the transport structure 1 is movably provided, and the clamping structure 2 is movably provided on the transport structure. When it is necessary to take materials, the transport structure 1 moves to the storage mechanism 200, and then the clamping structure 2 moves into the storage mechanism 200 to clamp the materials to be taken stored in the storage mechanism 200 and drive the materials to be taken to be placed on the transport structure 1, and finally the transport structure 1 carries the materials to be taken taken out from the storage mechanism 200 to the feeding end of the discharging mechanism 300. It can be seen that by providing the clamping structure 2 on the transport structure 1, and the clamping structure is movably provided relative to the transport structure 1, it is possible to quickly transport the materials to be taken stored in the storage mechanism 200 to the transport structure 1, thereby effectively reducing the installation requirements for the motor and the crawler during the equipment assembly process, thereby saving production and assembly time and improving production efficiency. Furthermore, the redundancy of each cargo lane being independently configured with a motor and a crawler track is avoided, which significantly reduces the manufacturing and maintenance costs of the overall equipment, and avoids the complexity of controlling multiple motors individually, improves the stability and response speed of the control system, and simplifies the operation process. In addition, the clamping structure 2 can clamp the force and position according to the size and shape of different materials to be taken, and flexibly adapt to the needs of taking multiple cargo lanes or different types of materials to be taken. This flexibility improves the scope of application of the entire material-taking mechanism and enhances the versatility and practicality of the equipment. At the same time, by setting up the clamping structure 2, rapid clamping and placement can be achieved, and the materials can be transferred to the transport structure 1 in the shortest path, thereby speeding up the meal retrieval speed and improving the overall work efficiency. And when clamping the materials, the clamping structure 2 can provide stable support and fixation to ensure the safety of the materials to be taken during transportation. This stability can significantly reduce the risk of falling of materials due to vibration or external force, and improve operational safety. Moreover, through the coordinated operation of the transport structure 1 and the clamping structure 2, it can be ensured that the material to be taken can be accurately clamped on the transport structure 1, thereby achieving a smoother meal taking process, reducing the waiting time during the meal taking process, and making the user experience more convenient. The material taking mechanism can effectively solve the technical problem that each cargo channel needs to be independently equipped with a motor and a crawler in the meal delivery structure of the meal vending cabinet in the prior art, which leads to increased costs and complex control.

[0045] Furthermore, a placement space 10 is provided on the transport structure 1 , and at least a portion of the clamping structure 2 is located on the placement space 10 , so that the clamping structure 2 clamps the materials to be taken stored in the material storage mechanism 200 to the placement space 10 .

[0046] In this embodiment, Figures 2 to 5As shown, the clamping structure 2 includes: a clamping component 21 and a telescopic component 22, the clamping component 21 is movably arranged; the clamping component 21 is used to clamp or avoid the material to be taken; the telescopic component 22 is telescopically arranged on the transport structure 1 in the direction close to or away from the storage mechanism 200; the telescopic component 22 has an extended state extending in the direction of the storage mechanism 200 and a retracted state retracted in the direction of the transport structure 1, the telescopic component 22 is connected to the clamping component 21, and the clamping component 21 moves synchronously with the telescopic component 22; wherein, when the telescopic component 22 is in the extended state, it drives the clamping component 21 to move toward the storage mechanism 200, so that the clamping component 21 is located in the storage mechanism 200 to clamp the material to be taken; when the telescopic component 22 switches from the extended state to the retracted state, it drives the clamping component 21 that has clamped the material to be taken to move toward the transport structure 1, so as to move the material to be taken to the transport structure 1. With such a structural setting, the clamping assembly 21 is provided to clamp the material to be taken, and the telescopic assembly 22 is provided, and the telescopic assembly 22 is connected to the clamping assembly 21, so that the telescopic assembly 22 can drive the clamping assembly 21 to reciprocate between the transport structure 1 and the storage mechanism 200. Therefore, through the coordinated operation of the telescopic assembly 22 and the clamping assembly 21, the material to be taken stored in the storage mechanism 200 can be quickly transported to the transport structure 1, thereby improving the working efficiency of the material taking mechanism.

[0047] Furthermore, when the clamping structure 2 does not need to clamp the material to be taken, at least a portion of the telescopic component 22 and the clamping component 21 are located in the placement space 10 .

[0048] Specifically, Figures 2 to 5 As shown, the clamping assembly 21 includes: a clamping member 211 for clamping or releasing the material to be taken; the clamping member 211 has a clamping space 2110 for placing the material to be taken; the clamping member 211 is connected to the telescopic assembly 22, and the clamping member 211 is arranged to be retractable relative to the telescopic assembly to adjust the size of the clamping space 2110 of the clamping member 211; wherein the clamping member 211 has an avoidance state and a clamping state, when the clamping member 211 is in the avoidance state, the clamping member 211 is opened relative to the telescopic assembly to avoid the material to be taken; when the clamping member 211 is in the clamping state, the clamping member 211 is closed relative to the telescopic assembly to clamp the material to be taken in the clamping space 2110. With such a structural arrangement, the clamping member 211 can adjust the size of the clamping space 2110 by opening and closing, so as to adapt to materials to be taken of different sizes and shapes. Furthermore, the coordinated work of the clamping member 211 and the telescopic assembly 22 can realize automatic material taking and placing, thereby improving work efficiency.

[0049] Furthermore, the clamping assembly 21 further includes: a first driving member, which is drivingly connected to the clamping member 211, and is used to drive the clamping member 211 to open or close.

[0050] Optionally, the first driving member is a first motor.

[0051] Furthermore, if Figure 2 and Figure 3 As shown, the clamping member 211 includes: a first clamping plate 2111, a second clamping plate 2112 and a third clamping plate 2113 connected in sequence; the first clamping plate 2111 and the third clamping plate 2113 are arranged relative to each other, and the first clamping plate 2111, the second clamping plate 2112 and the third clamping plate 2113 enclose a clamping space 2110; the first clamping plate 2111 and the third clamping plate 2113 are swingably arranged relative to the second clamping plate 2112, and the first clamping plate 2111 and the third clamping plate 2113 move relative to each other; the size of the clamping space 2110 is adjusted by the first clamping plate 2111 and the third clamping plate 2113 swinging relative to the second clamping plate 2112. With such a structural arrangement, the size of the clamping space 2110 can be flexibly adjusted through the relative movement of the first clamping plate 2111 and the third clamping plate 2113 to adapt to materials to be taken of different sizes and shapes.

[0052] Optionally, in addition to adjusting the size of the clamping space 2110 by swinging the first clamping plate 2111 and the third clamping plate 2113 relative to the second clamping plate 2112, the connection between the second clamping plate 2112 and the third clamping plate 2113 can be changed to a fixed connection, and the size of the clamping space 2110 can be adjusted only by swinging the first clamping plate 2111 relative to the second clamping plate 2112.

[0053] Furthermore, the clamping structure 2 also includes a second driving member, which is drivingly connected to the telescopic assembly 22 so as to drive the telescopic assembly 22 to telescope in a direction close to or away from the storage mechanism 200 through the second driving member.

[0054] Optionally, the telescopic component 22 is a telescopic rod.

[0055] Specifically, Figure 4As shown, the material picking mechanism 100 also includes: a first detection structure 3 and a control structure. The first detection structure 3 is arranged on the transport structure 1 to detect whether the clamping structure 2 clamps the material to be picked up stored in the material storage mechanism 200 onto the transport structure 1; the first detection structure 3 and the clamping structure 2 are both connected to the control structure, and the control structure controls the clamping structure 2 according to the signal detected by the first detection structure 3. With such a structural setting, by setting the first detection structure 3, it is possible to detect in real time whether the clamping structure 2 successfully clamps the material to be picked up onto the transport structure 1, thereby ensuring the accuracy of the operation. And the control structure can automatically control the movement of the clamping structure 2 according to the detection signal of the first detection structure 3, so as to realize full-process automated operation.

[0056] Optionally, when the clamping structure 2 completes the clamping action and moves the clamping part of the clamping structure 2 onto the transport structure 1, the first detection structure 3 detects whether the clamping structure 2 clamps the material to be taken stored in the material storage mechanism 200 onto the transport structure 1. If it is detected that the material is not clamped, the control structure controls the clamping structure 2 to perform the clamping process again. If it is detected that the material is clamped, the clamping structure 2 is controlled to maintain the clamping action or avoid the material to be taken.

[0057] Optionally, the first detection structure 3 is a first infrared sensor.

[0058] Optionally, when the first detection structure 3 detects multiple times that the clamping structure 2 fails to clamp the material to be taken, the control structure issues an alarm instruction.

[0059] Optionally, after the clamping assembly 21 completes the clamping process, the control structure controls the telescopic assembly 22 to retract toward the transport structure 1 .

[0060] In this embodiment, the material picking mechanism 100 also includes: a heating component, which is arranged on the clamping part of the clamping structure 2, so as to heat the clamped material to be picked up; wherein the heating component is connected to the control structure, and the control structure is used to control the start or stop of the heating component. With such a structural setting, by setting the heating component, the material to be picked up can be heated according to user needs, thereby providing customized services. And the user can obtain the heated material immediately during the material picking process, which improves the user experience. It effectively solves the problem that customers need to manually heat the food after picking up the material.

[0061] Furthermore, the clamping member 211 of the clamping assembly 21 forms a clamping portion of the clamping structure 2 .

[0062] Optionally, the heating component is an electric heating wire, which is disposed in the clamping portion of the clamping structure 2. Specifically, it is disposed in the first clamping plate 2111 and the third clamping plate 2113 of the clamping member 211. Alternatively, it is disposed in the first clamping plate 2111, the second clamping plate 2112 and the third clamping plate 2113 of the clamping member 211.

[0063] Optionally, through instructions sent by the user, after the control structure obtains that the clamping structure 2 is in the clamping state, it controls the heating component to start heating the material to be taken. After the heating reaches a preset time, the control structure controls the heating component to stop heating.

[0064] Specifically, the material picking mechanism 100 also includes: a second detection structure 4, which is arranged on the transport structure 1 to detect the temperature of the clamped material to be picked up; the second detection structure 4 is arranged at a distance from the first detection structure 3; wherein the second detection structure 4 is connected to the control structure, and the control structure controls the start of the heating component according to the detection result of the second detection structure 4. With such a structural setting, the second detection structure 4 can detect the temperature of the clamped material to be picked up before heating and / or after heating, thereby ensuring the accuracy of the temperature data. The control structure adjusts the heating time in real time according to the detection result of the second detection structure 4, and controls the start and stop of the heating component, thereby achieving precise temperature control.

[0065] Optionally, when the user issues a heating instruction and the clamped material to be taken is moved onto the transport structure 1, the second detection structure 4 detects the current temperature of the clamped material to be taken, and sends the detected current temperature of the clamped material to be taken to the control structure. The control structure calculates the heating time based on the detected current temperature and the optimal heating temperature of the material to be taken, and then controls the heating component to start and heat. When the heating time is reached, the control structure controls the heating component to stop heating.

[0066] Optionally, when the heating structure completes heating, the second detection structure 4 detects the current temperature of the clamped material to be taken again. If the current temperature of the clamped material to be taken does not reach the optimal temperature at this time, the control structure controls the structure again to calculate the heating time according to the detected current temperature and the optimal temperature for heating the material to be taken, and then controls the heating component to start and heat. When the heating time is reached, the control structure controls the heating component to stop heating. This step can be repeated until the second detection structure 4 detects that the current temperature of the clamped material to be taken is the optimal temperature for heating the material to be taken.

[0067] Optionally, when the user does not issue a heating instruction, the second detection structure 4 does not perform detection.

[0068] Optionally, in order to monitor the temperature change in real time and to promptly discover abnormal conditions during the heating process, the second detection structure 4 may monitor the temperature of the material to be taken during the heating process in real time.

[0069] Optionally, the second detection structure 4 is an infrared temperature sensor.

[0070] Specifically, Figure 2 As shown, the material taking mechanism 100 also includes: a pushing structure 5, which is movably arranged on the transport structure 1 along the direction close to or away from the feeding end of the discharging mechanism 300; the pushing structure 5 is used to push the material to be taken on the transport structure 1 to the discharging mechanism 300; the pushing structure 5 has an initial state of avoiding the clamping structure 2 and a pushing state of pushing the material to be taken on the transport structure 1; wherein, when the transport structure 1 moves to the feeding end of the discharging mechanism 300 and docks with the feeding end of the discharging mechanism 300, the clamping structure 2 avoids the pushing structure 5 and the material to be taken, and the pushing structure 5 is in a pushing state; when the material to be taken is pushed to the discharging mechanism 300, the pushing structure 5 switches from the pushing state to the initial state. With such a structural setting, by setting the pushing structure 5, the material to be taken can be accurately pushed from the transport structure 1 to the feeding end of the discharging mechanism 300, ensuring the accurate position of the material. And the material to be taken can be quickly pushed from the transport structure 1 to the discharging mechanism 300, which shortens the material transmission time and improves the overall operation efficiency.

[0071] Specifically, the material-taking mechanism 100 also includes: a third detection structure, which is arranged on the discharging mechanism 300 to detect whether there is material to be taken out in the discharging mechanism 300; the third detection structure and the transport structure 1 are both connected to the control structure, and the control structure controls the transport structure 1 according to the signal detected by the third detection structure. With such a structural setting, by setting the third detection structure, it is possible to detect in real time whether there is material to be taken out in the discharging mechanism 300, thereby ensuring the accuracy of the information. Through real-time detection, it is possible to avoid the transport structure 1 from performing invalid operations when there is no material to be taken, thereby improving the accuracy of the operation. The control structure can optimize the scheduling of the transport structure 1 according to the detection results of the third detection structure, ensuring that the material-taking operation is performed only when there is material in the discharging mechanism 300, thereby improving the overall efficiency. In addition, the third detection structure is connected to the control structure to realize automatic detection and control, reduce manual intervention, and improve the degree of automation of the system.

[0072] Optionally, after the user issues a meal pickup instruction, if the third detection structure detects that there are materials to be taken out in the discharging mechanism 300, the control structure controls the transport structure 1 to remain stationary or controls the transport structure 1 to move to the origin (i.e., the initial position of the transport structure 1). If the third detection structure detects that there are no materials to be taken out in the discharging mechanism 300, the control structure controls the transport structure 1 to move toward the material storage mechanism 200 to perform the material pickup process.

[0073] Optionally, the third detection structure is a third infrared sensor.

[0074] In this embodiment, Figure 1 , Figure 3 and Figure 6 As shown, the material taking mechanism 100 also includes: a first driving structure 7 and a second driving structure 8, the first driving structure 7 is connected to the transport structure 1 by driving, and the first driving structure 7 drives the transport structure 1 to move along the direction from the storage mechanism 200 to the feeding end of the discharging mechanism 300; the second driving structure 8 is connected to the transport structure 1 by driving, and the second driving structure 8 drives the transport structure 1 to move along the height direction of the discharging device; wherein, the first driving structure 7 and the second driving structure 8 are both connected to the control structure, and the control structure controls the first driving structure 7 and / or the second driving structure 8 according to the signal detected by the third detection structure. With such a structural setting, the transport structure 1 can be moved in different directions by setting the first driving structure 7 and the second driving structure 8, so as to ensure that the transport structure 1 can accurately reach the specified position. The control structure adjusts the movement of the first driving structure 7 and the second driving structure 8 in real time according to the detection result of the third detection structure to ensure the accurate control of the transport structure 1. And the first driving structure 7 and the second driving structure 8 can quickly respond to the instructions of the control structure, realize rapid movement, and shorten the time of taking and discharging.

[0075] Optionally, the discharging mechanism 300 is located on one side of the storage mechanism 200, and the length direction of the discharging mechanism 300 is arranged perpendicularly to the width direction of the storage mechanism 200. The first driving structure 7 can drive the transport structure 1 to reciprocate in the horizontal direction (X-axis direction), and the second driving structure 8 can drive the transport structure 1 to reciprocate in the vertical direction (Y-axis direction).

[0076] Specifically, the material taking mechanism 100 further includes: a support component 6, which extends in the direction from the material storage mechanism 200 to the feeding end of the material discharging mechanism 300; the support component 6 is connected to the second driving structure 8, and the second driving structure 8 drives the transport structure 1 to move along the height direction of the material discharging device through the support component 6; the support component 6 is provided with a first guide groove 60, and the first guide groove 60 extends along the transport structure 1 along the extension direction of the support component 6; at least part of the transport structure 1 is movably arranged in the first guide groove 60 along the extension direction of the first guide groove 60. With such a structural arrangement, the transport structure 1 can be supported by arranging the support component 6, and the support component 6 is provided with the first guide groove 60, which can guide the transport structure 1, reduce the lateral deviation of the transport structure 1 during the movement, and improve the accuracy of the position.

[0077] Optionally, the supporting member 6 and the first guide groove 60 both extend in the horizontal direction (X-axis direction).

[0078] Specifically, Figure 6 As shown, the second driving structure 8 includes: a transmission component 81 and a driving component. The transmission component 81 is movably arranged along the height direction of the discharging device, and the transmission component 81 is transmission-connected to the transport structure 1; the driving component is connected to the transmission component 81, and the driving component drives the transport structure 1 to move along the height direction of the discharging device through the transmission component 81.

[0079] Furthermore, the transmission assembly 81 includes: a first transmission wheel 811, a second transmission wheel 812 and a transmission belt 813. The first transmission wheel 811 and the second transmission wheel 812 are rotatably arranged, and the first transmission wheel 811 and the second transmission wheel 812 are spaced apart along the height direction of the discharging device; the driving assembly is drivingly connected to the first transmission wheel 811 or the second transmission wheel 812; the transmission belt 813 is rotatably mounted on the first transmission wheel 811 and the second transmission wheel 812 to drive the transmission belt 813 to move through the first transmission wheel 811 or the second transmission wheel 812; the transport structure 1 is transmission-connected to the transmission belt 813, and the transmission belt 813 drives the transport structure 1 to move along the height direction of the discharging device.

[0080] Optionally, the driving assembly is drivingly connected to the first transmission wheel 811, so that the first transmission wheel 811 is driven to rotate through the driving assembly, thereby driving the transmission belt 813 to rotate, thereby driving the second transmission wheel 812 to rotate.

[0081] Optionally, the second driving structure 8 is disposed in a box body 400 of the discharging device.

[0082] Furthermore, the transmission assembly 81 also includes: a fixing member 814, the fixing member 814 is installed on the transmission belt 813, and the transport structure 1 is arranged on the fixing member 814, and the transmission belt 813 drives the transport structure 1 to move along the height direction of the discharge device through the fixing member 814.

[0083] Further, the supporting component 6 is installed on the fixing component 814 , and the transport structure 1 is arranged on the fixing component 814 through the supporting component 6 .

[0084] Optionally, there are two second drive structures 8, and the two second drive structures 8 are respectively located at both ends of the support component 6. The two second drive structures 8 are both drivingly connected to the support component 6, so that the two second drive structures 8 act synchronously to drive the support component 6 to move along the height direction of the discharge device.

[0085] Furthermore, the transmission assembly 81 further includes: a guide member 815, which is arranged at one side of the first transmission wheel 811, and extends along the height direction of the discharging device, and is provided with a second guide groove 8150 extending along the extension direction of the guide member 815; at least a portion of the fixing member 814 is movably arranged in the second guide groove 8150 along the extension direction of the second guide groove 8150. With such a structural arrangement, by arranging the guide member 815, a guiding effect can be played on the fixing member 814, the deviation of the fixing member 814 during the movement process can be reduced, and the accuracy of the position can be improved.

[0086] Optionally, the guide member 815 is a first slide rail.

[0087] Furthermore, the transmission assembly 81 also includes: a counterweight 816, which is installed on the side of the transmission belt 813 away from the transport structure 1, and the counterweight 816 is arranged opposite to the transport structure 1; the counterweight 816 is used to balance the transport structure 1. With such a structural arrangement, by arranging the counterweight 816, and arranging the counterweight 816 opposite to the transport structure 1, the transport structure 1 can be effectively balanced, the shaking and vibration of the transport structure 1 during movement can be reduced, and the smooth operation of the transport structure 1 can be ensured. In addition, the balancing effect of the counterweight 816 can also reduce the lateral and longitudinal deviations of the transport structure 1 during movement, and improve the accuracy of the position. It can also reduce the load of the drive assembly, reduce energy consumption, and improve the energy efficiency of the system.

[0088] Optionally, the transport structure 1 is located on a side of the transmission belt 813 close to the material storage mechanism 200 , and the counterweight 816 is located on a side of the transmission belt 813 away from the material storage mechanism 200 .

[0089] Optionally, when the movement direction of the transport structure 1 is opposite to the movement direction of the counterweight 816, when the transport structure 1 moves upward along the height direction of the discharge device, the counterweight 816 moves downward along the height direction of the discharge device.

[0090] Optionally, the transmission assembly 81 also includes: a second slide rail 817, the second slide rail 817 is located on the side of the transmission belt 813 away from the guide member 815, the second slide rail 817 extends along the height direction of the discharge device, and the second slide rail 817 is provided with a third guide groove extending along the second slide rail 817, and at least a portion of the counterweight 816 is movably arranged in the third guide groove along the extension direction of the third guide groove.

[0091] Optionally, the first transmission wheel 811 is a first gear, the second transmission wheel 812 is a second gear, the transmission belt 813 is a chain, and the counterweight 816 is a counterweight block.

[0092] Embodiment 2

[0093] like Figure 7 and Figure 8 As shown, the present invention provides a meal cabinet, comprising: a box body 400, a material storage mechanism 200, a material discharging mechanism 300 and a material taking mechanism 100, wherein the box body 400 is provided with an installation space 401; the material storage mechanism 200 is arranged in the installation space 401, and a plurality of material storage cavities 201 are arranged in the material storage mechanism 200; the material discharging mechanism 300 is installed in the box body 400, and the material discharging mechanism 300 is provided with a placement cavity and a dining port 301 respectively connected to the placement cavity and the installation space 401; the material taking mechanism 100 is the above-mentioned The material taking mechanism 100 of the first embodiment; the material taking mechanism 100 is arranged in the box body 400, and at least part of the material taking mechanism 100 is located in the installation space 401; wherein the material taking mechanism 100 includes a movably arranged transport structure 1, and the transport structure 1 is used to move between the discharge port 202 of any one of the multiple material storage chambers 201 and the dining port 301, and carry the food to be taken out from any one of the multiple material storage chambers 201 to the dining port 301. With such a structural arrangement, by arranging the material taking mechanism 100 in the dining cabinet, and the transport structure 1 of the material taking mechanism 100 can quickly move between the multiple material storage chambers 201 and the dining port 301, the meal taking time can be shortened and the meal taking efficiency can be improved. In addition, by providing the material-retrieving mechanism 100, the need for installing motors and tracks during the assembly of the food cabinet can be effectively reduced, thereby saving production and assembly time and improving production efficiency; and, avoiding the redundancy of independently configuring motors and tracks for each cargo aisle, significantly reducing the manufacturing and maintenance costs of the overall equipment, and, avoiding the complexity of individually controlling multiple motors, improving the stability and response speed of the control system, and simplifying the operating process.

[0094] Optionally, the discharge port 202 of each storage cavity 201 forms a discharge end of the storage mechanism 200 .

[0095] Optionally, the material storage mechanism 200 is a shelf, and a plurality of aisles are provided in the shelf, and each aisle forms a material storage cavity 201 .

[0096] Furthermore, the discharging mechanism 300 is provided with at least one placement cavity, at least one food inlet 301 and at least one food outlet 302, and the at least one placement cavity, at least one food inlet 301 and at least one food outlet 302 are arranged in a one-to-one correspondence.

[0097] Optionally, at least one feeding port 301 forms a feeding end of the discharging mechanism 300 .

[0098] Optionally, the discharging mechanism 300 has two placement cavities, two meal inlets 301 and two meal outlets 302, and the two placement cavities, the two meal outlets 302 and the two meal inlets 301 are spaced apart along the height direction of the food cabinet.

[0099] Optionally, a third detection component is provided in each placement cavity to detect whether there is food to be taken in the corresponding placement cavity.

[0100] Furthermore, the discharging mechanism 300 also has a touch screen 303, and the volunteer user of the touch screen 303 issues meal pickup instructions and checks the meal status.

[0101] Furthermore, the box body 400 has an external structure composed of external and internal sheet metal parts and extruded parts, and the interior is filled with foam material. The entire box body 400 is spliced ​​together by multiple foam boards.

[0102] Optionally, the entire box body 400 is formed by splicing 5 foam boards.

[0103] Implementation Three

[0104] like Fig. 9As shown, the present invention provides a control method, which is applicable to the material-taking mechanism 100 of the above-mentioned embodiment 1; the control method comprises: when the material-taking mechanism 100 receives the material-taking instruction and identifies that there is no material to be taken in the discharging mechanism 300, the transport structure 1 moves to the discharging end of the storage mechanism 200 according to the material-taking instruction; when the transport structure 1 moves to the corresponding position, the clamping structure 2 clamps the material to be taken stored in the storage mechanism 200 onto the transport structure 1; after the clamping structure 2 completes the clamping, the transport structure 1 transports the material to be taken to the feeding end of the discharging mechanism 300. With such a control method, the material-taking mechanism 100 immediately responds and starts the material-taking operation after receiving the material-taking instruction, shortening the material-taking time and improving the material-taking efficiency. By setting the clamping structure 2 to clamp the material to be taken, the material to be taken stored in the storage mechanism 200 can be quickly transported to the transport structure 1, thereby effectively reducing the installation requirements for the motor and the crawler during the equipment assembly process, thereby saving production and assembly time and improving production efficiency. Furthermore, the redundancy of each aisle being independently equipped with a motor and a track is avoided, which significantly reduces the manufacturing and maintenance costs of the overall equipment, and avoids the complexity of controlling multiple motors individually, improves the stability and response speed of the control system, and simplifies the operation process. In addition, through the coordinated operation of the transport structure 1 and the clamping structure 2, it can ensure that the materials to be picked up can be accurately clamped on the transport structure 1, thereby achieving a smoother meal picking process, reducing the waiting time during the meal picking process, and making the user experience more convenient. This control method can effectively solve the technical problems of the meal delivery structure of the meal vending cabinet in the prior art, in which each aisle needs to be independently equipped with a motor and a track, resulting in increased costs and complex control.

[0105] Optionally, when the user issues a material retrieval instruction, it first identifies whether there is material to be retrieved in the placement cavity of the discharge mechanism 300. If not, the transport structure 1 moves to the discharge end of the storage mechanism 200 according to the material retrieval instruction issued by the user. After the transport structure 1 moves to the corresponding position (that is, at least a part of the transport structure 1 corresponds to the discharge port of a storage cavity 201 in the storage mechanism 200 that stores the material to be retrieved), the clamping structure 2 starts the clamping process to clamp the material to be retrieved stored in the storage mechanism 200 onto the transport structure 1; after the clamping structure 2 completes the clamping, the transport structure 1 transports the material to be retrieved to the feed end of the discharge mechanism 300.

[0106] Furthermore, when the transport structure 1 moves to the corresponding position, the method in which the clamping structure 2 clamps the material to be taken stored in the material storage mechanism 200 onto the transport structure 1 includes:

[0107] The clamping part of the clamping structure 2 is opened and extended toward the direction of the storage mechanism 200, and enters the storage mechanism 200 through the discharge end of the storage mechanism 200. When it is extended to a specified distance, the clamping part of the clamping structure 2 is controlled to stop extending and start clamping the material to be taken; when the clamping is completed, the clamping part of the clamping structure 2 is controlled to retract toward the direction of the transport structure 1 until the material to be taken is located on the transport structure 1.

[0108] Furthermore, when the transport structure 1 moves to the corresponding position, the method in which the clamping structure 2 clamps the material to be taken stored in the material storage mechanism 200 onto the transport structure 1 also includes:

[0109] When the clamping part of the clamping structure 2 moves from the material storage mechanism 200 to the transport structure 1, it is detected whether there is a material to be taken on the transport structure 1. If yes, the subsequent process is performed, and if not, the clamping structure 2 is controlled to continue to perform the clamping process. Alternatively, the transport structure 1 is controlled to move to another storage cavity 201 in the plurality of storage cavities 201 in the material storage mechanism 200 where the material to be taken is stored, and then the clamping structure 2 is controlled to continue to perform the clamping process.

[0110] Specifically, the control method also includes: judging whether it is necessary to heat the material to be taken according to the material taking instruction; if necessary, heating the material to be taken when the material to be taken is on the transport structure 1; if not necessary, after the transport structure 1 is docked with the feeding end of the discharging mechanism 300, the material to be taken placed on the transport structure 1 is pushed to the feeding end of the discharging mechanism 300. With such a control method, users can choose whether to heat according to their own needs, thereby improving the user experience. It effectively solves the problem that users need to manually heat the food after taking the material.

[0111] Furthermore, if necessary, when the material to be taken is located on the transport structure 1, the method for heating the material to be taken includes: obtaining the current temperature and the optimal edible temperature of the material to be taken; calculating the heating time Δt required to heat the material to be taken according to the current temperature and the optimal edible temperature of the material to be taken; heating the material to be taken located on the transport structure 1 according to the heating time Δt; when the material to be taken located on the transport structure 1 reaches the optimal edible temperature, and after the transport structure 1 is docked with the feed end of the discharging mechanism 300, the material to be taken placed on the transport structure 1 is pushed to the feed end of the discharging mechanism 300. With such a control method, by obtaining the current temperature and the optimal edible temperature of the material to be taken, the required heating time Δt can be accurately calculated to ensure that the material to be taken reaches the optimal edible temperature. This improves the user experience.

[0112] Furthermore, if necessary, when the material to be taken is located on the transport structure 1, the method for heating the material to be taken also includes: obtaining the heating power Px required for heating the material to be taken according to the optimal edible temperature of the material to be taken; adjusting the heating power of the heating structure according to the obtained heating power Px required for heating the material to be taken; the heating structure heats the material to be taken located on the transport structure 1 according to the adjusted heating power Px. By adopting such a control method, the heating process can be completed quickly by accurately calculating the heating time and adaptively adjusting the heating power, shortening the total time for taking and discharging the material. By accurately controlling the heating time and power, overheating or insufficient heating can be avoided, energy waste can be reduced, and the efficiency of material management can be improved. Users can easily send material taking and heating instructions through the control system to achieve rapid material taking and heating, thereby improving the convenience of operation.

[0113] Specifically, the method for calculating the heating time Δt required for heating the material to be taken according to the current temperature and the optimal edible temperature of the material to be taken includes: obtaining the specific heat capacity C of the material to be taken and the weight m of the material to be taken; calculating the difference ΔT between the optimal edible temperature and the current temperature of the material to be taken according to the current temperature and the optimal edible temperature of the material to be taken; and calculating the heating time Δt required for heating the material to be taken according to the specific heat capacity C of the material to be taken, the weight m of the material to be taken, the difference ΔT between the optimal edible temperature and the current temperature of the material to be taken, and the heating power Px required for heating the material to be taken, and the calculation formula is:

[0114] Specifically, the control method further includes: after receiving the material taking instruction and identifying that there is material to be taken in the material discharging mechanism 300, the material taking mechanism 100 controls the transport structure 1 to move to the origin (ie, the initial position) or remain stationary.

[0115] Optionally, after the transport structure 1 completes the material picking task, the control system will automatically control the transport structure 1 to move to the origin (i.e., the initial position). Therefore, after receiving the material picking instruction, if the material picking mechanism 100 determines that there is material to be picked up in the discharging mechanism 300, the transport structure 1 will be controlled to remain motionless.

[0116] Optionally, according to the material taking instruction issued by the user, the specific steps of controlling the movement of the material taking mechanism 100 are:

[0117] First, after receiving the material fetching instruction issued by the user, first determine whether the material to be fetched needs to be heated according to the material fetching instruction issued by the user. If heating is required, obtain the optimal heating time of the material to be fetched, and obtain the heating power Px required for heating the material to be fetched according to the optimal heating time of the material to be fetched; adjust the heating power of the heating structure according to the obtained heating power Px required for heating the material to be fetched. Then, determine whether there is material to be fetched in the discharging mechanism 300. If not, directly determine whether there is material to be fetched in the discharging mechanism 300.

[0118] When there are materials to be taken in the discharging mechanism 300, the transport structure 1 is controlled to remain stationary at the origin (ie, the initial position). When there are no materials to be taken in the discharging mechanism 300, the transport structure 1 is controlled to move according to the material taking instruction.

[0119] Among them, the material picking instruction usually includes: the type and quantity of the material to be picked, whether it needs to be heated, and other information.

[0120] Secondly, according to the material fetching instruction, the transport structure 1 is controlled to move to the discharge end of the storage mechanism 200 where the material to be fetched is stored. After the transport structure 1 moves to the corresponding position (that is, at least part of the transport structure 1 corresponds to the discharge port of a storage cavity 201 in the plurality of storage cavities 201 in the storage mechanism 200 where the material to be fetched is stored), the clamping structure 2 moves, passes through the discharge end of the storage mechanism 200 and extends into the storage mechanism 200 to clamp the material to be fetched, and after clamping, the material to be fetched is transported to the transport structure 1.

[0121] Again, if it is not necessary to heat the material to be taken, when the material to be taken is on the transport structure 1, the transport structure 1 carries the material to be taken toward the feed end of the discharging mechanism. After the transport structure 1 is docked with the feed end of the discharging mechanism 300, the clamping structure 2 avoids the material to be taken, and then pushes the material to be taken from the transport structure 1 to the feed end of the discharging mechanism 300. If it is necessary to heat the material to be taken, the current temperature and the optimal edible temperature of the material to be taken are obtained, and the heating time Δt required to heat the material to be taken is calculated based on the current temperature and the optimal edible temperature of the material to be taken, and then the transport structure 1 is heated based on the heating time Δt and the heating power Px. After the heating time Δt, the heating is stopped, and it is detected whether the current temperature of the material to be taken reaches the optimal edible temperature. If not, the above heating steps are repeated until it is detected that the current temperature of the material to be taken reaches the optimal edible temperature. When the current temperature of the material to be taken reaches the optimal edible temperature and the transport structure 1 is docked with the feed end of the discharge mechanism 300 , the clamping structure 2 avoids the material to be taken and then pushes the material to be taken from the transport structure 1 to the feed end of the discharge mechanism 300 .

[0122] Finally, when it is detected that there is material to be taken in the discharging mechanism 300, the transport structure 1 is controlled to move to the origin (ie, the initial position), and the user is prompted to take the material.

[0123] Embodiment 4

[0124] Fig.10 is a flow chart of a control method according to another exemplary embodiment. Fig.10 As shown, the method includes:

[0125] First, the user orders food through the touch display screen 303. After completing the order, the meal pickup instruction is sent to the control structure. After receiving the meal pickup instruction, the control structure first determines whether the food to be picked up needs to be heated; if necessary, the optimal edible temperature is first obtained according to the category of the food to be picked up, and the heating power Px required to heat the material to be picked up is obtained according to the obtained optimal edible temperature; the heating power of the heating structure is adjusted according to the obtained heating power Px required to heat the material to be picked up. Then, the detection result of the third detection structure is obtained to determine whether there is food to be picked up in the placement cavity of the discharging mechanism 300. If not, the detection result of the third detection structure is directly obtained to determine whether there is food to be picked up in the placement cavity of the discharging mechanism 300.

[0126] If the result detected by the third detection structure is that there is food to be taken in the placement cavity of the discharge mechanism 300, the transport structure 1 is controlled to remain stationary at the origin (i.e., the initial position), and a "Please take the food" sign is displayed on the touch display screen 303.

[0127] If the result detected by the third detection structure is that there is no food to be taken in the placement cavity of the discharging mechanism 300, the transport structure 1 is controlled to act according to the meal taking instruction.

[0128] Secondly, the transport structure 1 moves to a storage cavity 201 of the storage mechanism 200 where the food to be taken is stored according to the type of food to be taken in the meal taking instruction. After moving to the corresponding position (i.e., the clamping portion of the clamping structure 2 corresponds to the discharge port 202 of the storage cavity 201), the telescopic component 22 drives the clamping component 21 to move toward the storage mechanism 200, so that the clamping component 21 is located in the storage cavity 201. At the same time, the clamping component 21 opens to facilitate the clamping of the food to be taken.

[0129] Once again, when the clamping assembly 21 completes clamping, the telescopic assembly 22 is controlled to drive the clamping assembly 21 to retract toward the transport structure 1, so that the food to be taken is located on the transport structure 1. When the first detection structure 3 detects the food to be taken, the telescopic assembly 22 is controlled to stop retracting.

[0130] When the food to be taken needs to be heated, when the food to be taken is located on the transport structure 1, the second detection structure 4 detects the current temperature of the food to be taken clamped by the clamping component 21, the specific heat capacity C of the material to be taken and the weight m of the material to be taken; the heating time Δt required to heat the material to be taken is calculated based on the specific heat capacity C of the material to be taken, the weight m of the material to be taken, the difference ΔT between the optimal edible temperature of the material to be taken and the current temperature and the heating power Px; then the clamping component 21 further clamps the food to be taken, and the heating structure starts to heat the food to be taken. At the same time, the remaining heating time will be synchronously displayed on the touch display screen 303.

[0131] After heating is completed and the current temperature of the food to be taken is the optimal temperature, the transport structure 1 moves toward the food inlet 301 of the discharging mechanism 300. After the transport structure 1 is docked with the food inlet 301 of the discharging mechanism 300, the clamping structure 2 (i.e., the telescopic component 22 and the clamping component 21) avoids the food to be taken and the pushing structure 5, so that the food to be taken is placed on the transport structure 1, and then the food to be taken is pushed to the food inlet 301 of the discharging mechanism 300 by the pushing structure 5. After the pushing is completed, the pushing structure 5 is reset.

[0132] Alternatively, when heating begins, the transport structure 1 moves toward the food inlet 301 of the discharging mechanism 300, and docks the transport structure 1 with the food inlet 301 of the discharging mechanism 300. When heating is completed and the current temperature of the food to be taken is the optimal temperature, the clamping structure 2 (i.e., the telescopic component 22 and the clamping component 21) avoids the food to be taken and the pushing structure 5, so that the food to be taken is placed on the transport structure 1, and then the pushing structure 5 pushes the food to be taken to the food inlet 301 of the discharging mechanism 300. After the pushing is completed, the pushing structure 5 is reset.

[0133] When the food to be taken does not need to be heated, the transport structure 1 moves toward the food inlet 301 of the discharging mechanism 300. After the transport structure 1 is docked with the food inlet 301 of the discharging mechanism 300, the clamping structure 2 (i.e., the telescopic component 22 and the clamping component 21) avoids the food to be taken and the pushing structure 5, so that the food to be taken is placed on the transport structure 1, and then the food to be taken is pushed to the food inlet 301 of the discharging mechanism 300 by the pushing structure 5. After the pushing is completed, the pushing structure 5 is reset.

[0134] Finally, when the third detection structure recognizes the food to be picked up, the transport structure 1 moves to the origin (ie, the initial position), and at the same time, a "Please pick up the food" sign is displayed on the touch display screen 303 .

[0135] It should be noted that the terms "first", "second", etc. in the specification and claims of the present application and the above-mentioned drawings are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequence. It should be understood that the data used in this way can be interchangeable when appropriate, so that the embodiments of the present application described herein can be implemented in an order other than those illustrated or described herein. In addition, the terms "including" and "having" and any of their variations are intended to cover non-exclusive inclusions, for example, a process, method, system, product or device that includes a series of steps or units is not necessarily limited to those steps or units that are clearly listed, but may include other steps or units that are not clearly listed or inherent to these processes, methods, products or devices.

[0136] Optionally, the specific examples in this embodiment may refer to the examples described in the above embodiments, and this embodiment will not be described in detail here.

[0137] The serial numbers of the above-mentioned embodiments of the present application are for description only and do not represent the advantages or disadvantages of the embodiments.

[0138] In the above embodiments of the present application, the description of each embodiment has its own emphasis. For parts that are not described in detail in a certain embodiment, please refer to the relevant description of other embodiments.

[0139] The above is only a preferred embodiment of the present application. It should be pointed out that for ordinary technicians in this technical field, several improvements and modifications can be made without departing from the principles of the present application. These improvements and modifications should also be regarded as the scope of protection of the present application.

Claims

1. A material taking mechanism, characterized in that: The material taking mechanism (100) is suitable for a material discharging device, the material discharging device comprises a material storage mechanism (200) and a material discharging mechanism (300), and the material taking mechanism (100) comprises: A transport structure (1) is movably arranged; the transport structure (1) is used to transport the material to be taken out from the material storage mechanism (200) to the feeding end of the material discharging mechanism (300); A clamping structure (2) is movably arranged on the transport structure (1); the clamping structure (2) is used to clamp the material to be taken stored in the material storage mechanism (200) onto the transport structure (1).

2. The material taking mechanism according to claim 1, characterized in that: The clamping structure (2) comprises: A clamping assembly (21) is movably arranged; the clamping assembly (21) is used to clamp or avoid the material to be taken; A telescopic component (22), the telescopic component (22) being telescopically arranged on the transport structure (1) in a direction approaching or moving away from the material storage mechanism (200); the telescopic component (22) having an extended state extending in the direction of the material storage mechanism (200) and a retracted state retracting in the direction of the transport structure (1); the telescopic component (22) being connected to the clamping component (21), and the clamping component (21) moving synchronously with the telescopic component (22); When the telescopic component (22) is in the extended state, it drives the clamping component (21) to move toward the material storage mechanism (200), so that the clamping component (21) is located in the material storage mechanism (200) and clamps the material to be taken; when the telescopic component (22) switches from the extended state to the contracted state, it drives the clamping component (21) that has clamped the material to be taken to move toward the transport structure (1), so as to move the material to be taken onto the transport structure (1).

3. The material taking mechanism according to claim 2, characterized in that: The clamping assembly (21) comprises: A clamping member (211) is used to clamp or avoid the material to be taken; the clamping member (211) has a clamping space (2110) for placing the material to be taken; the clamping member (211) is connected to the telescopic component (22), and the clamping member (211) is arranged to be retractable relative to the telescopic component to adjust the size of the clamping space (2110); The clamping member (211) has an avoidance state and a clamping state. When the clamping member (211) is in the avoidance state, the clamping member (211) opens relative to the telescopic assembly to avoid the material to be taken; when the clamping member (211) is in the clamping state, the clamping member (211) closes relative to the telescopic assembly to clamp the material to be taken located in the clamping space (2110).

4. The material taking mechanism according to claim 3, characterized in that: The clamping member (211) comprises: A first clamping plate (2111), a second clamping plate (2112) and a third clamping plate (2113) are connected in sequence; the first clamping plate (2111) and the third clamping plate (2113) are arranged opposite to each other, and the first clamping plate (2111), the second clamping plate (2112) and the third clamping plate (2113) enclose the clamping space (2110); the first clamping plate (2111) and the third clamping plate (2113) are swingably arranged relative to the second clamping plate (2112), and the first clamping plate (2111) and the third clamping plate (2113) move relative to each other; the size of the clamping space (2110) is adjusted by swinging the first clamping plate (2111) and the third clamping plate (2113) relative to the second clamping plate (2112).

5. The material taking mechanism according to claim 1, characterized in that: The material taking mechanism (100) further comprises: a first detection structure (3), the first detection structure (3) being arranged on the transport structure (1) and being used for detecting whether the clamping structure (2) clamps the material to be taken stored in the material storage mechanism (200) onto the transport structure (1); A control structure, wherein the first detection structure (3) and the clamping structure (2) are both connected to the control structure, and the control structure controls the clamping structure (2) according to a signal detected by the first detection structure (3).

6. The material taking mechanism according to claim 5, characterized in that: The material taking mechanism (100) further comprises: A heating component, the heating component is arranged on the clamping portion of the clamping structure (2) and is used to heat the clamped material to be taken; Wherein, the heating component is connected to the control structure, and the control structure is used to control the start or stop of the heating component.

7. The material taking mechanism according to claim 6, characterized in that: The material taking mechanism (100) further comprises: A second detection structure (4), the second detection structure (4) being arranged on the transport structure (1) to detect the temperature of the clamped material to be taken; the second detection structure (4) and the first detection structure (3) are arranged at a distance; The second detection structure (4) is connected to the control structure, and the control structure controls the start-up of the heating component according to the detection result of the second detection structure (4).

8. The material taking mechanism according to claim 1, characterized in that: The material taking mechanism (100) further comprises: A pushing structure (5), the pushing structure (5) being movably arranged on the transport structure (1) in a direction approaching or moving away from a feeding end of the discharge mechanism (300); the pushing structure (5) is used to push the material to be taken on the transport structure (1) to the discharge mechanism (300); the pushing structure (5) has an initial state of avoiding the clamping structure (2) and a pushing state of pushing the material to be taken on the transport structure (1); When the transport structure (1) moves to the feed end of the discharge mechanism (300) and docks with the feed end of the discharge mechanism (300), the clamping structure (2) avoids the pushing structure (5) and the material to be taken, and the pushing structure (5) is in a pushing state; when the material to be taken is pushed to the discharge mechanism (300), the pushing structure (5) switches from the pushing state to the initial state.

9. The material taking mechanism according to claim 1, characterized in that: The material taking mechanism (100) further comprises: a third detection structure, the third detection structure being arranged on the discharging mechanism (300) and being used for detecting whether there is material to be taken out in the discharging mechanism (300); A control structure, wherein the third detection structure and the transport structure (1) are both connected to the control structure, and the control structure controls the transport structure (1) according to the signal detected by the third detection structure.

10. The material taking mechanism according to claim 9, characterized in that: The material taking mechanism (100) further comprises: A first driving structure (7), the first driving structure (7) being drivingly connected to the transport structure (1), the first driving structure (7) being used to drive the transport structure (1) to move along a direction from the material storage mechanism (200) to a feeding end of the material discharging mechanism (300); A second driving structure (8), the second driving structure (8) is drivingly connected to the transport structure (1), and the second driving structure (8) drives the transport structure (1) to move along the height direction of the discharge device; The first driving structure (7) and the second driving structure (8) are both connected to the control structure, and the control structure controls the first driving structure (7) and / or the second driving structure (8) according to the signal detected by the third detection structure.

11. The material taking mechanism according to claim 10, characterized in that: The material taking mechanism (100) further comprises: A support component (6), wherein the support component (6) extends along the transport structure (1) in the direction from the storage mechanism (200) to the feed end of the discharge mechanism (300); the support component (6) is connected to the second drive structure (8), and the second drive structure (8) drives the transport structure (1) to move along the height direction of the discharge device through the support component (6); the support component (6) is provided with a first guide groove (60), and the first guide groove (60) extends along the extension direction of the support component (6); at least a part of the transport structure (1) is movably arranged in the first guide groove (60) along the extension direction of the first guide groove (60).

12. The material taking mechanism according to claim 10, characterized in that: The second driving structure (8) comprises: A transmission assembly (81), the transmission assembly (81) being movably arranged along the height direction of the discharging device, and the transmission assembly (81) being in transmission connection with the transport structure (1); A driving assembly, wherein the driving assembly is connected to the transmission assembly (81), and the driving assembly drives the transport structure (1) to move along the height direction of the discharge device via the transmission assembly (81).

13. The material taking mechanism according to claim 12, characterized in that: The transmission assembly (81) comprises: A first transmission wheel (811) and a second transmission wheel (812), wherein the first transmission wheel (811) and the second transmission wheel (812) are rotatably arranged, and the first transmission wheel (811) and the second transmission wheel (812) are spaced apart along the height direction of the discharging device; the driving assembly is drivingly connected to the first transmission wheel (811) or the second transmission wheel (812); A transmission belt (813), wherein the transmission belt (813) is rotatably mounted on the first transmission wheel (811) and the second transmission wheel (812) so as to drive the transmission belt (813) to move via the first transmission wheel (811) or the second transmission wheel (812); the transport structure (1) is in transmission connection with the transmission belt (813), and the transmission belt (813) drives the transport structure (1) to move along the height direction of the discharge device.

14. The material taking mechanism according to claim 13, characterized in that: The transmission assembly (81) further comprises: A fixing member (814), wherein the fixing member (814) is mounted on the transmission belt (813), and the transport structure (1) is arranged on the fixing member (814), and the transmission belt (813) drives the transport structure (1) to move along the height direction of the discharge device through the fixing member (814).

15. The material taking mechanism according to claim 14, characterized in that: The transmission assembly (81) further comprises: a guide member (815), the guide member (815) being arranged at one side of the first transmission wheel (811), the guide member (815) extending in the height direction of the discharging device, the guide member (815) being provided with a second guide groove (8150) extending in the extending direction of the guide member (815); at least a part of the fixing member (814) being movably arranged in the second guide groove (8150) along the extending direction of the second guide groove (8150); and / or, A counterweight (816), wherein the counterweight (816) is installed on a side of the transmission belt (813) away from the transport structure (1), and the counterweight (816) is arranged opposite to the transport structure (1); the counterweight (816) is used to balance the transport structure (1).

16. A dining cabinet, characterized in that: include: A box body (400), wherein an installation space (401) is provided in the box body (400); A material storage mechanism (200), the material storage mechanism (200) being arranged in the installation space (401), and a plurality of material storage cavities (201) being arranged in the material storage mechanism (200); A discharging mechanism (300), the discharging mechanism (300) being installed in the box body (400), and the discharging mechanism (300) being provided with a placement cavity and a dining port (301) respectively communicating with the placement cavity and the installation space (401); A material taking mechanism (100), wherein the material taking mechanism (100) is the material taking mechanism (100) according to any one of claims 1 to 15; the material taking mechanism (100) is arranged in the box body (400), and at least a part of the material taking mechanism (100) is located in the installation space (401); The material taking mechanism (100) comprises a movably arranged transport structure (1), and the transport structure (1) is used to move between the discharge port (202) of any one of the plurality of material storage cavities (201) and the dining port (301), so as to transport the food to be taken out from any one of the plurality of material storage cavities (201) to the dining port (301).

17. A control method, characterized in that: The control method is applicable to the material taking mechanism (100) according to any one of claims 1 to 15; the control method comprises: After the material taking mechanism (100) receives a material taking instruction and identifies that there is no material to be taken in the material discharging mechanism (300), the transport structure (1) moves to the material discharging end of the material storage mechanism (200) according to the material taking instruction; When the transport structure (1) moves to a corresponding position, the clamping structure (2) clamps the material to be taken stored in the material storage mechanism (200) onto the transport structure (1); After the clamping structure (2) completes clamping, the transport structure (1) transports the material to be taken to the feeding end of the discharge mechanism (300).

18. The control method according to claim 17, characterized in that: The control method further comprises: According to the material taking instruction, determining whether it is necessary to heat the material to be taken; If necessary, heating the material to be taken when the material to be taken is located on the transport structure (1); If not necessary, after the transport structure (1) is docked with the feed end of the discharge mechanism (300), the material to be taken placed on the transport structure (1) is pushed to the feed end of the discharge mechanism (300).

19. The control method according to claim 18, characterized in that: If necessary, when the material to be taken is located on the transport structure (1), the method for heating the material to be taken comprises: Get the current temperature and optimal edible temperature of the material to be taken; Calculate the heating time Δt required to heat the material to be taken according to the current temperature of the material to be taken and the optimal edible temperature; heating the material to be taken on the transport structure (1) according to the heating time Δt; When the material to be taken on the transport structure (1) reaches the optimal edible temperature and the transport structure (1) is docked with the feed end of the discharge mechanism (300), the material to be taken placed on the transport structure (1) is pushed to the feed end of the discharge mechanism (300).

20. The control method according to claim 19, characterized in that: If necessary, when the material to be taken is located on the transport structure (1), the method for heating the material to be taken also includes: According to the optimal edible temperature of the material to be taken, the heating power Px required for heating the material to be taken is obtained; Adjusting the heating power of the heating structure according to the obtained heating power Px required for heating the material to be taken; The heating structure heats the material to be taken on the transport structure (1) according to the adjusted heating power Px.

21. The control method according to claim 19, characterized in that: The method for calculating the heating time Δt required for heating the material to be taken according to the current temperature of the material to be taken and the optimal edible temperature includes: Obtaining the specific heat capacity C of the material to be taken and the weight m of the material to be taken; According to the current temperature and the optimal edible temperature of the material to be taken, the difference ΔT between the optimal edible temperature and the current temperature of the material to be taken is calculated; According to the specific heat capacity C of the material to be taken, the weight m of the material to be taken, the difference ΔT between the optimal edible temperature of the material to be taken and the current temperature, and the heating power Px required to heat the material to be taken, the heating time Δt required to heat the material to be taken is calculated. The calculation formula is:

22. The control method according to any one of claims 17 to 21, characterized in that: The control method further comprises: when the material taking mechanism (100) receives a material taking instruction and identifies that there is material to be taken in the material discharging mechanism (300), controlling the transport structure (1) to move to the origin or remain stationary.

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