Full-automatic dish container cleaning device, system thereof, full-automatic cafeteria and method

Abstract

The invention relates to a full-automatic dish container cleaning device, a full-automatic dish container cleaning system, a full-automatic cafeteria and a method. The container overturning mechanism is arranged on the supporting bracket and is configured to fix a dish container and control the dish container to overturn from a first state to a second state; and the container flushing mechanism is arranged below the supporting bracket and is configured to flush the interior of the dish container when the dish container is overturned to a preset state. According to the device, self-service recycling of the vacant dish containers on the intelligent dish serving machine and cleaning treatment of the dish containers in the dish container recycling process are achieved, labor loss in an unattended restaurant is reduced, seamless joint of producers (chefs) and consumers (dining users) is achieved, and more comfortable dining experience is provided for the dining users.

Description

Technical Field

[0001] The present application belongs to the technical field of automatic food serving and selling, and in particular, relates to a fully automatic food container cleaning device, a system thereof, a fully automatic buffet restaurant and a method. Background Art

[0002] In the prior art, traditional places for group dining, such as restaurants and canteens, require a large number of workers, such as food servers, food delivery personnel, cleaners, etc. These types of work are highly repetitive and labor-intensive. With the obvious aging of the population in the region and the country, the shortage of such workers in such places is also an important problem in real life. As a new concept, unmanned restaurants focus on the dining user's own experience and can provide a new model for existing centralized dining places.

[0003] With the development of the Internet and various software and hardware technologies, the food serving and selling equipment currently sold on the market cannot currently meet the needs of automatic food serving and selling, especially the key needs that users have long paid attention to: the quality of the food can be kept fresh for a long time, and the user can intuitively understand the food, etc. These are directly related to the user experience of the dining user group. There is currently no mature unmanned restaurant, and the existing food and tableware recycling cannot currently achieve the characteristics of unmanned operation and automatic cleaning, so the present invention comes. Summary of the invention

[0004] The embodiment of the present application provides a fully automatic food container cleaning device, which can realize self-service recycling of empty food containers on the intelligent food serving machine and clean the food containers during the food container recycling process, reduce labor losses in unmanned restaurants, eliminate interference in intermediate links, and achieve seamless connection between producers (chefs) and consumers (diners), providing diners with a more comfortable dining experience.

[0005] In a first aspect, an embodiment of the present application provides a fully automatic dish container cleaning device, the device comprising:

[0006] Support bracket;

[0007] A container flipping mechanism, disposed on the support bracket, configured to fix the food container and control the food container to flip from a first state to a second state;

[0008] The container flushing mechanism is arranged under the supporting bracket and is configured to flush the interior of the food container when the food container is flipped to a preset state.

[0009] In some possible embodiments, the container flipping mechanism includes a container platform and a platform driving mechanism for driving the container platform to flip, and a container adsorption mechanism is fixed on the back of the container platform. When the food container is adsorbed and fixed by the container adsorption mechanism, the platform driving mechanism controls and drives the container platform to flip.

[0010] In some possible embodiments, the platform driving mechanism includes a first motor and a rotating rod fixed to the container platform, the first motor is fixedly mounted at the output end of the first linear module, and its output shaft is connected to one end of the rotating rod to drive the rotating rod to rotate and flip the container platform;

[0011] In some possible embodiments, a second linear module is disposed at the other end of the rotating rod, a driven pad is disposed at the output end of the second linear module, and a bearing combined with the other end of the rotating rod is disposed in the driven pad.

[0012] In some possible embodiments, the container adsorption mechanism is two or more electric suction cups, and the suction heads of the electric suction cups protrude from the container carrier to contact and adsorb the food container.

[0013] In some possible embodiments, the distance between the linear guide rail of the first linear module and the linear guide rail of the second linear module is constant.

[0014] In some possible embodiments, the bearing surface of the container carrier is a horizontal plane, and the height of one end of the rotating rod is at the same level as the height of the other end. In some possible embodiments, the supporting bracket is provided with a turning area and a cleaning area, the turning area is provided with a waste storage tank, and the cleaning area is provided with the container flushing mechanism.

[0015] In some possible embodiments, the container flushing mechanism includes a cleaning nozzle, a water inlet pipe connected to the cleaning nozzle, and a cleaning liquid receiving tank arranged in the cleaning area for receiving the liquid after cleaning. The bottom end of the cleaning liquid receiving tank is connected to a drain pipe, and the liquid after cleaning is discharged through the drain pipe.

[0016] In some possible embodiments, the highest height of the cleaning nozzle is lower than the lowest position of the food container when the food container is in the second state.

[0017] In some possible embodiments, the cleaning nozzle is a multi-angle nozzle; the lowest level of the water inlet pipe is higher than the highest level of the drain pipe; preferably, the first state is the normal placement state of the food container; the second state is the inverted placement state of the food container; preferably, the preset state is the second state.

[0018] A second aspect of the present invention provides a fully automatic food container conveying and recycling system, characterized in that the system comprises:

[0019] an overhead conveyor device configured to transport food containers to be recycled from the food selection area to the clean recycling area;

[0020] a container carrying mechanism configured to couple or decouple the food container from the hanging conveying device;

[0021] The fully automatic dish container cleaning device described above is configured to clean the decoupled dish containers to be recycled.

[0022] In some possible embodiments, the system further includes a loading mechanism, which is configured to obtain the dish container from the fully automatic dish container cleaning device and drive the dish container to approach the container carrying mechanism;

[0023] In some possible embodiments, a dismounting mechanism is further included; the dismounting mechanism is configured to drive the food container to separate from the container carrying mechanism and transfer the food container to the fully automatic food container cleaning device.

[0024] A third aspect of the present invention provides a fully automatic buffet restaurant, characterized in that the fully automatic buffet restaurant includes the fully automatic food container conveying and recycling system described above.

[0025] A fourth aspect of the present invention provides a fully automatic dish container cleaning method, characterized in that the method comprises the following steps:

[0026] (S1) receiving and fixing a container step: calculating and obtaining a first movement stroke of the dish container to be recycled to be transferred off the machine according to the current position of the dish container to be recycled and the current position of the container carrier on which the dish container to be recycled is placed, transferring the dish container to be recycled to the container carrier according to the first movement stroke, and fixing the dish container to be recycled;

[0027] (S2) a waste dumping step: moving the food container to be recycled to the flipping zone according to a preset flipping process, controlling the food container to be recycled to flip from a first state to a second state, and performing a flipping and waste dumping operation;

[0028] (S3) Container cleaning step: Keep the container of food to be recycled in a placed state, move the container of food to be recycled to a cleaning area, and perform an internal flushing operation of the container of food to be recycled according to a preset cleaning process.

[0029] In some possible embodiments, the method further includes the following steps:

[0030] (S4) a container resetting step: moving the to-be-recycled food container to the flipping zone for flipping and resetting, and controlling the to-be-recycled food container to be reset from the second state to the first state;

[0031] (S5) Container recovery and loading step: According to the current position of the food container to be recovered, the second movement stroke of the food container to be recovered to be transferred to the machine is calculated and obtained, and the food container to be recovered is transferred to the loading position according to the second movement stroke.

[0032] The present application provides a fully automatic dish container cleaning device, which realizes the cleaning and treatment of discarded dishes in the dish container recycling process through the container flushing mechanism and the container flipping mechanism of the fully automatic dish container cleaning device. In the processes such as dumping discarded dishes and cleaning the dishes in the containers to be recycled, no manual intervention of the dining place staff is required, and the dish containers can be emptied and cleaned immediately. After the dish container is emptied and cleaned, it can be timely intervened in the next process, realizing the unattended process of emptying and cleaning the dish container, and the empty dish container can also be processed in real time, which is convenient for the chef and the dining user to realize the direct connection of two-way needs, reduce the intermediate circulation links between the chef and the dining user, and the dining user can choose dishes according to their own needs, providing a more comfortable dining experience for the dining user. BRIEF DESCRIPTION OF THE DRAWINGS

[0033] In order to more clearly illustrate the technical solution of the embodiments of the present application, the following is a brief introduction to the drawings required for use in the embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without any creative work.

[0034] Figure 1 A schematic diagram of the structure of a fully automatic dish container cleaning device provided in an embodiment of the present application;

[0035] Figure 2 This is another structural schematic diagram of the fully automatic dish container cleaning device provided in an embodiment of the present application.

[0036] Figure 3 Another structural schematic diagram of the fully automatic dish container cleaning device provided in an embodiment of the present application.

[0037] Figure 4 for Figure 1 A schematic side view is shown;

[0038] Figure 5 A schematic diagram of the structure of a fully automatic food container conveying and recycling system provided in an embodiment of the present application;

[0039] Figure 6 A schematic diagram of the connection between the fully automatic dish container cleaning device and the upper machine mechanism or the lower machine mechanism in the fully automatic dish container conveying and recycling system provided in an embodiment of the present application;

[0040] Figure 7A schematic diagram of the layout of a fully automatic buffet restaurant provided in an embodiment of the present application;

[0041] Figure 8 Another structural schematic diagram of the fully automatic food container conveying and recycling system provided in an embodiment of the present application;

[0042] Fig. 9 Another structural schematic diagram of the fully automatic food container conveying and recycling system provided in an embodiment of the present application;

[0043] Fig.10 A flow chart of a fully automatic dish container cleaning method provided in an embodiment of the present application;

[0044] Fig.11 A flow chart of a fully automatic dish container cleaning method provided in yet another embodiment of the present application.

[0045] Fig.12 A flow chart of the waste dumping step in a fully automatic food container cleaning method provided in yet another embodiment of the present application.

[0046] Fig.13 This is a flow chart of the steps for cleaning containers in a fully automatic dish container cleaning method provided in yet another embodiment of the present application. DETAILED DESCRIPTION

[0047] The features and exemplary embodiments of various aspects of the present application will be described in detail below. In order to make the purpose, technical solutions and advantages of the present application clearer, the present application will be further described in detail below in conjunction with the accompanying drawings and specific embodiments. It should be understood that the specific embodiments described herein are only intended to explain the present application, rather than to limit the present application. For those skilled in the art, the present application can be implemented without the need for some of these specific details. The following description of the embodiments is only to provide a better understanding of the present application by illustrating the examples of the present application.

[0048] It should be understood that in the description of the specification and claims of this application, if there are terms such as "first", "second", etc., they are only used to distinguish the objects described, and do not have any order or technical meaning. Therefore, the objects defined as "first", "second", etc. may explicitly or implicitly include one or more of the objects. In addition, "one" or "a" and similar words do not indicate a quantitative limitation, but indicate the existence of at least one, and "multiple" means no less than two.

[0049] In the description of the specification and claims of this application, if there are terms such as "connect", "install", "fix", "contain", etc., unless otherwise specified, they should be understood in a broad sense. For example, "connection" can be a separate connection or an integral connection; it can be a direct connection or an indirect connection through an intermediate medium; it can be a non-detachable connection or a detachable connection. For another example, "contain" does not necessarily mean complete containment of the whole. The concept also includes the partial containment of a part protruding from the outside. For those skilled in the art, the specific meanings of the aforementioned terms in this application can be understood according to the specific circumstances.

[0050] In the description of the specification and claims of this application, if there are terms such as "upper", "lower", "horizontal" and the like indicating an orientation or positional relationship based on the orientation or positional relationship shown in the drawings, it is only for the convenience of describing the application clearly and simply, and does not indicate or imply that the elements referred to must have a specific direction, be constructed and operated in a specific orientation. These directional terms are relative concepts, used for relative description and clarification, and may change accordingly according to the change in the orientation of the components in the drawings. For example, if the device in the figure is turned over, the elements described as "below" other elements will be positioned "above" other elements.

[0051] In the prior art, self-service restaurants have not yet involved the cleaning and recycling of food containers. This embodiment provides a method for Figures 1 to 4 The figure shows a fully automatic dish container cleaning device 40 according to an embodiment of the present invention. The device 40 comprises: a support bracket 41; a container flipping mechanism 42, which is arranged on the support bracket 41 and is configured to fix the dish container and control the dish container to flip from a first state to a second state; a container flushing mechanism 48, which is arranged under the support bracket 41 and is configured to flush the inside of the dish container when the dish container flips to a preset state. The device can realize the automatic flipping of the dish container and dump the remaining dishes in the dish container; and the device automatically flushes the empty dish container through the container flushing mechanism, so that the dish container can directly enter the next dish plating process. The fully automatic cleaning and recycling of the dish container means that only producers (chefs) and consumers (diners) are required in the fully automated restaurant, which saves a lot of intermediate links, avoids the use of manpower in the intermediate links, and provides diners with a good dining experience.

[0052] In a specific embodiment of the present invention, the container flipping mechanism 42 includes a container platform 421 and a platform driving mechanism 422 for driving the container platform 421 to flip. A container adsorption mechanism 46 is fixed to the back of the container platform 421. When the dish container is adsorbed and fixed by the container adsorption mechanism, the platform driving mechanism 422 controls and drives the container platform 421 to flip. The adsorption and fixation of the dish container by the container adsorption mechanism facilitates the flipping of the dish container and dumping of the discarded dishes; on the other hand, it is also convenient to perform the rinsing operation in the inverted state of the dish container.

[0053] In a specific embodiment of the present invention, the platform driving mechanism 422 includes a first motor 4221 and a rotating rod 4222 fixed to the container platform 421. The first motor 4221 is fixedly mounted at the output end of the first linear module 43, and its output shaft is connected to one end of the rotating rod 4222 to drive the rotating rod 4222 to rotate and flip the container platform 421. The present invention uses the platform driving mechanism to flip and dump the food waste, and then wash it, which can prevent the food waste from clogging the water inlet pipe and the drain pipe; and the separation of the flipping process and the washing process can perform garbage classification and prevent some washing liquid from entering the food waste.

[0054] In a specific embodiment of the present invention, a second linear module 44 is disposed at the other end of the rotating rod 4222, a driven pad 45 is disposed at the output end of the second linear module, and a bearing coupled to the other end of the rotating rod 4222 is disposed in the driven pad 45. The second linear module synchronized with the first linear module can accurately transfer the container carrier to the corresponding area for operation.

[0055] In a specific embodiment of the present invention, the container adsorption mechanism is two or more electric suction cups 46, and the suction heads of the electric suction cups 46 protrude from the container carrier 421 to contact and adsorb the food container. The present invention uses vacuum adsorption to fix the container carrier, which is convenient for the container carrier to flip. The electric suction cup is used for vacuum adsorption, which is convenient for fixing and releasing the food container.

[0056] In a specific embodiment of the present invention, the distance between the linear guide rail of the first linear module 43 and the linear guide rail of the second linear module 44 is constant.

[0057] In a specific embodiment of the present invention, the support bracket 41 is provided with a turning area 411 and a cleaning area 412 , the turning area 411 is provided with a waste storage tank for accommodating food waste, and the cleaning area 412 is provided with the container flushing mechanism.

[0058] In a specific embodiment of the present invention, the container flushing mechanism 48 includes a cleaning nozzle 480, a water inlet pipe 481 connected to the cleaning nozzle 480, and a cleaning liquid receiving tank 483 arranged in the cleaning area for receiving the liquid after cleaning. A drain pipe is arranged at the bottom end of the cleaning liquid receiving tank, and the liquid after cleaning is discharged through the drain pipe 482.

[0059] In a specific embodiment of the present invention, the highest height of the cleaning nozzle 480 is lower than the lowest position of the dish container when the dish container is in the second state. The height of the cleaning nozzle avoids interference of the dish container with the cleaning nozzle in the flipped state, so that the dish can be cleaned and rinsed in the inverted state. Cleaning in the inverted state facilitates the liquid after cleaning and rinsing to flow back into the cleaning liquid storage tank, so that the dish container can also prevent the cleaning liquid from splashing out of the preset range.

[0060] In a specific embodiment of the present invention, the cleaning nozzle 480 is a multi-angle nozzle; the lowest level of the water inlet pipe 481 is higher than the highest level of the drain pipe 482; the first state is a normal placement state; and the second state is an inverted placement state.

[0061] The present invention is specifically described by taking a fully automatic self-service restaurant as a specific application example. The fully automatic self-service restaurant includes a fully automatic food container conveying and recycling system 20. Figure 5 As shown, the fully automatic food container conveying and recycling system 20 includes: a suspended conveying device 21, configured to transfer the food containers 13 to be recycled from the food selection area 2 to the cleaning and recycling area 4; a container carrying mechanism 22, configured to couple or decouple the food containers 13 with the suspended conveying device 21; and the above-mentioned fully automatic food container cleaning device 40, configured to clean the decoupled food containers 13 to be recycled.

[0062] The fully automatic self-service restaurant is functionally divided into a food preparation area 5, a food supply area 1, a food selection area 2, a user area 3, and a cleaning and recycling area 4. In another typical embodiment of the present invention, Figure 5As shown, the fully automatic dish container conveying and recycling system is provided with a dish making area 5, a dish supply area 1, a dish selection area 2, a user area 3, and a cleaning and recycling area 4. The user area 3 is configured as an area for user activities, which can be used for dish distribution, user movement, or the specific dining position of the user, etc. The making of dishes, the transmission of dishes, the selection of dishes, and the cleaning and recycling of dish containers are better integrated in the fully automatic self-service restaurant, which facilitates the fixed functional zoning of the fully automatic buffet restaurant and facilitates the increase and expansion of user areas in a limited area. The sub-area setting of the fully automatic buffet restaurant separates man and machine, and the diners experience the actual experience of specific dining and dish distribution. The specific design of the machinery and process involves the specific operation of changing dishes and dish transmission. The user does not need to pay attention to the operation of the equipment, which can improve the user's unattended dining experience.

[0063] The following is a detailed introduction to the composition of the fully automatic food container conveying and recycling system:

[0064] like Figure 5 As shown, the hanging conveyor device 21 includes a conveyor chain and a driving mechanism, wherein the conveyor chain is fixedly installed above the space of the dish supply area 1 and the dish selection area 2, and the driving mechanism is configured to drive the conveyor chain from the dish supply area 1 to the dish selection area 2 via the user area 3. One method adopted in the embodiment of the present invention is a hanging conveyor device 21 with a conveyor chain, wherein the conveyor chain is driven to move by the driving mechanism, and the container carrying mechanism 22 is driven to move, so that the dish container can be carried to a designated area, such as from the dish supply area 1 to the dish selection area 2. A hanging conveyor device 21 without a conveyor chain can also be used, and the driving mechanism is used to drive the container carrying mechanism 22 from the dish supply area 1 to the dish selection area 2 via the user area 3. The container carrying mechanism 22 is driven to move by the driving mechanism, and the driving speed, start and stop position, etc. can be pre-programmed to realize the positioning of the dish container on the running track of the hanging conveyor device 21, so as to facilitate the transportation of the dish container to the vicinity of the designated intelligent dish serving machine 12 for dish changing operation.

[0065] The conveyor chain is an overhead circular conveyor chain, which runs from the dish supply area 1 through the user area 3 to the dish selection area 2, and then from the dish selection area 2 through the user area 3 to the dish supply area 1, and then the ends are connected to form a circular conveyor chain. The circular conveyor chain can be arranged according to the predetermined space of the dining place, and the circular conveyor chain is set. The conveyor chain can reciprocate, and there is no need to perform a reversing operation. It is simple and easy to set the program in advance, and it is also easy to maintain. The suspended conveying device 21 is also configured to transfer the dish container to be recycled from the dish selection area 2 to the cleaning recovery area 4; wherein the dish selection area 2 is provided with an intelligent dish serving machine 12, and the intelligent dish serving machine 12 has several dish stations. After the dishes in the dish container are used up, the dish container needs to be cleaned and recycled. In another embodiment of the present invention, a cleaning recovery area 4 is provided to clean the dish container and recycle the cleaned dish container to the dish making area 5. In this way, the system spans at least four functional areas: food supply area 1, user area 3, food selection area 2, and cleaning and recycling area 4. Figures 1 to 4 The fully automatic dish container cleaning device shown is arranged in the cleaning recovery area 4 .

[0066] The suspended conveyor device 21 also includes a conveying control mechanism, which is configured to control the driving mechanism to drive the conveying chain from the food supply area 1 to the food selection area 2 via the user area 3; through the conveying control mechanism, different program setting configurations can be set according to different dining places and different suspended conveyor devices 21 to control the food container to be transported to the designated area.

[0067] In a specific embodiment of the present invention, the system further comprises an upper mechanism 24, which is configured to drive the dish container to approach the container carrying mechanism 22. In a specific embodiment of the present invention, a lower mechanism 25 is further comprised; the lower mechanism 25 is configured to drive the dish container to disengage from the container carrying mechanism 22.

[0068] like Figure 7As shown, in another embodiment of the present invention, the loading mechanism includes a loading adjustment mechanism 240 and a loading handle 241 for placing a dish container, and the loading adjustment mechanism is configured to drive the loading handle 241 to move up and down in the vertical direction and / or move forward and backward in the horizontal direction and / or move left and right in the horizontal direction. The loading mechanism drives the dish container to approach the container carrying mechanism 22, cooperates with the container carrying mechanism 22, and the dish container is coupled with the container carrying mechanism 22. The loading adjustment mechanism 240 can drive the loading handle to move up and down in the vertical direction; or can drive the loading handle to move forward and backward in the horizontal direction; or can drive the loading handle 241 to move left and right in the horizontal direction. The proximity between the dish container and the container carrying mechanism 22 is adjusted by moving in these directions alone or in combination in multiple directions, so as to facilitate the coupling between the container carrying mechanism 22 and the dish container.

[0069] like Figure 7 As shown, in another embodiment of the present invention, the dismounting mechanism 25 includes a dismounting adjustment mechanism and a dismounting handle for placing a dish container, and the dismounting adjustment mechanism is configured to drive the dismounting handle to move up and down in the vertical direction and / or move forward and backward in the horizontal direction and / or move left and right in the horizontal direction. The dismounting mechanism cooperates with the container carrying mechanism 22 to drive the dish container away from the container carrying mechanism 22, so that the dish container is decoupled from the container carrying mechanism 22. The dismounting adjustment mechanism can drive the dismounting handle to move up and down in the vertical direction; or it can drive the dismounting handle to move forward and backward in the horizontal direction; or it can drive the dismounting handle to move left and right in the horizontal direction. The proximity between the dish container and the container carrying mechanism 22 is adjusted by moving in these directions alone or in combination in multiple directions, so as to facilitate the decoupling of the container carrying mechanism 22 from the dish container.

[0070] When the positions of the loading and unloading mechanisms are fixed, the loading and unloading mechanisms can be simplified. For example, the loading and unloading mechanisms only need to realize the front and back movement and up and down movement of the unloading handle or the loading handle, and can realize the precise movement of the unloading handle or the loading handle 241 to the corresponding position of the container carrier 421, and can precisely transfer the food container to the desired container carrier 421 or precisely transfer the food container out of the container carrier 421. In this way, the quick transfer of the food container to be recycled before cleaning and the quick and fully automated recycling of the food container to be recycled after cleaning can be realized.

[0071] The structure of the lower handle and the upper handle can be the same; the structure of the lower adjustment mechanism is the same as that of the upper adjustment mechanism. That is, in another embodiment of the present invention, the upper mechanism and the lower mechanism can be integrated into one body, that is, the upper mechanism has both the above-mentioned upper mechanism function and the above-mentioned lower mechanism function. The lower mechanism has both the above-mentioned upper mechanism function and the above-mentioned lower mechanism function.

[0072] In another embodiment of the present invention, a container replacement device 23 is provided below the circulating conveyor chain in the dish selection area 2, and the container replacement device 23 is configured to drive the dish container to disengage from the container carrying mechanism 22, and deliver the decoupled dish container to the corresponding dish station of the intelligent dish serving machine 12 to complete the dish replacement operation. An example of the container replacement device 23 may be the fully automatic dish container replacement device in the Chinese patent application with patent application number 202410733378.6, and the system may also adopt the fully automatic dish container conveying and changing system in the Chinese patent application with patent application number 202410733229.X, and all the contents of the two cases are introduced into the full text of this case. The container replacement device 23 can realize the delivery of the decoupled dish container to the corresponding dish station of the intelligent dish serving machine 12. The container replacement device 23 may be integrated into the intelligent dish serving machine 12, or it may be a separate device. The container replacement device 23 can have the function of a discharging mechanism, can also have the function of a loading mechanism, or can have the functions of both a loading mechanism and a discharging mechanism. The container replacement device 23 can be used to replace the dish container, thereby replacing the dish, making it convenient for the dining user to serve the dish.

[0073] Figure 5 The number of smart dish serving machines 12 shown in the figure is 2, and a larger number of smart dish serving machines 12 can be set according to the spatial layout of the dining place and the types of dishes. Each smart dish serving machine 12 can be provided with 3 dish stations 121, and a larger number of dish stations can be set according to the spatial layout of the dining place and the types of dishes. An example of a smart dish serving machine 12 may be an automatic dish serving machine in a Chinese patent application with patent application number 202410288389.8 or a smart dish serving machine 12 in a Chinese patent application with patent application number 202410288385X. These smart dish serving machines 12 have dish stations and need to perform dish changing operations or replacement of dish containers 13. They can be regarded as the smart dish serving machines 12 of the present invention, and all the contents of the two cases are introduced into the full text of this case.

[0074] There is no restriction on the types of dishes in the dish container, which can be various cooked foods, hot dishes, soup pots, porridge, milk, soy milk, rice, steamed buns, etc. Since the dish container 13 is used to display these dishes, the protection of dishes, insulation of dishes, safety of dishes, etc. at each station of the intelligent dish machine 12 in the dining place are key requirements for collective dining users to consider. The dish container 13 can be a dish can, a dish jar, a dish pot, a ceramic jar, and other containers. These containers can be containers that are convenient for heating or insulation containers. The external contour of the dish container can be rectangular, circular, etc. In order to facilitate the carrying of the container carrying mechanism 22, a rectangle is preferably used.

[0075] In another embodiment of the present invention, the container carrying mechanism 22 is connected to the suspended conveyor device 21 and can move along the running track of the suspended conveyor device 21. When a conveyor chain method is adopted, the container carrying mechanism 22 is fixed to the conveyor chain and moves with the conveyor chain from the dish supply area 1 to the dish selection area 2 via the user area 3. When a conveyor chain-free method is adopted, the container carrying mechanism 22 can move from the dish supply area 1 to the dish selection area 2 via the user area 3 along the running track of the suspended conveyor device 21. The container carrying mechanism 22 can be one or more (such as 2, 3, 4, 5), which are distributed along the running track of the suspended conveyor device 21. Multiple container carrying mechanisms 22 can carry multiple dish containers to achieve rapid and automated transfer of multiple dish containers.

[0076] In another embodiment of the present invention, the container carrying mechanism 22 is further configured to couple the food container to be recycled with the hanging conveyor device 21 in the food selection area 2, and to decouple the food container to be recycled from the hanging conveyor device 21 in the clean recycling area 4. When performing clean recycling, the food container to be recycled needs to be transferred to the clean recycling area 4 along the running track of the hanging conveyor device 21. The food container to be recycled is transported to the clean recycling area 4 by re-coupling and decoupling of the container carrying mechanism 22.

[0077] In another embodiment of the present invention, the cleaning recovery area 4 is provided with a dismounting mechanism 25, and the dismounting mechanism 25 cooperates with the container carrying mechanism 22 to drive the dish container away from the container carrying mechanism 22, so that the dish container to be recycled is decoupled from the container carrying mechanism 22. The dismounting mechanism 25 can adopt the aforementioned dismounting mechanism to facilitate the dish container to be recycled to be detached from the container carrying mechanism 22, so as to enter the cleaning operation. In another embodiment of the present invention, the cleaning recovery area 4 is provided with an upper mechanism 24, and the upper mechanism 24 cooperates with the container carrying mechanism 22 to drive the dish container to approach the container carrying mechanism 22, so that the dish container to be recycled after cleaning is coupled with the container carrying mechanism 22. The upper mechanism 24 can adopt the aforementioned upper mechanism to facilitate the dish container to be recycled after cleaning to be coupled with the container carrying mechanism 22, so as to be transferred to the next process (dish making process).

[0078] In another embodiment of the present invention, the loading mechanism or the discharging mechanism is arranged below the circulating conveyor chain in the food supply area 1. The loading mechanism or the discharging mechanism can be arranged along the running track of the hanging conveyor device 21, and the loading mechanism or the discharging mechanism can be one or more, such as 2, 3, or 4; it is convenient for multiple food containers to be delivered to different container carrying mechanisms 22 or for multiple food containers to be away from different container carrying mechanisms 22.

[0079] like Figure 5 As shown, the system may also include a transfer transmission line for transmitting the dish container between the dish preparation area 5 and the dish supply area 1. The system also includes a recovery transmission line for transmitting the dish container between the dish preparation area 5 and the cleaning recovery area 4.

[0080] The transfer transmission line includes a dish transfer table 28 and a transfer conveyor belt 26. The dish transfer table 28 is located in the dish supply area 1 and is arranged on the outside of the upper machine mechanism 24. The dish transfer table is provided with a plurality of dish container transfer positions. For further automation, a connection is established between the dish preparation area 5 and the dish selection area 2 for preparing dishes in the collective dining place, and a transfer transmission line is set between the dish preparation area 5 and the dish supply area 1 for preparing dishes. The transfer transmission line can be different from the hanging conveying equipment 21, and is used to transfer dish containers to the dish supply area 1, and then the dish containers are coupled to the dish carrying mechanism and transmitted through the hanging conveying equipment 21. This optimizes the process from dish preparation to dish serving, and realizes the full automation of dish preparation, dish supply to dish serving.

[0081] In another embodiment of the present invention, the recycling conveyor line includes a recycling conveyor belt 27, and the dish containers after cleaning are recycled through the recycling conveyor line 27, so as to realize automatic recycling of the dish containers and reduce the cost of manual recycling. One end of the recycling conveyor belt is the dish making area 5, and the other end of the transfer conveyor belt is the cleaning recycling area 4. Furthermore, one end of the recycling conveyor belt 27 extends into the dish making area 5, and a fully automatic dish container cleaning device 40 is arranged on the outside of the other end. A dismounting mechanism or an on-machine mechanism may be arranged between the fully automatic dish container cleaning device 40 and the recycling conveyor belt 27. The dismounting mechanism or the on-machine mechanism is configured to deliver the dish containers of the fully automatic dish container cleaning device 40 to the recycling conveyor belt.

[0082] In another embodiment of the present invention, a fully automatic dish container cleaning device 40 is disposed in the cleaning recovery area 4. Figure 7 As shown, in specific applications, the fully automatic dish container cleaning device of the embodiment of the present invention can be applied to a part of the fully automatic dish container conveying and recycling system of a fully automatic buffet restaurant. Figure 7 The figure shows a top view of a fully automatic self-service restaurant according to an example of the present invention. Figure 8In the collective dining scene shown, the fully automatic self-service restaurant mainly includes a dish preparation area 5, a dish supply area 1, a dish selection area 2, a user area 3, and a cleaning and recycling area 4. Other areas may include a tableware supply area 6, a staple food selection area 7, a soup bowl supply area 8, a soup selection area 9, a settlement area 10, and a plate recycling area 11. After the settlement area 10 settles the fee, the dining user can enter the dining area of ​​the user area 3. After the meal, the dining user can flow through the plate recycling area 11 and other areas to recycle the plate.

[0083] User area 3 is the flow area for dining users. The arrows in the figure indicate the flow direction of dining users in user area 3. In the figure, there are two directions for the flow of dining users. A fully automatic buffet restaurant can set more flow directions according to the number of dining users, the number of dishes to choose from, and the spatial layout of the dining venue. Figure 7 In the group dining scene shown, the group dining users follow the arrow direction to pass through the dish selection area 2, tableware supply area 6, staple food selection area 7, soup bowl supply area 8, soup selection area 9, settlement area 10, and plate recycling area 11. After the settlement area 10 settles the fee, the dining user can enter the dining area of ​​the user area 3. After the meal, the dining user can flow through the plate recycling area and other areas. According to the flow direction of the dining user, the dining user will flow to the position of the automatic dish machine 12 in the dish selection area 2.

[0084] According to the size of the fully automatic self-service restaurant or the consideration of operating costs, the fully automatic food container conveying and recycling system can be designed in different ways. Figure 8 and Fig. 9 As shown, the transfer transmission line and the recovery transmission line use the same transmission line, which can reduce the use of transmission lines and reduce the use space of dining places. When the transfer transmission line and the recovery transmission line use the same transmission line, the same conveyor belt can be used for transmission. In the forward transmission, it is the transfer transmission line, which transmits from the dish preparation area 5 to the dish supply area 1; in the reverse transmission, it is the recovery transmission line, which transmits from the clean recovery area 4 to the dish preparation area 5. At this time, the clean recovery area 4 overlaps with the dish supply area 1 or is arranged on both sides of the same conveyor belt.

[0085] During use, after the dish making area 5 makes the dish, it is put into the dish container, and is transferred to the dish transfer table by the transfer transmission line and placed on the dish container transfer position of the dish transfer table. The loading mechanism of the dish supply area 1 lifts and lowers the dish container, and moves it back and forth, left and right to make the dish container close to the container carrying mechanism 22. The loading mechanism cooperates with the container carrying mechanism 22, and the container carrying mechanism 22 is coupled with the dish container. The suspended conveying device 21 starts the transport container carrying mechanism 22 to transport the dish container to the dish selection area 2. The container replacement device 23 in the dish selection area 2 delivers the decoupled dish container to the corresponding dish station of the intelligent dish serving machine 12 to complete the dish replacement operation.

[0086] The container replacement device 23 delivers the dish container to be recycled to the container carrying mechanism 22 and couples with it. The suspended conveying device 21 starts the transport container carrying mechanism 22 to transport the dish container from the dish selection area 2 to the clean recycling area 4. The suspended conveying device 21 includes a conveying chain and a driving mechanism, the conveying chain is fixedly installed above the space of the dish supply area 1 and the dish selection area 2, and the driving mechanism is configured to drive the conveying chain from the dish supply area 1 through the user area 3 to the dish selection area 2, and transfer the dish container to be recycled from the dish selection area 2 to the clean recycling area 4. This solution realizes the separation of man and machine and improves the user experience of dining users.

[0087] By using the suspended conveying equipment 21 to realize the aerial transmission and transportation of the dish container, the separation of man and machine in the dish supply area 1, the dish selection area 2, the cleaning and recycling area and other areas can be realized, so as to avoid the adverse effects of the fully automatic dish container conveying and changing system 20 on the dining users. In addition, since the dish container goes directly from the dish supply area 1 to the dish selection area 2 where the intelligent dish machine 12 is located, the taste of the dish is kept better and the time for changing dishes is reduced; it also avoids the use of more staff and reduces the cost of collective dining places. The conveying control mechanism used in the conveying process can control the driving direction, conveying speed, and start and stop of the driving mechanism. The conveying control mechanism can be a general-purpose computer, an industrial computer, a CPU, a single-chip microcomputer, an ARM chip, an AI chip, a quantum chip, a photonic chip, an MCU, an FPGA, a PLC, an industrial control mainboard, an embedded main control board, etc. The pre-programmed settings can be executed by the conveying control mechanism.

[0088] Due to the use of dishes by diners, the dishes in the dish containers on the smart dish serving machine will gradually decrease. When the dishes in the dish containers are insufficient, new dishes need to be replaced, and the dish containers that are already insufficient need to be cleaned and recycled. The technical solution of the present invention can easily solve these problems. The fully automatic dish container cleaning device of the embodiment of the present invention can realize the fully automatic delivery of new dish containers to the dish station on the smart dish serving machine, and can also deliver the dish containers to be recycled on the dish station on the smart dish serving machine to other locations, such as the container carrying mechanism, which is convenient for the timely update of dishes and the technical cleaning and recycling of dish containers.

[0089] In another embodiment of the present invention, when the intelligent food serving machine 12 is symmetrically arranged on both sides of the running track of the hanging conveying device 21, it is necessary to reserve some areas as user areas 3 to facilitate diners to serve food from the intelligent food serving machine 12. At this time, the user area 3 may be arranged between the food supply area 1 and the food selection area 2, so that the hanging conveying device 21 is configured to transport the food container containing the food from the food supply area 1 to the food selection area 2 via the user area 3. Due to the use of the hanging conveying device 21, the three-dimensional space of the dining place is fully utilized to avoid interference with diners when changing dishes. Since the dish changing work is completed quickly through the container replacement device 23, diners can quickly serve food from the intelligent food serving machine 12, which can provide diners with a better user experience.

[0090] The fully automatic dish container conveying and recycling system can be regarded as a subsystem of the fully automatic dish container conveying and changing system to specifically describe the fully automatic dish container conveying and changing system. The fully automatic dish container conveying and recycling system can also be integrated with a subsystem of the fully automatic dish container conveying and changing system to carry out.

[0091] like Figure 5 The suspended conveying device 21 can be a circulating chain to carry out the cyclical delivery of dishes, cleaning, recycling and delivery; Figure 8 and Fig. 9 The reciprocating chain shown controls the transmission direction to realize the delivery of the dish container. The embodiment of the present invention preferably adopts a circulating chain, so that the combination of the fully automatic dish container conveying and changing system and the fully automatic dish container conveying and recycling system can realize the process optimization of the fully automatic buffet restaurant, and the whole process of dish changing process and dish container recycling, cleaning and replacement is automated, thereby improving the user experience of the dining users.

[0092] like Figure 8 and Fig. 9 As shown, in another embodiment of the present invention, the fully automatic self-service restaurant at least includes a cleaning and recycling area 4 and a dish selection area 2. In this way, the fully automatic self-service restaurant may include a fully automatic dish container conveying and recycling system. Figure 4As shown, the fully automatic dish container conveying and recycling system comprises: a hanging conveying device 21, configured to transfer the dish container to be recycled from the dish selection area 2 to the clean recycling area 4; wherein the dish selection area 2 is provided with an intelligent dish serving machine 12, and the intelligent dish serving machine 12 has a plurality of dish stations 121; a container carrying mechanism 22, configured to couple the dish container to be recycled with the hanging conveying device 21 in the dish selection area 2; and to decouple the dish container to be recycled from the hanging conveying device 21 in the clean recycling area 4; a container replacement device 23, configured to bring the dish container to be recycled close to the container carrying mechanism 22, cooperate with the container carrying mechanism 22, and couple the dish container to be recycled with the container carrying mechanism 22. The dish container to be recycled can be quickly recycled by the hanging conveying device, so that new dish containers can be quickly displayed and updated, and the dish container to be recycled can be prevented from being left on the intelligent dish serving machine for a long time, thereby improving the dining experience of the dining user.

[0093] When cleaning and recycling the dish container, the container replacement device 23 brings the dish container to be recycled close to the container carrying mechanism 22, cooperates with the container carrying mechanism 22, and couples the dish container to be recycled with the container carrying mechanism 22; the hanging conveying device 21 starts the transport container carrying mechanism 22 to transport the dish container to the cleaning and recycling area 4. The unloading mechanism in the cleaning and recycling area 4 cooperates with the container carrying mechanism 22, and the container carrying mechanism 22 is decoupled from the dish container. Then the unloading mechanism lifts and lowers the dish container, moves it back and forth, left and right, and separates the dish container from the container carrying mechanism 22. Then the cleaning and recycling area 4 cleans the dish container, and after cleaning, the dish container is transmitted to the dish making area by the recycling transmission line. In this way, the dish container to be recycled can quickly enter the cleaning and recycling area for cleaning operations, so that the dish container is in effective use, improving the entire process of dish making, dish delivery and container recycling, and also improving the user's dining experience. New food containers can be quickly delivered to the smart food server in food selection area 2 through the hanging conveying equipment, and the food containers to be recycled can also be quickly recycled to quickly display new food to diners. The food to be recycled can also be quickly transported to the clean recycling area for clean recycling, thereby improving the dining experience of diners.

[0094] like Fig.10 and Fig.11 As shown, a specific embodiment of the present invention provides a fully automatic dish container cleaning method, the method comprising the following steps:

[0095] (S1) receiving and fixing a container step: calculating and obtaining a first movement stroke of the dish container to be recycled to be transferred off the machine according to the current position of the dish container to be recycled and the current position of the container carrier on which the dish container to be recycled is placed, transferring the dish container to be recycled to the container carrier according to the first movement stroke, and fixing the dish container to be recycled;

[0096] (S2) Waste dumping step: moving the food container to be recycled to the flipping area according to a preset flipping process, and performing a flipping and waste dumping operation;

[0097] (S3) Container cleaning step: according to a preset cleaning process, the food container to be recycled is transferred to a cleaning area, and the interior of the food container to be recycled is sprayed and rinsed.

[0098] In some possible embodiments, the method further includes the following steps:

[0099] (S4) Container resetting step: moving the food container to be recycled to the reversing area for reversing and resetting;

[0100] (S5) Container recovery and loading step: According to the current position of the food container to be recovered, the second movement stroke of the food container to be recovered to be transferred to the machine is calculated and obtained, and the food container to be recovered is transferred to the loading position according to the second movement stroke.

[0101] The first motion stroke and the second motion stroke are both related to the relative position of the to-be-recycled food container and the container carrier; the first motion stroke is the dismounting stroke, which is completed by controlling the motion trajectory of the dismounting mechanism and the fully-automatic food container cleaning device; the second motion stroke is the loading stroke, which is completed by controlling the loading mechanism and the motion trajectory of the fully-automatic food container cleaning device. When the loading mechanism and the dismounting mechanism are integrated into one, the first motion stroke and the second motion stroke can both be completed by the same loading mechanism or dismounting mechanism and the fully-automatic food container cleaning device. When it is necessary to simplify the stroke trajectory calculation, the container carrier position of the fully-automatic food container cleaning device when loading or unloading can be calibrated to the same position, and the first motion stroke and the second motion stroke are opposite motion trajectories.

[0102] like Fig.12 As shown, when performing the step (S2) of dumping waste, the following steps can be followed:

[0103] (S21) a food container position determination step: determining the position information of the food container to be recycled according to the container carrier, and determining that the food container to be recycled is in the flipping zone and there is no object interference in the flipping stroke;

[0104] (S22) adsorption and fixing step: starting the container adsorption mechanism to adsorb and fix the dish container, and maintaining the adsorption and fixing state;

[0105] (S23) Gradient flipping step: starting the container flipping mechanism to flip the food container at a step flipping speed.

[0106] The step flipping speed includes three levels: low speed, medium speed and low speed.

[0107] like Fig.13 As shown, when performing the step (S3) of cleaning the container, the following steps can be followed:

[0108] (S31) calculating the transfer stroke of the container carrier according to the center distance of the cleaning nozzle and the current position of the food container, and transferring the container carrier into the cleaning area according to the transfer stroke while keeping the food container in the second state, and making the center position of the food container to be recovered equal to the current position of the cleaning nozzle;

[0109] (S32) setting a first pressure of the cleaning nozzle or a first flow rate of the cleaning liquid according to the type of food in the food container, opening the cleaning nozzle to perform a first flushing operation, and then closing the cleaning nozzle;

[0110] (S33) turning the to-be-recycled food container over to a first preset angle, setting a second pressure of the cleaning nozzle or a second flow rate of the cleaning liquid, opening the cleaning nozzle for a second flushing operation, and then closing the cleaning nozzle;

[0111] (S34) turning the to-be-recycled food container over to a second preset angle, setting a second pressure of the cleaning nozzle or a second flow rate of the cleaning liquid, opening the cleaning nozzle to perform a third flushing operation, and then closing the cleaning nozzle;

[0112] (S35) Flipping the food container to be recycled back to the second state.

[0113] The first preset angle and the second preset angle are the angles between the bottom surface of the container for recycled food and the horizontal plane. The first preset angle is 30°; the second preset angle is 150°. In a specific embodiment of the present invention, the first pressure is greater than the second pressure; the first flow rate is greater than the second flow rate.

[0114] Based on the above fully automatic dish container cleaning device and fully automatic dish container cleaning method, the embodiment of the present invention can provide a fully automatic dish container conveying and recycling system and an automated restaurant. It can realize fully automated dish delivery and dish container recycling, realize the automated display of dishes in the restaurant and the automated recycling of dish containers, improve the automation of the restaurant, and provide a good user experience for diners. Between the dish supply area 1 and the dish selection area 2 can be a user area 3 for accommodating the passage of diners. In this way, the dishes are transported from the dish supply area 1 across the user area 3 to the dish selection area 2 through the hanging conveying equipment, reducing the interference to the diners in the fully automatic self-service restaurant, and the dishes can be quickly delivered to the dish selection area for users to choose, which improves the user's dining experience.

[0115] The units described as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed on multiple network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the present embodiment.

[0116] In addition, each functional unit in each embodiment of the present application may be integrated into one processing unit, or each unit may exist physically separately, or two or more units may be integrated into one unit. The above-mentioned integrated unit may be implemented in the form of hardware or in the form of software functional units.

[0117] If the integrated unit is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present application is essentially or the part that contributes to the prior art or all or part of the technical solution can be embodied in the form of a software product, and the computer software product is stored in a storage medium, including a number of instructions to enable a computer device (which can be a personal computer, server, or network device, etc.) or a processor (processor) to perform all or part of the steps of each implementation method of the present application. The aforementioned storage medium includes: U disk, mobile hard disk, read-only memory (ROM, Read-Only Memory), random access memory (RAM, Random Access Memory), disk or optical disk and other media that can store program code.

[0118] The technical features of the above embodiments may be combined arbitrarily. To make the description concise, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

Claims

1. A fully automatic dish container cleaning device, characterized in that: The device comprises: Support bracket; A container flipping mechanism, disposed on the support bracket, configured to fix the food container and control the food container to flip from a first state to a second state; The container flushing mechanism is arranged under the supporting bracket and is configured to flush the interior of the food container when the food container is flipped to a preset state.

2. The fully automatic dish container cleaning device according to claim 1 is characterized in that: The container flipping mechanism includes a container platform and a platform driving mechanism for driving the container platform to flip. The container adsorption mechanism is fixed to the back of the container platform. When the dish container is adsorbed and fixed by the container adsorption mechanism, the platform driving mechanism controls and drives the container platform to flip. Preferably, the platform driving mechanism comprises a first motor and a rotating rod fixed to the container platform, the first motor is fixedly mounted at the output end of the first linear module, and its output shaft is connected to one end of the rotating rod to drive the rotating rod to rotate and flip the container platform; Preferably, a second linear module is disposed at the other end of the rotating rod, a driven pad is disposed at the output end of the second linear module, and a bearing combined with the other end of the rotating rod is disposed in the driven pad.

3. The fully automatic dish container cleaning device according to claim 2 is characterized in that: The container adsorption mechanism is two or more electric suction cups, the suction heads of the electric suction cups protrude from the container carrier and can contact and adsorb the food container; Preferably, the distance between the linear guide rail of the first linear module and the linear guide rail of the second linear module is constant; Preferably, the supporting surface of the container platform is a horizontal plane, and the height of one end of the rotating rod is at the same level as the height of the other end.

4. The fully automatic dish container cleaning device according to claim 2 is characterized in that: The support bracket is provided with a turning area and a cleaning area, the turning area is provided with a waste storage tank that can be separated from the support bracket, and the cleaning area is provided with the container flushing mechanism; Preferably, the container flushing mechanism includes a cleaning nozzle, a water inlet pipe connected to the cleaning nozzle, and a cleaning liquid receiving tank arranged in the cleaning area for receiving the liquid after cleaning. The bottom end of the cleaning liquid receiving tank is connected to a drain pipe, and the liquid after cleaning is discharged through the drain pipe.

5. The fully automatic dish container cleaning device according to claim 4 is characterized in that: The highest height of the cleaning nozzle is lower than the lowest position of the food container when the food container is in the second state; Preferably, the cleaning nozzle is a multi-angle nozzle; Preferably, the lowest level of the water inlet pipe is higher than the highest level of the drain pipe; Preferably, the first state is a normal placement state of the dish container; the second state is an inverted placement state of the dish container; Preferably, the preset state is the second state.

6. A fully automatic food container conveying and recycling system, characterized in that: The system comprises: an overhead conveyor device configured to transport food containers to be recycled from the food selection area to the clean recycling area; a container carrying mechanism configured to couple or decouple a food container from the hanging conveying device; The fully automatic food container cleaning device according to any one of claims 1 to 5 is configured to clean the decoupled food container to be recycled.

7. The fully automatic food container conveying and recycling system according to claim 6, characterized in that: The system further comprises a loading mechanism, wherein the loading mechanism is configured to obtain the dish container from the fully automatic dish container washing device and drive the dish container to approach the container carrying mechanism; Preferably, it further comprises a dismounting mechanism; the dismounting mechanism is configured to drive the food container to separate from the container carrying mechanism and transfer the food container to the fully automatic food container cleaning device.

8. A fully automatic self-service restaurant, characterized in that: The fully automatic buffet restaurant includes the fully automatic food container conveying and recycling system according to claim 6 or 7.

9. A fully automatic dish container cleaning method, characterized in that: The method comprises the following steps: (S1) receiving and fixing a container step: calculating and obtaining a first movement stroke of the dish container to be recycled to be transferred off the machine according to the current position of the dish container to be recycled and the current position of the container carrier on which the dish container to be recycled is placed, transferring the dish container to be recycled to the container carrier according to the first movement stroke, and fixing the dish container to be recycled; (S2) a waste dumping step: moving the food container to be recycled to the flipping zone according to a preset flipping process, controlling the food container to be recycled to flip from a first state to a second state, and performing a flipping and waste dumping operation; (S3) Container cleaning step: Keep the container of food to be recycled in a placed state, move the container of food to be recycled to a cleaning area, and perform an internal flushing operation of the container of food to be recycled according to a preset cleaning process.

10. The method according to claim 9, further comprising the steps of: (S4) a container resetting step: moving the to-be-recycled food container to the flipping zone for flipping and resetting, and controlling the to-be-recycled food container to be reset from the second state to the first state; (S5) Container recovery and loading step: According to the current position of the food container to be recovered, the second movement stroke of the food container to be recovered to be transferred to the machine is calculated and obtained, and the food container to be recovered is transferred to the loading position according to the second movement stroke.

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