Intelligent cooking and selling integrated machine for meal

Abstract

The application provides a kind of intelligent meal cooking and selling integrated machine, relating to catering equipment technical field, with warehouse type automatic feeding mechanism, for corresponding food material is pushed out and is lifted to machine hand grip position by elevator, machine hand picks food material, is sent to film tearing mechanism, film tearing mechanism senses the interaction of machine hand completion signal, starts film tearing action;Heating pot mechanism, for machine hand is poured into cooking pot in food material after tearing film unsealing, and is poured into empty bowl located in receiving table;Chopsticks and spoon material bag automatic feeding mechanism, for inputting chopsticks and spoon material bag into packaging bag;Bag opening bagging mechanism, for sealing after bagging food is into bag;And after sealing operation, by machine hand is taken to goods outlet and is shipped.The application has the advantages that a series of operations such as food preservation, heating production, packaging and sealing are completed together, the functions are complete, the degree of automation is high, the operation is convenient, and the time is saved.

Description

Technical Field

[0001] This invention relates to the field of catering equipment technology, and in particular to an intelligent integrated food cooking and serving machine. Background Technology

[0002] In areas with high foot traffic, such as tourist attractions and train stations, consumers have a need for quick and safe access to hot food, but obtaining hot food in these places often involves long wait times. Therefore, many integrated cooking and vending machines for hot food have emerged. These machines are devices that combine cooking and vending functions and are typically used in commercial environments, such as fast food restaurants and convenience stores, to provide fast and convenient food preparation and sales services.

[0003] Chinese Patent Publication No. CN106127947A discloses an automatic noodle vending and cooking machine, comprising a main unit automatically controlled by a computer program and at least one auxiliary unit electrically connected to the main unit; the main unit and the auxiliary units are integrally positioned and connected by a connector; the main unit is an automatic noodle vending machine; the auxiliary unit is an automatic noodle cooking machine, which, from top to bottom, includes a cabinet-type hot water supply unit, a bracket with an induction cooker on its top surface, and a cabinet with an induction cooker on its top surface, comprising an integral cabinet-type hot water supply unit, a bracket with an induction cooker, and a cabinet. The main unit housing includes a main unit power supply, a main unit integrated control component, and a noodle cake box shelf; below the shelf is a noodle cake box dispensing integrated control component; the main unit panel includes a display window, selection buttons, a unit price display screen, an LED display screen, and a payment component; a dispensing slot is located below it. The noodle-selling and cooking functions are implemented in relatively independent equipment, preventing the steam from cooking noodles from affecting the electrical components and causing electrical safety issues. Furthermore, the noodles' shelf life is not shortened by prolonged exposure to the air. The noodle-selling and cooking processes are fully automated, safe, hygienic, and convenient to use.

[0004] However, the aforementioned devices require the purchaser to remove the noodles and place them into the automatic noodle cooker for self-heating before consumption. This low level of automation is not only inconvenient but also time-consuming due to unfamiliarity with the process, and increases the risk of burns. Therefore, the existing technology still has room for improvement. This application discloses an intelligent integrated food cooking and vending machine to address these shortcomings. Summary of the Invention

[0005] This invention overcomes the shortcomings of the prior art and provides an intelligent integrated food preparation and sales machine that integrates a series of operations such as food preservation, heating and preparation, and packaging. It is fully functional, highly automated, easy to operate, and saves time.

[0006] To solve the above-mentioned technical problems, the present invention is achieved through the following technical solution:

[0007] A smart food preparation and dispensing machine includes:

[0008] The warehouse-type automatic feeding mechanism is used to push out the corresponding ingredients and lift them to the position where the robotic arm grasps them. The robotic arm grabs the ingredients and sends them to the film-tearing mechanism. The film-tearing mechanism senses the interaction of the signal completed by the robotic arm and starts the film-tearing action.

[0009] The bowl-separating mechanism outputs empty bowls, which are then delivered by the robotic arm to the receiving platform to await the tilting of the cooking pot. Upon receiving a bowl-separating signal, the mechanism initiates the separation action. The bowl-separating mechanism consists of a bowl-supporting nozzle, a bowl-separating nozzle, and a sliding cam. When the bowl-separating nozzle is inserted into the gap between the stacked bowls, the bowl-supporting nozzle retracts, then the bowl-separating nozzle opens to separate one bowl. After this, the bowl-separating nozzle closes, the bowl-supporting nozzle resets, and the bowl-separating nozzle retracts again, completing one bowl-separating cycle.

[0010] The heating pot mechanism is used to pour the ingredients, which have been unsealed by the robotic arm, into the cooking pot for cooking. The heating pot mechanism has a temperature sensor and a temperature controller to control the temperature so that the ingredients are cooked without generating a lot of water vapor. With the combined action of the temperature controller and the timer, the ingredients are cooked thoroughly and the texture is controlled to be at the best state before being removed from the pot and poured into an empty bowl located on the receiving platform.

[0011] The stirring mechanism is used to stir the food transferred by the robotic arm to ensure that the food and sauce are evenly mixed, and wait for the robotic arm to pick it up and package it. The robotic arm transfers the cooked food to the stirring mechanism. When the stirring mechanism receives the set signal, it starts the elevator to lift the bowl containing the food to the stirring station. The sauce valve at the bottom of the sauce heating chamber opens and injects the sauce. The stirrer starts and stirs back and forth along an elliptical trajectory. After completing all the set actions, the elevator descends and resets, and the signal is exchanged with the robot, which then picks it up.

[0012] The packaging mechanism is used to package the food transferred by the robotic arm and wait for the robotic arm to pick it up and put it into a bag. When the robotic arm delivers the bowl to the packaging station, the packaging station sensor recognizes the bowl and activates the heating coil. The packaging heating is controlled by a thermal sensor to identify the temperature and a PID program to control the temperature. When the packaging conditions are met, the packaging thermal bonding part moves down, and the lower platform also moves down to make way for the packaging bonding mold. The hot film moves forward one step. After bonding, the cutter moves down to separate the film from the bowl opening. When all the downward sensors are closed, the downward sealing action is completed, the mechanism moves up to reset, and the packaging action is completed.

[0013] The automatic feeding mechanism for chopsticks and spoons is used to feed the chopsticks and spoons into the packaging bag. When the automatic feeding mechanism receives a signal, it starts the rotary feeder. Due to the dragging effect of the tension wire, the chopsticks and spoons are tightly attached to the rotary feeder. The rotary feeder rotates once under the drive of the motor. The rotary feeder separates the tightly attached package and pushes it into the lower feeding trough. The lower feeding trough has a reciprocating motor with a cam. The cam drives the toothed plate to reciprocate. Under the action of the toothed plate, the chopsticks and spoons slide towards the outlet channel and finally fall into the bag at the outlet. One feeding cycle is completed.

[0014] The bag-opening and bagging mechanism is used to put packaged food into bags; after the sealing operation, a robotic arm picks up the bag and places it into the unloading port for unloading. When the bag-opening mechanism receives a signal, the feeding suction cup activates, and the vacuum generator starts. The trigger condition is a material presence sensor; the mechanism will only activate when the sensor detects material. A bag is separated from a stack and sent to the rubbing roller. The rubbing roller, driven by a motor and equipped with a position sensor, rotates in a circular motion according to a programmed number of revolutions. After the bag is fed into the rubbing roller by the swing arm of the suction cup, it moves with the roller to the channel, is guided by the channel, and falls into the opening station. The limit stop at the opening station rises, and the opening platform also rises to receive the bag. Simultaneously, the opening suction cup closes, and the bag opens. The vacuum generator of the suction cup is activated. The suction cup consists of two sets of suction nozzle arrays with different diameters, which open the bag opening. At the same time, a pair of clamps on the upper part of the suction cup will clamp one side of the bag to ensure successful opening. When the opening sensor recognizes the position, the transfer slide and clamping hand move to send the sealed bowl from the material table into the bag. Then, it is repeated once to clamp the second bowl in and stack the two bowls in a stacking manner. The sliding slide is then reset. At this time, the sealing heat fusion section starts heating and closes in opposite directions to complete the sealing action. After that, the mechanism resets.

[0015] Furthermore, the storage-type automatic feeding mechanism includes a first support, on which a cold storage chamber is provided. A partition plate is provided in front of the cold storage chamber, and adjacent partition plates form a discharge port. A wedge-shaped ejector is provided below the cold storage chamber corresponding to each discharge port, and a belt transfer device is provided in front of the wedge-shaped ejector. An opening and closing block is longitudinally slidably provided at the discharge port. The opening and closing block is connected to a first driving component connected to the cold storage chamber, and the opening and closing block is raised and lowered under the action of the first driving component.

[0016] Furthermore, the heating pot mechanism includes a cooking pot, a receiving platform located to the side of the cooking pot, and a strainer inside the cooking pot, which is longitudinally movable within the cooking pot; the strainer is connected to a connecting member, which is connected to a sliding platform; a first guide rail is longitudinally arranged on the cooking pot, and the sliding platform is slidably connected to the first guide rail; the connecting member includes a swing arm clamp and a swing arm rod, the upper end of the swing arm clamp is connected to the strainer, the lower end of the swing arm clamp is rotatably connected to the swing arm rod, and the lower end of the swing arm rod is connected to the sliding platform; a driven sprocket is coaxially connected to the swing arm clamp, a first motor is arranged on the sliding platform, the first motor is connected to a driving sprocket, and the driving sprocket is connected to the driven sprocket via a chain; the first motor drives the driving sprocket to rotate, the driving sprocket drives the driven sprocket to rotate via the chain, and the driven sprocket drives the swing arm clamp to flip the strainer, thereby pouring the food into the empty bowl on the receiving platform.

[0017] Furthermore, the swing arm clamp is connected to a flip-limiting bend, which includes a plate bent at the lower end. When the strainer is in the cooking pot, the plate is hooked on the swing arm, and at this time there is a distance between the plate and the side wall of the cooking pot. When the strainer flips to its maximum position, the plate will abut against the side wall of the cooking pot to form a limit.

[0018] Furthermore, the stirring mechanism includes a first column and a second motor located at the top of the first column. The second motor is connected to the metal chopsticks and is used to drive the metal chopsticks to rotate. A first bowl-placement platform is slidably provided on the first column. The robot arm places the cooked food on the first bowl-placement platform, and the second motor drives the metal chopsticks to rotate to stir the food.

[0019] The packaging mechanism includes a second column and a packaging device located on top of the second column. A second bowl-placement platform is slidably mounted on the second column. The packaging device is located above the second bowl-placement platform. When the robotic arm places the mixed food on the second bowl-placement platform, the second bowl-placement platform lifts the food up and brings it close to the packaging device to complete the packaging.

[0020] Furthermore, the automatic feeding mechanism for the chopsticks and spoons includes a bin body and a rotating feeding assembly located at the end of the bin body. The rotating feeding assembly includes a mounting base, on which a columnar rotating feeding device is rotatably mounted. The end of the bin body has an opening corresponding to the rotating feeding device. The bin body includes a bottom plate. A cross-section is formed on the surface of the rotating feeding device along the axial direction. When the rotating feeding device rotates to the position corresponding to the bin body, the gap between the rotating feeding device and the bottom plate increases, thereby facilitating the discharge of the chopsticks and spoons from the gap. A feeding trough is connected to the end of the bin body.

[0021] The base plate is provided with a counterweight push plate, and the counterweight push plate has a placement area for the chopsticks and spoon material bag at the opening; the base plate is provided with a guide groove along the length direction, and the counterweight push plate is movably placed in the guide groove; the counterweight push plate is connected to a weight mechanism, and the counterweight push plate pushes the chopsticks and spoon material bag to the opening under the action of the weight mechanism, and is discharged under the action of the rotating material puller.

[0022] Furthermore, the lower end of the counterweight push plate is connected to a slider, and a second guide rail is provided along the length of the chamber body. The slider is slidably connected to the second guide rail. The counterweight mechanism includes a first sliding wheel and a second sliding wheel connected below the base plate. A third sliding wheel is provided next to the first sliding wheel. The first and second sliding wheels are horizontally rotatable, and the third sliding wheel is vertically rotatable. The first and second sliding wheels are located at opposite ends of the second guide rail. The mechanism also includes a tensioning wire. One end of the tensioning wire is connected to the slider, and the other end is connected to the counterweight. The middle section of the tensioning wire is sequentially connected to the first, second, and third sliding wheels.

[0023] The rotary feeder is located above the cut surface and has a raised edge along the axial direction.

[0024] Furthermore, the bag-opening and bag-packing mechanism includes a bag frame with an adsorption bag separator connected to the lower bag chamber. The lower bag chamber has a pair of oppositely rotating receiving rollers at its inlet and an opening structure at its outlet for opening the bags conveyed from the bag-exit structure. The opening structure includes a left and right bag-opening suction cups arranged opposite each other. The bag-exit chamber is curved downwards to allow the bags to be conveyed along its conveying channel between the left and right bag-opening suction cups. Both the left and right bag-opening suction cups are equipped with a bag-clamping anti-drop structure. This anti-drop structure includes a third motor, whose shaft is connected to a clamp. When the first motor is activated, the clamp rotates, causing the clamping surface to move closer to the adsorption surfaces of the left and right bag-opening suction cups to press the bag edges together, or causing the clamping surface to move away from the adsorption surfaces of the left and right bag-opening suction cups to release the pressure on the bag edges.

[0025] Furthermore, the adsorption bag separator includes a bag separator base, a bag feeding displacement rocker arm rotatably connected to the bag separator base, a vacuum manifold air duct connected to the bag feeding displacement rocker arm, an adsorption plate connected to the vacuum manifold air duct, a vacuum tube connected to a vacuum generator, and a second driving component connected to the bag separator base. The movable end of the second driving component is connected to the middle of the bag feeding displacement rocker arm to drive the bag feeding displacement rocker arm to swing. A knock-open valve is provided on the empty manifold air duct, and the knock-open valve is used in conjunction with a knock-open limiting plate connected to the bag separator base.

[0026] Furthermore, the retrieval port is equipped with a retrieval door structure, on which a chain plate door is slidably mounted. A movable switch bar is movably mounted at the lower end of the chain plate door, and a micro switch is installed inside the chain plate door. The micro switch is located above the movable switch bar and is used in correspondence with the movable switch bar; it is mainly used to prevent the hand of the person retrieving the item from being pinched.

[0027] Compared with the prior art, the beneficial effects of the present invention are:

[0028] This invention discloses an intelligent food preparation and sales integrated machine. Through the coordinated operation of a robotic arm, a warehouse-type automatic feeding mechanism, a bowl-separating mechanism, a heating pot mechanism, a stirring mechanism, a packaging mechanism, an automatic chopsticks, spoons, and ingredient packet supply mechanism, and a bag-opening and bagging mechanism, it completes a series of operations such as food preservation, heating, preparation, and packaging. It is fully functional, highly automated, and ensures safe and hygienic food preparation. The taste remains consistent regardless of environmental conditions or time. It features big data processing, real-time fault analysis and uploading, replenishment prompts, and real-time revenue sharing. It integrates intelligent, automated, and digital technologies, provides convenient human-machine interaction, and saves time. Attached Figure Description

[0029] The accompanying drawings are provided to further illustrate the invention and are used together with the embodiments of the invention to explain the invention. They do not constitute a limitation of the invention. In the drawings:

[0030] Figure 1 This is an overall diagram of the intelligent food preparation and dispensing machine;

[0031] Figure 2 This is a schematic diagram of the rear panel structure of the intelligent meal preparation and dispensing machine;

[0032] Figure 3 This is a schematic diagram of the internal structure of the removable panel of the intelligent meal preparation and vending machine;

[0033] Figure 4 This is a structural diagram of the heating pot mechanism, receiving platform, and stirring mechanism inside the intelligent food cooking and serving machine;

[0034] Figure 5 This is a schematic diagram of the heating pot mechanism. Figure 1 ;

[0035] Figure 6 This is a schematic diagram of the heating pot mechanism. Figure 2 ;

[0036] Figure 7 This is a schematic diagram of the heating pot mechanism. Figure 3 ;

[0037] Figure 8 This is a schematic diagram of the robotic arm, bowl-separating mechanism, and packaging mechanism inside the intelligent food preparation and sales machine;

[0038] Figure 9 This is a schematic diagram of the stirring mechanism;

[0039] Figure 10 This is a schematic diagram of a warehouse-type automatic feeding mechanism. Figure 1 ;

[0040] Figure 11 This is a schematic diagram of a warehouse-type automatic feeding mechanism. Figure 2 ;

[0041] Figure 12 This is a diagram of an automatic feeding mechanism for chopsticks, spoons, and seasoning packets. Figure 1 ;

[0042] Figure 13 This is a diagram of an automatic feeding mechanism for chopsticks, spoons, and seasoning packets. Figure 2 ;

[0043] Figure 14 This is a diagram showing the position of the rotary feeder relative to the hopper. Figure 1 At this time, it is in the process of removing material;

[0044] Figure 15 This is a diagram showing the position of the rotary feeder relative to the hopper. Figure 2 At this point, the material has been removed;

[0045] Figure 16 This is a schematic diagram of the bag-opening and bag-covering mechanism;

[0046] Figure 17 This is a schematic diagram of the bag clamping and anti-drop structure on the left-side bag suction cup;

[0047] Figure 18 This is a schematic diagram of the structure of the receiving roller pair in the bag frame;

[0048] Figure 19 This is a schematic diagram of the adsorption bag separator;

[0049] Figure 20 This is a structural diagram of the pickup door;

[0050] Figure 21 This is a diagram showing the positional relationship between the chain plate door, the movable switch bar, and the micro switch.

[0051] In the picture:

[0052] 1. Storage-type automatic feeding mechanism; 101. First support; 102. Cold storage compartment; 103. Divider plate; 104. Discharge port; 105. Wedge ejector; 106. Belt transfer device; 107. Opening and closing block; 108. First drive component;

[0053] 2. Robotic arm;

[0054] 3. Bowl-separating mechanism;

[0055] 4. Heating pot mechanism; 401. Cooking pot; 402. Strainer; 403. Slide table; 404. First guide rail; 405. Swing arm clamp; 406. Swing arm rod; 407. Passive sprocket; 408. First motor; 409. Driven sprocket; 410. Tilting limit bend; 4101. Plate;

[0056] 5. Receiving platform;

[0057] 6. Stirring mechanism; 601. First column; 602. Second motor; 603. Metal chopsticks; 604. First bowl stand;

[0058] 7. Packaging mechanism; 701. Second column; 702. Packaging device; 703. Second bowl-holding platform;

[0059] 8. Automatic feeding mechanism for chopsticks and spoons; 801. Bin body; 8011. Base plate; 80111. Guide groove; 802. Mounting base; 803. Rotary feeder; 8031. Cut surface; 8032. Protruding edge; 804. Feed trough; 805. Counterweight push plate; 806. First sliding wheel; 807. Second sliding wheel; 808. Third sliding wheel; 809. Tensioning wire; 810. Counterweight block;

[0060] 9. Bag opening and bagging mechanism; 901. Bag frame; 902. Adsorption bag separator; 9021. Bag separator fixing base; 9022. Bag feeding displacement rocker arm; 9023. Vacuum manifold; 9024. Adsorption plate; 9025. Vacuum tube; 9026. Vacuum generator; 9027. Second drive component; 9028. Impact valve; 9029. Impact limit plate; 903. Lower bag compartment; 904. Receiving roller pair; 905. Left bag opening suction cup; 906. Right bag opening suction cup; 907. Third motor; 908. Clamp;

[0061] 10. Pick-up port; 11. Pick-up door structure; 1101. Chain plate door; 1102. Movable switch bar; 1103. Micro switch. Detailed Implementation

[0062] The preferred embodiments of the present invention will be described below with reference to the accompanying drawings. It should be understood that the preferred embodiments described herein are for illustration and explanation only and are not intended to limit the present invention.

[0063] like Figures 1 to 21As shown, this invention claims protection for an intelligent food cooking and vending machine. The machine's casing is equipped with a human-machine interactive touch screen. End users can place orders for corresponding categories of cooked food through a mobile app or the touch screen on the device. After the backend system successfully generates an order, it sends an order instruction to the device's ID number. Upon receiving the order data, the corresponding ID device triggers the internal mechanical start-up.

[0064] The automatic feeding mechanism 1 will place semi-finished ingredients, such as noodles and rice noodles, in a bowl in the refrigerator 102 and seal them to keep them fresh. The automatic feeding mechanism 1 will push out the corresponding ingredients and lift them to the position where the robot arm 2 will grasp them. The robot arm 2 will grab the ingredients and send them to the film-tearing mechanism. The film-tearing mechanism will sense the signal interaction between the robot arm 2 and start the film-tearing action, waiting for the next step.

[0065] like Figure 10 as well as Figure 11 As shown, the automatic feeding mechanism 1 includes a first support 101, on which a cold storage chamber 102 is mounted. A partition plate 103 is positioned in front of the cold storage chamber 102, and adjacent partition plates 103 form discharge ports 104. Several bowls of food are stacked longitudinally within the cold storage chamber 102, with each longitudinal stack corresponding to a discharge port 104. A wedge-shaped pusher 105 is positioned below each discharge port 104, and a belt transfer device 106 is positioned in front of each wedge-shaped pusher 105. The cold storage chamber 102 is an open-bottomed box. The wedge-shaped pusher 105 is connected to a cylinder or electric push rod, which pushes the wedge-shaped pusher 105 to move, thereby opening the cold storage chamber 102. Food at the lowest point in section 2 is pushed to the belt transfer device 106 and transported to the next process; the height from the opening below the refrigerator compartment 102 to the upper surface platform of the first support 101 is exactly the height of one food unit, so the movement of the wedge pusher 105 can only push out one unit of food; a vertically sliding opening and closing block 107 is provided at the discharge port 104, and the opening and closing block 107 is connected to the first drive component 108 connected to the refrigerator compartment 102. The opening and closing block 107 is raised and lowered under the action of the first drive component 108. In this embodiment, the first drive component 108 is an electric push rod. When in standby mode, the first drive component 108 pushes out to control the opening and closing block 107 to descend and block the discharge port 104 to prevent the cold air in the refrigerator compartment 102 from dissipating.

[0066] Food removed from the belt transfer device 106 is picked up by the robot arm 2 and sent to the film-tearing mechanism for film tearing. The film-tearing mechanism has a negative pressure suction nozzle that sucks up the torn film. When the robot arm 2 moves away, the suction nozzle spits the torn film into the recycling bin.

[0067] Robot arm 2 pours the food, after tearing off the film, into the heating pot mechanism 4 for cooking. Then, the bowl-separating mechanism 3 outputs an empty bowl, which robot arm 2 delivers to the receiving platform 5. After the heating pot mechanism 4 cooks the food, it is poured from the cooking pot 401 into the empty bowl. When the bowl-separating mechanism 3 receives the bowl-separating signal, it starts the bowl-separating action. The bowl-separating mechanism 3 consists of a bowl-supporting nozzle, a bowl-separating nozzle, a sliding cam, etc. When the bowl-separating nozzle is inserted into the gap between the stacked bowls, the bowl-supporting nozzle retracts, then the bowl-separating nozzle opens, separates a bowl, closes, the bowl-supporting nozzle returns to its original position, and the bowl-separating nozzle retracts again, completing one bowl-separating cycle.

[0068] like Figures 4 to 7 As shown, the heating pot mechanism 4 includes a cooking pot 401, a receiving platform 5 located to the side of the cooking pot 401, and a strainer 402 installed inside the cooking pot 401. The strainer 402 is longitudinally movable within the cooking pot 401. The strainer 402 is connected to a connecting member, which is connected to a sliding table 403. A first guide rail 404 is longitudinally installed on the cooking pot 401, and the sliding table 403 is slidably connected to the first guide rail 404. The sliding table 403 is connected to an electric push rod to control the movement of the sliding table 403 on the first guide rail 404, which can drive the strainer 402 to move up and down relative to the cooking pot 401, achieving a bouncing motion. This ensures that the food is not soaked in the water and is cooked. By simulating the bouncing motion of a chef, the food is heated evenly and does not clump together. The pot is equipped with a water level sensor and a water temperature monitoring sensor to ensure that the cooking conditions are met even when no one is present. When the robotic arm 2 pours the ingredients into the strainer 402, a signal is sent to the heating pot mechanism 4. Upon receiving the signal, the heating pot mechanism 4 starts the cooking program. When there is no order, the water in the cooking pot 401 is automatically controlled to maintain a water temperature of 55 to 65 degrees Celsius. When an order signal is received, the water temperature is immediately started to rise from 60 degrees Celsius to 100 degrees Celsius within 60 seconds. The cooking pot 401 of the heating pot mechanism 4 contains a temperature sensor and a temperature controller to control the temperature so that the ingredients are cooked without generating a large amount of steam. With the combined action of the temperature controller and the timer, the ingredients are cooked thoroughly and the texture is controlled to be at its best before being removed from the pot.

[0069] The connecting components include a swing arm clamp 405 and a swing arm rod 406. The upper end of the swing arm clamp 405 is connected to the strainer 402, and the lower end of the swing arm clamp 405 is rotatably connected to the swing arm rod 406. The lower end of the swing arm rod 406 is connected to the slide table 403. A driven sprocket 407 is coaxially connected to the swing arm clamp 405. That is, the driven sprocket 407 and the swing arm clamp 405 are connected by a rod that is rotatably connected to the swing arm rod 406. The rotation of the driven sprocket 407 will drive the swing arm. The clamp 405 rotates; a first motor 408 is installed on the slide table 403, and the first motor 408 is connected to a drive sprocket 409. The drive sprocket 409 is connected to a driven sprocket 407 via a chain; the first motor 408 drives the drive sprocket 409 to rotate, and the drive sprocket 409 drives the driven sprocket 407 to rotate via a chain. The driven sprocket 407 drives the swing arm clamp 405 to turn the strainer 402, thereby pouring the food into the empty bowl of the receiving platform 5. When the first motor 408 starts to turn the food in the strainer 402, the strainer 402 needs to be raised before turning to prevent it from touching the cooking pot 401 during the turning process.

[0070] The swing arm clamp 405 is connected to a flip-limiting bend 410. The swing of the swing arm clamp 405 drives the flip-limiting bend 410 to move. The flip-limiting bend 410 includes a plate 4101 bent at its lower end. When the strainer 402 is in the cooking pot 401, the plate 4101 is hooked on the swing arm rod 406. At this time, there is a distance between the plate 4101 and the side wall of the cooking pot 401. When the strainer 402 flips to its maximum position, the plate 4101 will come into contact with the cooking pot 401. The side wall forms a limit; since the swing arm clamp 405 is driven to swing by the passive sprocket 407, the swing of the swing arm clamp 405 causes the strainer 402 to flip and pour the food into the empty bowl of the receiving platform 5, and return to the cooking pot 401. Therefore, by flipping the limiting bending piece 410, when the plate 4101 is hooked on the swing arm rod 406, the strainer 402 just returns to the cooking pot 401. When the plate 4101 is against the side wall of the cooking pot 401, it flips to the maximum angle, thereby achieving the limiting effect.

[0071] The stirring mechanism 6 is used to stir the food transferred by the robot arm 2 to mix the food and sauce evenly, and wait for the robot arm 2 to pick it up and package it. The cooked food is moved to the stirring mechanism 6 by the robot arm 2. The stirring mechanism 6 is equipped with a sauce device to squeeze the sauce into the food, so stirring is required. The stirring mechanism 6 includes a first column 601 and a second motor 602 located on the top of the first column 601. The second motor 602 is connected to the metal chopsticks 603 and is used to drive the metal chopsticks 603 to rotate. A first bowl-placement platform 604 is slidably arranged on the first column 601. The robot arm 2 places the cooked food on the first bowl-placement platform 604. The first bowl-placement platform 604 rises along the first column 601 to the metal chopsticks 603 under the action of an electric push rod. The second motor 602 drives the metal chopsticks 603 to rotate and stir the food, so that the sauce and food are mixed evenly.

[0072] Furthermore, the robotic arm 2 transfers the cooked food to the mixing mechanism. When the mixing mechanism receives the set signal, it starts the elevator to lift the bowl containing the food to the mixing station. The sauce valve at the bottom of the sauce heating chamber opens and injects sauce. The mixer starts and reciprocates along the elliptical trajectory. After completing all the set actions, the elevator descends to reset, and the signal is exchanged with the robot, which then takes the food away.

[0073] The packaging mechanism 7 is used to package the food transferred by the robot arm 2 and wait for the robot arm 2 to pick it up and put it into a bag. Specifically, the packaging mechanism 7 includes a second column 701 and a packaging device 702 located on top of the second column 701. A second bowl-placement platform 703 is slidably arranged on the second column 701. The packaging device 702 is located above the second bowl-placement platform 703. When the robot arm 2 places the stirred food on the second bowl-placement platform 703, the second bowl-placement platform 703 rises along the second column 701 under the action of an electric push rod, which drives the food to rise and approach the packaging device 702 to complete the packaging. The food-containing bowl is raised and brought close to the packaging device 702 for sealing.

[0074] Furthermore, when robot arm 2 delivers the bowl to the packaging station, the packaging station sensor detects the bowl and activates the heating coil. The packaging heating is controlled by a thermal sensor that identifies the temperature, and the temperature is controlled by a PID program. When the packaging conditions are met, the packaging thermal bonding part moves downward, and the lower platform also moves downward to make way for the packaging bonding mold. The thermal film moves forward one step. After bonding, the cutter moves downward to separate the film from the bowl opening. When all the downward sensors are closed, the downward sealing action is completed, and the mechanism moves upward to reset, completing the packaging action.

[0075] It also includes an automatic chopsticks and spoon ingredient packet feeding mechanism 8, used to feed the chopsticks and spoon ingredient packet into the packaging bag; and a bag opening and bagging mechanism 9, used to put the packaged food into the bag; and after the sealing operation, the robot arm 2 picks it up and puts it into the delivery port 10 for delivery.

[0076] Figures 12 to 15 As shown, the automatic feeding mechanism 8 for chopsticks and spoons includes a housing 801 and a rotating feeding assembly located at the end of the housing 801. The rotating feeding assembly includes a mounting base 802, on which a columnar rotating feeder 803 is rotatably mounted. The rotating feeder 803 is driven to rotate by a motor. The end of the housing 801 has an opening corresponding to the rotating feeder 803. The housing 801 includes a base plate 8011. The chopsticks and spoons are placed as an independent package along the length of the base plate 8011. A cross-section 8031 ​​is formed on the surface of the rotating feeder 803 along the axial direction. When the cross-section 8031 ​​rotates to the position corresponding to the housing 801 during rotation, it will cause the rotating feeder 803 to rotate. The gap between the 3 and the bottom plate 8011 is increased, which helps the chopsticks and spoons package to be discharged from the gap; the end of the bin 801 is connected to the discharge trough 804, and the chopsticks and spoons package that comes out of the bin 801 will fall into the discharge trough 804 under the action of the rotary feeder 803; a counterweight push plate 805 is provided on the bottom plate 8011, and the counterweight push plate 805 has a placement area for the chopsticks and spoons package at the opening; a guide groove 80111 is provided on the bottom plate 8011 along the length direction, and the counterweight push plate 805 is movably disposed in the guide groove 80111; the counterweight push plate 805 is connected to a weight mechanism, and the counterweight push plate 805 pushes the chopsticks and spoons package to the opening under the action of the weight mechanism, and is discharged under the action of the rotary feeder 803.

[0077] The rotary feeder 803 has a raised edge 8032 formed along the axial direction above the cut surface 8031; the rotary feeder 803 rotates counterclockwise, and when the rotary feeder 803 moves from... Figure 14 Rotate to Figure 15 In the current state, the chopsticks and spoon packet at the foremost position will be pushed into the area below the cutting surface 8031 ​​by the counterweight push plate 805. At this time, the gap between the cutting surface 8031 ​​and the base plate 8011 tends to gradually increase, allowing the chopsticks and spoon packet to enter the gap. The rotating feeder 803 has a convex edge 8032 formed axially above the cutting surface 8031, which helps to pull out the chopsticks and spoon packet. As the rotating feeder 803 rotates, the convex edge 8032 will cooperate to pull out the chopsticks and spoon packet that has entered the gap. When the rotating feeder 803 rotates from the cutting surface 8031... Figure 15 Rotate to Figure 14In this state, the gap between the cut surface 8031 ​​and the base plate 8011 gradually decreases until the arc surface of the rotary feeder 803 faces the inside of the bin 1. When the gap is less than the thickness of the chopsticks and spoons material bag, the chopsticks and spoons material bag can no longer be rolled in. Thus, the rotary feeder 803 rotates once and dispenses one chopsticks and spoons material bag. Furthermore, the diameter of the rotary feeder 803 is designed so that the convex edge 8032 of the rotary feeder 803 can just scrape off one chopsticks and spoons material bag when it rotates down, without any excess.

[0078] like Figure 13 See, the lower end of the counterweight push plate 805 is connected to a slider, and a second guide rail is provided along the length of the chamber 801. The slider is slidably connected to the second guide rail. The slider slides along the second guide rail, which can drive the counterweight push plate 805 to move along the guide groove 80111. The counterweight mechanism includes a first sliding wheel 806 and a second sliding wheel 807 connected below the base plate 8011. A third sliding wheel 808 is provided next to the first sliding wheel 806. The first sliding wheel 806 and the second sliding wheel 807 are horizontally rotatable, and the third sliding wheel 808 is vertically rotatable. The first sliding wheel 806 and the second sliding wheel 807 are located on the front and rear sides near the second guide rail, respectively. It also includes a tension wire 809. One end of the tension wire 809 is connected to the slider, and the other end of the tension wire 809 is connected to the counterweight block 810. The middle section of the tension wire 809 is connected to the first sliding wheel 806, the second sliding wheel 807, and the third sliding wheel 808 in sequence.

[0079] That is, the tension wire 809 extending from the slider first winds around to the first sliding wheel 806, then back to the second sliding wheel 807, and finally to the third sliding wheel 808, and finally connects with the counterweight 810. Due to gravity, the counterweight 810 has a downward pulling force, and this pulling force, through the tension wire 809, exerts a pulling force on the slider in the direction of the first sliding wheel 806. This causes the counterweight push plate 805 to exert a pushing force on the chopsticks and spoon packs located on one side of the counterweight push plate 805's forward direction. Thus, when the rotating feeder 803 pulls off the foremost chopsticks and spoon pack, the chopsticks and spoon packs located behind can immediately replenish it; that is, under the action of the counterweight push plate 805, the chopsticks and spoon packs are pushed forward one position for every one removed.

[0080] Furthermore, when the automatic chopsticks and spoon material supply mechanism 8 receives a signal, it starts the rotary feeder 803. Due to the dragging effect of the tension wire 808, the chopsticks and spoon material pack adheres tightly to the rotary feeder 803. Driven by the motor, the rotary feeder 803 rotates once, separating the tightly adhered pack and pushing it into the lower feeding trough 804. The lower feeding trough 804 has a reciprocating motor with a cam. The cam drives the toothed plate to reciprocate. Under the action of the toothed plate, the chopsticks and spoon material pack slides towards the outlet channel and finally falls into the bag at the outlet, completing one feeding cycle.

[0081] like Figures 16 to 18 As shown, the bag-opening and bag-packing mechanism 9 includes a bag frame 901, on which a suction bag separator 902 is installed. The suction bag separator 902 is connected to the lower bag chamber 903. At the inlet of the lower bag chamber 903, a pair of oppositely rotating receiving rollers 904 are installed. The suction bag separator 902 is used to suction and transfer bags from the lower bag chamber 903 to the receiving rollers 904 and then roll them into the lower bag chamber 903. At the outlet of the lower bag chamber 903, an opening structure is provided to open the opening of bags conveyed from the bag-exiting structure. The opening structure includes a left bag-opening suction cup 905 and a right bag-opening suction cup 906 arranged opposite each other. The bag-exiting chamber is curved downwards to allow bags to be conveyed along the conveying channel of the bag-exiting chamber to the space between the left and right bag-opening suction cups 905 and 906. Both the left and right bag-opening suction cups 905 and 906 are equipped with a bag-clamping anti-drop structure. The anti-drop structure includes a third motor 907, whose motor shaft is connected to a clamp 908. When the first motor 408 is started, it drives the clamp 908 to rotate, causing the clamping surface of the clamp 908 to move closer to the suction surfaces of the left and right bag suction cups 905 and 906 to press the edge of the bag, or to move the clamping surface of the clamp 908 away from the suction surfaces of the left and right bag suction cups 905 and 906 to release the pressure on the edge of the bag. The left and right bag suction cups 905 and 906 are connected to a vacuum generator and have vacuum suction force. In addition, the anti-drop structure on the left and right bag suction cups 905 and 906 also clamps the two sides of the bag. Therefore, when the left and right bag suction cups 905 and 906 move away from each other, the bag opening can be opened. The robot then puts the sealed item into the bag.

[0082] The adsorption bag separator 902 includes a bag separator base 9021, a bag feeding displacement rocker arm 9022 rotatably connected to the bag separator base 9021, a vacuum manifold pipe 9023 connected to the bag feeding displacement rocker arm 9022, an adsorption plate 9024 connected to the vacuum manifold pipe 9023, and a vacuum tube 9025 connected to a vacuum generator 9026. The vacuum tube 9025 performs vacuum extraction, giving the vacuum manifold pipe 9023 and the adsorption plate 9024 adsorption force, thereby adsorbing the bags. It also includes a second drive component 9027 connected to the bag separator base 9021. The second drive component 9027 is an electric push rod. The movable end of 027 is connected to the middle of the bag feeding displacement rocker arm 9022. The electric push rod drives the bag feeding displacement rocker arm 9022 to swing, so that the adsorption plate 9024 adsorbs the bag and conveys it forward to the receiving roller pair 904 for winding. Among them, the empty manifold is equipped with a knock-open valve 9028, which corresponds to the knock-open limit plate 9029 connected to the bag separator fixing seat 9021. That is, when the adsorption plate 9024 adsorbs the bag and conveys it forward, when the knock-open valve 9028 hits the knock-open limit plate 9029, the knock-open valve 9028 will open and release the air in the vacuum manifold duct 9023, so that the adsorption plate 9024 releases the adsorption force on the bag, thereby allowing the bag to be sent into the receiving roller pair 904.

[0083] The packaged food robot 2 delivers the food to the retrieval port 10, which is equipped with a retrieval door structure 11. A chain plate door 1101 is slidably mounted on the retrieval door structure 11. The chain plate door 1101 is composed of several chain plates connected together. The two sides of the chain plate door 1101 are slidably connected to the door frame of the retrieval door structure 11, facilitating hand access for retrieving the food. The chain plate door 1101 can be raised and lowered by a chain drive structure located on its side. A movable switch bar 1102 is movably mounted at the lower end of the chain plate door 1101. The movable switch bar 1102 is... The movable suspension is located at the bottom of the chain plate door 1101. A micro switch 1103 is installed inside the chain plate door 1101. The micro switch 1103 is located above the movable switch bar 1102 and is used in correspondence with the movable switch bar 1102. In this embodiment, the micro switch 1103 is electrically connected to the chain drive structure that controls the lifting and lowering of the chain plate door 1101. When the chain plate door 1101 descends and touches a person's hand, the movable switch bar 1102 is lifted up and touches the micro switch 1103. The micro switch 1103 sends a signal to stop the chain plate door 1101 from descending, thereby achieving the anti-pinch effect.

[0084] This invention discloses an intelligent food preparation and sales integrated machine. Through the coordinated operation of a robotic arm 2, a storage-type automatic feeding mechanism 1, a bowl-separating mechanism 3, a heating pot mechanism 4, a stirring mechanism 6, a packaging mechanism 7, an automatic chopsticks, spoons, and ingredient packet supply mechanism 8, and a bag-opening and bagging mechanism 9, it completes a series of operations such as food preservation, heating and preparation, and packaging. It has complete functions, a high degree of automation, convenient operation, and saves time.

[0085] Finally, it should be noted that the above are merely preferred embodiments of the present invention and are not intended to limit the present invention. Although the present invention has been described in detail with reference to the embodiments, those skilled in the art can still modify the technical solutions described in the foregoing embodiments or make equivalent substitutions for some of the technical features. However, any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the protection scope of the present invention.

Claims

1. A smart food preparation and dispensing integrated machine, characterized in that, include: The storage-type automatic feeding mechanism (1) is used to push out the corresponding ingredients and lift them to the position after being grasped by the robot arm (2) via the elevator. The robot arm (2) grabs the ingredients and sends them to the film-tearing mechanism. The film-tearing mechanism senses the interaction of signals completed by the robot arm (2) and starts the film-tearing action. The bowl-separating mechanism (3) outputs empty bowls, and the robot arm (2) delivers the empty bowls to the receiving platform (5) to wait for the cooking pot (401) to pour them out. The heating pot mechanism (4) is used to cook the ingredients that the robot arm (2) has opened after tearing the film into the cooking pot (401) and then pour them into the empty bowl located on the receiving platform (5). The stirring mechanism (6) is used to stir the food transferred by the robot arm (2) so that the food and sauce are mixed evenly. During cooking, there is a tossing action to prevent the food from sticking together and to make it heat evenly. The heating pot mechanism (4) has a temperature sensor and a temperature controller to control the temperature so that the food is cooked without causing a large amount of water vapor to be generated. With the combined action of the temperature controller and the timer, the food is cooked through and the taste is controlled to be removed from the pot when it is in the best state, and waits for the robot arm (2) to pick it up and package it. The packaging mechanism (7) is used to package the food transferred by the robot arm (2) and wait for the robot arm (2) to pick it up and put it into a bag. An automatic feeding mechanism (8) for feeding chopsticks and spoons into a packaging bag; The bag opening and bagging mechanism (9) is used to put the sealed food into the bag; After the sealing operation, the goods are picked up by the robot arm (2) and placed into the picking port (10) for delivery; The automatic feeding mechanism (8) for chopsticks and spoons includes a bin (801) and a rotating feeding assembly located at the end of the bin (801). The rotating feeding assembly includes a mounting base (802), on which a columnar rotating feeding device (803) is rotatably mounted. The end of the bin (801) has an opening corresponding to the rotating feeding device (803). The bin (801) includes a base plate (8011). A cross-section (8031) is formed on the surface of the rotating feeding device (803) along the axial direction. When the cross-section (8031) rotates to the position corresponding to the bin (801) during rotation, it will increase the gap between the rotating feeding device (803) and the base plate (8011), thereby helping the chopsticks and spoons to be discharged from the gap. A feeding trough (804) is connected to the end of the bin (801). The base plate (8011) is provided with a counterweight push plate (805), which has a placement area for the chopsticks and spoons package at the opening. The base plate (8011) is provided with a guide groove (80111) along its length, and the counterweight push plate (805) is movably disposed in the guide groove (80111). The counterweight push plate (805) is connected to a weight mechanism, which pushes the chopsticks and spoons package to the opening under the action of the weight mechanism, and discharges it under the action of the rotary feeder (803). The lower end of the counterweight push plate (805) is connected to a slider, and a second guide rail is provided along the length of the chamber (801). The slider is slidably connected to the second guide rail. The counterweight mechanism includes a first sliding wheel (806) and a second sliding wheel (807) connected below the base plate (8011). A third sliding wheel (808) is provided next to the first sliding wheel (806). The first sliding wheel (806) and the second sliding wheel (807) are horizontally rotatable, and the third sliding wheel (808) is vertically rotatable. The first sliding wheel (806) and the second sliding wheel (807) are located on the front and rear sides near the second guide rail, respectively. It also includes a tension wire (809). One end of the tension wire (809) is connected to the slider, and the other end of the tension wire (809) is connected to the counterweight block (810). The middle section of the tension wire (809) is connected to the first sliding wheel (806), the second sliding wheel (807), and the third sliding wheel (808) in sequence. The rotary feeder (803) is located above the cut surface (8031) and has a raised edge (8032) in the axial direction.

2. The intelligent food preparation and dispensing machine according to claim 1, characterized in that, The storage-type automatic feeding mechanism (1) includes a first support (101), a cold storage chamber (102) is provided on the first support (101), a partition plate (103) is provided in front of the cold storage chamber (102), and a discharge port (104) is formed between adjacent partition plates (103); a wedge-shaped pusher (105) is provided below the cold storage chamber (102) corresponding to each discharge port (104), and a belt transfer device (106) is provided in front of the wedge-shaped pusher (105); an opening and closing block (107) is longitudinally slidably provided at the discharge port (104), and the opening and closing block (107) is connected to a first driving component (108) connected to the cold storage chamber (102), and the opening and closing block (107) is raised and lowered under the action of the first driving component (108).

3. The intelligent meal preparation and dispensing machine according to claim 1, characterized in that, The heating pot mechanism (4) includes a cooking pot (401), a receiving platform (5) located to the side of the cooking pot (401), a strainer (402) provided inside the cooking pot (401), the strainer (402) being longitudinally movable within the cooking pot (401); the strainer (402) is connected to a connecting member, the connecting member being connected to a slide (403); a first guide rail (404) is longitudinally provided on the cooking pot (401), the slide (403) being slidably connected to the first guide rail (404); the connecting member includes a swing arm clamp (405) and a swing arm rod (406), the upper end of the swing arm clamp (405) being connected to the strainer (402), and the lower end of the swing arm clamp (405) being rotatably connected to the swing arm rod. On the rod (406), the lower end of the swing arm rod (406) is connected to the slide table (403); the swing arm clamp (405) is coaxially connected to the passive sprocket (407), the slide table (403) is equipped with a first motor (408), the first motor (408) is connected to the driving sprocket (409), the driving sprocket (409) is connected to the passive sprocket (407) through a chain; the first motor (408) drives the driving sprocket (409) to rotate, the driving sprocket (409) drives the passive sprocket (407) to rotate through a chain, the passive sprocket (407) drives the swing arm clamp (405) to turn the strainer (402) over, thereby pouring the food into the empty bowl of the receiving platform (5).

4. The intelligent meal preparation and dispensing machine according to claim 3, characterized in that, The swing arm clamp (405) is connected to a flip-limiting bend (410), which includes a plate (4101) bent at the lower end. When the strainer (402) is in the cooking pot (401), the plate (4101) is hooked on the swing arm (406). At this time, there is a distance between the plate (4101) and the side wall of the cooking pot (401). When the strainer (402) flips to the maximum position, the plate (4101) will abut against the side wall of the cooking pot (401) to form a limit.

5. The intelligent meal preparation and dispensing machine according to claim 1, characterized in that, The stirring mechanism (6) includes a first column (601) and a second motor (602) located on top of the first column (601). The second motor (602) is connected to the metal chopsticks (603) and is used to drive the metal chopsticks (603) to rotate. A first bowl-holding platform (604) is slidably arranged on the first column (601). The robot arm (2) places the cooked food on the first bowl-holding platform (604), and the second motor (602) drives the metal chopsticks (603) to rotate to stir the food. The packaging mechanism (7) includes a second column (701) and a packaging device (702) located on top of the second column (701). A second bowl-placement platform (703) is slidably arranged on the second column (701). The packaging device (702) is located above the second bowl-placement platform (703). When the robot arm (2) places the stirred food on the second bowl-placement platform (703), the second bowl-placement platform (703) drives the food to rise and approach the packaging device (702) to complete the packaging.

6. The intelligent meal preparation and dispensing machine according to claim 5, characterized in that, The bag-opening and bag-packing mechanism (9) includes a bag frame (901), on which an adsorption bag separator (902) is provided. The adsorption bag separator (902) is connected to the lower bag chamber (903). At the entrance of the lower bag chamber (903), there is a pair of receiving rollers (904) that rotate in opposite directions. At the exit of the lower bag chamber (903), there is an opening structure for opening the bag that is conveyed from the bag-outing structure. The opening structure includes a left bag-opening suction cup (905) and a right bag-opening suction cup (906) that are arranged opposite to each other. The bag-outing chamber is curved and extends downward so that the bag is conveyed along the conveying channel of the bag-outing chamber to the left bag-opening suction cup (905) and the right bag-opening suction cup. Between (906); both the left bag suction cup (905) and the right bag suction cup (906) are equipped with a bag clamping anti-drop structure; the bag clamping anti-drop structure includes a third motor (907), the motor shaft of the third motor (907) is connected to the clamp (908), the first motor (408) is started to drive the clamp (908) to rotate, so that the clamping surface of the clamp (908) moves close to the adsorption surface of the left bag suction cup (905) and the right bag suction cup (906) to press the edge of the bag, or moves the clamping surface of the clamp (908) away from the adsorption surface of the left bag suction cup (905) and the right bag suction cup (906) to release the pressing on the edge of the bag.

7. The intelligent meal preparation and dispensing machine according to claim 6, characterized in that, The adsorption bag separator (902) includes a bag separator fixing base (9021), a bag feeding displacement rocker arm (9022) rotatably connected to the bag separator fixing base (9021), a vacuum manifold pipe (9023) connected to the bag feeding displacement rocker arm (9022), an adsorption plate (9024) connected to the vacuum manifold pipe (9023), the vacuum manifold pipe (9023) connected to a vacuum tube (9025), and the vacuum tube (9025) connected to a vacuum generator (9024). 026) Connection; also includes a second drive component (9027) connected to the bag separator fixing base (9021), the movable end of the second drive component (9027) is connected to the middle of the bag delivery displacement rocker arm (9022) to drive the bag delivery displacement rocker arm (9022) to swing; an impact valve (9028) is provided on the air manifold pipe, the impact valve (9028) is used in correspondence with the impact limit plate (9029) connected to the bag separator fixing base (9021).

8. The intelligent meal preparation and dispensing machine according to claim 1, characterized in that, The picking port (10) is provided with a picking door structure (11), and a chain plate door (1101) is slidably provided on the picking door structure (11). A movable switch bar (1102) is movably provided at the lower end of the chain plate door (1101). A micro switch (1103) is provided inside the chain plate door (1101). The micro switch (1103) is located above the movable switch bar (1102) and is used in correspondence with the movable switch bar (1102).

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