Food refrigeration vending machine

Abstract

The invention discloses a food refrigeration vending machine which comprises a vending machine shell, a storage unit, a discharging mechanical arm, a clamping jaw and a meal outlet mechanism, a plurality of meal outlets are formed in the vending machine shell, the vending machine shell comprises a meal outlet plate extending in the first direction, and the meal outlet plate is connected with the meal outlets so that food can be placed at the meal outlets; the discharging manipulator is mounted in the vending machine shell; the clamping jaw is installed on the discharging mechanical arm and used for grabbing food. The meal outlet mechanism comprises a baffle, a push rod, a driving assembly and a heating moving assembly, and the baffle is installed on the vending machine shell in a sliding mode to open or close a meal outlet; at least part of the push rod extends to the meal outlet plate, and the push rod can move relative to the meal outlet plate so as to push food on the meal outlet plate out of the meal outlet; the driving assembly is connected with the baffle and the push rod to simultaneously drive the baffle and the push rod to move; the heating moving assembly is installed above the meal outlet plate, at least part of the heating moving assembly extends to the position above the baffle, and the heating moving assembly moves upwards along with the baffle.

Description

Technical Field

[0001] This application relates to the field of food vending equipment technology, and more particularly to a food refrigeration vending machine. Background Technology

[0002] A food vending machine is a self-service vending machine used to sell food. Food vending machines typically include a cutlery dispensing device, which stores and dispenses the cutlery.

[0003] Currently, the integration level of food vending equipment on the market is low. The drive components for driving the food dispensing baffle, the drive components for raising and lowering the heating moving component, and the drive components for pushing food into the vending machine are all independent working parts, which makes the structure of the vending machine more complex, increases the hardware cost of the equipment, and also increases the control cost of the vending machine. Summary of the Invention

[0004] This application provides a food refrigeration vending machine to improve the integration of the vending machine and reduce its production cost.

[0005] To achieve the above objectives, the main technical solutions adopted in this application include: This application provides a food refrigerated vending machine, including a vending machine housing, a storage unit, a dispensing robot, grippers, and a food dispensing mechanism. The vending machine housing has multiple food dispensing openings and includes a dispensing plate extending along a first direction, connected to the food dispensing openings for placing food. The storage unit is placed inside the vending machine housing and has multiple receiving cavities extending along a second direction, where food is stored. The dispensing robot is installed inside the vending machine housing and has degrees of freedom of movement along the first, second, and third directions, which are perpendicular to each other. The grippers are installed on the dispensing... A food handling robot is used to grasp food. The food dispensing mechanism includes a baffle, a push rod, a drive assembly, and a heating and moving assembly. The baffle is slidably mounted on the vending machine housing to open or close the food dispensing opening. The push rod is mounted on one side of the food dispensing plate and extends at least partially onto the food dispensing plate. The push rod can move relative to the food dispensing plate to push the food on the food dispensing plate out of the food dispensing opening. The drive assembly is connected to the baffle and the push rod to drive the baffle to move in a second direction, and at the same time, drive the push rod to move in a first direction. The heating and moving assembly is mounted above the food dispensing plate and extends at least partially above the baffle. Under the action of the drive assembly, the heating and moving assembly moves upward with the baffle.

[0006] Furthermore, the drive assembly includes a first drive member, a second drive member, and a drive wheel, with the drive wheel connected to both the first and second drive members; the first drive member is connected to a baffle and drives the baffle to move along a second direction; the second drive member is connected to a push rod and drives the push rod to move along a first direction.

[0007] Furthermore, the first driving component includes a driven pulley, a first connecting block, and a first belt. The driven pulley is connected to the driving pulley via the first belt. The first belt and the baffle are connected via the first connecting block.

[0008] Furthermore, the second driving component includes a first connecting rod, a second connecting rod, a drive frame, a first pulley, and a second pulley. The first pulley and the first connecting rod are mounted on one end of the drive frame via a rotating shaft, and the first pulley and the first connecting rod rotate simultaneously. The second pulley and the second connecting rod are mounted on the other end of the first connecting rod via a rotating shaft. The first pulley and the second pulley are connected by a second belt.

[0009] Furthermore, the second driving component also includes a gear structure, through which the driving wheel is connected to the first pulley.

[0010] Furthermore, the heating moving assembly includes a lifting frame and a heating head, the lifting frame being slidably mounted within the vending machine housing and moving in a second direction, the lifting frame extending at least partially above the baffle; the heating head is mounted on the lifting frame.

[0011] Furthermore, the heating moving assembly includes a moving guide plate and a spring. The moving guide plate is installed inside the vending machine housing, and the lifting frame and the baffle are slidably connected to the moving guide plate. The spring is located between the lifting frame and the moving guide plate, and applies a force toward the food dispensing plate to the lifting frame through the spring.

[0012] Furthermore, the heating and moving assembly also includes an electromagnet, which is mounted on the lifting frame, and the lifting frame is attracted to the moving guide plate by the electromagnet.

[0013] Furthermore, the heating head includes a connector and a buffer sleeve respectively installed on the lifting frame, with the buffer sleeve covering the connector.

[0014] Further, the gripper includes a gripper unit, a gripper base, and a drive disk. The gripper unit includes a connecting post. The gripper base includes a gripper groove extending radially along the gripper base. The gripper unit is mounted in the gripper groove and has a degree of freedom of movement along the gripper groove. The drive disk is located above the gripper base and has a degree of rotational freedom of rotation relative to the gripper base. The drive disk includes a guide groove, and the connecting post extends at least partially into the guide groove. Along the extension direction of the guide groove, the guide groove includes a first end and a second end. The distance between the first end and the rotation center of the drive disk is greater than the distance between the second end and the rotation center of the drive disk. The connecting post moves between the first end and the second end to allow the gripper unit to move relative to the gripper base.

[0015] By simultaneously controlling the movement of the baffle, heating moving component, and push rod through the drive assembly, the components of the refrigerated vending machine are more integrated, reducing the number of parts, lowering hardware and control costs, and ultimately reducing production costs. Attached Figure Description

[0016] To more clearly illustrate the technical solutions in the specific embodiments of this application or the prior art, the drawings used in the description of the specific embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of this application. For those skilled in the art, other drawings can be obtained from these drawings without creative effort.

[0017] Figure 1 This is a structural diagram of the food refrigeration vending machine provided in this application.

[0018] Figure 2 yes Figure 1 The diagram shows the structure of a partially opened cabinet door of a refrigerated food vending machine.

[0019] Figure 3 yes Figure 1 The diagram shows the structure of the dispensing robot arm of the refrigerated food vending machine.

[0020] Figure 4 yes Figure 1 The diagram shows the structural diagram of the food dispensing mechanism of the refrigerated food vending machine.

[0021] Figure 5 yes Figure 4 The diagram shows the assembly of the drive component and the heating moving component of the food serving mechanism.

[0022] Figure 6 yes Figure 5 A magnified view of part A of the drive component and heating moving component of the food serving mechanism shown.

[0023] Figure 7 yes Figure 1 The diagram shows the structure of the gripper of the food refrigeration vending machine.

[0024] Figure 8 yes Figure 7 The cross-sectional view of the gripper shown.

[0025] Figure 9 yes Figure 7 The diagram shows the structure of the gripper after the mounting bracket has been removed.

[0026] Figure 10 yes Figure 9The diagram shows the structure of the gripper after the driving component is removed.

[0027] Figure 11 yes Figure 1 The diagram shows the structure of the tableware output device of the refrigerated food vending machine.

[0028] Explanation of reference numerals in the attached drawings: vending machine casing 1, food dispensing port 101, food dispensing plate 102, food cavity 103, storage cavity 104; Storage unit 2, storage cavity 201; The unloading robot 3 includes a vertical moving component 301, a vertical plate 3011, a vertical connecting column 3012, a pulley assembly 3013, a forward and backward moving component 302, and a left and right moving component 303. Gripper 4, gripper unit 401, connecting post 4011, guide wheel 4012, slider 4013, connecting block 4014, clamping block 4015, gripper seat 402, gripper groove 4021, base 4022, cover plate 4023, sliding groove 40231, detection through hole 4024, bearing groove 4025, bearing 4026, drive disk 403, guide groove 4031, first end 40311, second end 40312, arc groove 4032, baffle 4033, drive sleeve 4034, gripper drive assembly 404, gripper drive gear 4041, gripper driven gear 4042, gripper drive component 4043, gripper mounting bracket 405, mounting post 4051, mounting disk 4052, connecting plate 4053, sensor 4054, scanner 406, distance sensor 407; baffle 5; Putter 6; Drive assembly 7, first drive member 701, driven pulley 7011, first connecting block 7012, first belt 7013, second drive member 702, first connecting rod 7021, second connecting rod 7022, drive frame 7023, first pulley 7024, second pulley 7025, second belt 7026, driven gear 7027, drive gear 7028, drive wheel 703; Heating moving assembly 8, lifting frame 801, bending part 8011, heating head 802, plug connector 8021 and buffer sleeve 8022, moving guide plate 803, spring 804, electromagnet 805; Cutlery output device 9, cutlery guide rail 901, paddle 902, cutlery motor 903, base 904. Detailed Implementation

[0029] To make the objectives, technical solutions, and advantages of the embodiments of this application clearer, the technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, not all embodiments. Based on the embodiments of this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.

[0030] A food refrigerated vending machine includes a vending machine housing 1, a storage unit 2, a dispensing robot 3, grippers 4, and a food dispensing mechanism. The vending machine housing 1 is used to house the storage unit 2, the dispensing robot 3, the grippers 4, and the food dispensing mechanism. The storage unit 2 is used to store food and place it inside the vending machine. The grippers 4 are used to hold the food inside the storage unit 2. The dispensing robot 3 is used to drive the grippers 4 to move, thereby dispensing the food out of the refrigerated vending machine.

[0031] Specifically, the vending machine housing 1 has a food cavity 103 and a storage cavity 104. The storage unit 2, the dispensing robot 3, the gripper 4 and the food dispensing mechanism are all located in the food cavity 103. The storage cavity 104 is used to store tableware, water tanks, etc.

[0032] The vending machine casing 1 has multiple food dispensing ports 101, which are connected to the food cavity 103 to facilitate the dispensing of food out of the refrigerated vending machine.

[0033] The vending machine housing 1 includes a food dispensing plate 102 extending along a first direction. The food dispensing plate 102 is connected to the food dispensing port 101. When dispensing food, the food is first placed in the food dispensing port 101, and then the food is pushed out of the vending machine housing 1 by the food dispensing mechanism.

[0034] The storage unit 2 is placed inside the vending machine housing 1, and multiple storage cavities 201 extending along the second direction are formed inside the storage unit 2. Multiple food items are placed in the same storage cavity 201. The food items are grabbed by the gripper 4 and moved to the food dispensing plate 102 by the dispensing robot 3.

[0035] The dispensing robot 3 is installed inside the vending machine housing 1, and the dispensing robot 3 has the freedom of movement to move along the first direction, the second direction and the third direction, which are perpendicular to each other.

[0036] The gripper 4 is installed on the unloading robot 3. The unloading robot 3 drives the gripper 4 to move so that the food can be moved to the food dispensing plate 102.

[0037] To more clearly illustrate the technical solution of this application, the following definitions are provided: Figure 1The directions shown are front, back, left, right, up, and down. The first direction is the direction of the food output outlet 101, which is... Figure 1 The front-to-back direction is shown. The second direction is the direction of the food output storage unit 2, which is... Figure 1 The vertical direction is shown. The third direction is... Figure 1 The left and right directions are shown.

[0038] The food dispensing mechanism includes a baffle 5, a push rod 6, a drive assembly 7, and a heating and moving assembly 8. The baffle 5 is used to control the opening or closing of the food dispensing port 101, the push rod 6 is used to push the food out of the food dispensing port 101, the heating and moving assembly 8 is used to heat the food, and the drive assembly 7 is used to drive the baffle 5, the push rod 6, and the heating and moving assembly 8 to move.

[0039] Specifically, the baffle 5 is slidably installed on the vending machine housing 1, and the baffle 5 moves along the second direction. The food dispensing port 101 is opened or closed by the up and down movement of the baffle 5. Push rod 6 is mounted on one side of serving plate 102 and extends at least partially onto serving plate 102. Push rod 6 is movable relative to serving plate 102 to push food on serving plate 102 out of serving port 101.

[0040] The drive assembly 7 is connected to the baffle 5 and the push rod 6, driving the baffle 5 to move in the second direction and controlling the opening or closing of the food outlet 101; at the same time, it drives the push rod 6 to move in the first direction to push the food on the food outlet 102 out of the food outlet 101.

[0041] The heating moving assembly 8 is installed above the serving plate 102. The heating moving assembly 8 is lowered so that the food placed on the serving plate 102 can be heated by the heating moving assembly 8.

[0042] The heating moving component 8 extends at least partially above the baffle 5, and under the action of the driving component 7, the heating moving component 8 moves upward with the baffle 5.

[0043] By simultaneously controlling the movement of the baffle 5, the heating moving component 8, and the push rod 6 through the drive component 7, the components of the refrigerated vending machine are more integrated, reducing the number of components, lowering the hardware and control costs, and reducing the production cost of the refrigerated vending machine.

[0044] As one implementation, the drive assembly 7 includes a first drive member 701, a second drive member 702, a drive wheel 703, and a drive frame 7023. The drive frame 7023 is fixedly installed on the vending machine housing 1 and is located on one side of the food dispensing plate 102. The first drive member 701, the second drive member 702, and the drive wheel 703 are respectively installed on the drive frame 7023.

[0045] The drive wheel 703 is connected to the first drive member 701 and the second drive member 702 respectively. The first drive member 701 is connected to the baffle 5 and drives the baffle 5 to move in the second direction. The second drive member 702 is connected to the push rod 6 and drives the push rod 6 to move in the first direction.

[0046] It should be noted that the drive pulley 703 is a belt pulley.

[0047] In one implementation, the first driving component 701 includes a driven pulley 7011, a first connecting block 7012, and a first belt 7013. The driven pulley 7011 is fixed inside the vending machine housing 1, and the driven pulley 7011 is connected to the driving pulley 703 through the first belt 7013.

[0048] The first belt 7013 and the baffle 5 are connected by a first connecting block 7012 so that the baffle 5 can be raised and lowered by the first belt 7013.

[0049] In one implementation, the second drive component 702 includes a first connecting rod 7021, a second connecting rod 7022, a drive frame 7023, a first pulley 7024, and a second pulley 7025. The first pulley 7024 and the first connecting rod 7021 are mounted on one end of the drive frame 7023 via a rotating shaft, and the first pulley 7024 and the first connecting rod 7021 rotate simultaneously. The second pulley 7025 and the second connecting rod 7022 are mounted on the other end of the first connecting rod 7021 via a rotating shaft. The first pulley 7024 and the second pulley 7025 are connected by a second belt 7026.

[0050] Push rod 6 is connected to the end of the second link 7022.

[0051] The drive wheel 703 rotates, causing the first pulley 7024 to rotate. The second pulley 7025 rotates under the drive of the first pulley 7024. The second connecting rod 7022 swings as the second pulley 7025 rotates. At the same time, the drive wheel 703 rotates, causing the first connecting rod 7021 to swing, thereby causing the second connecting rod 7022 to move.

[0052] Through the coordinated action of the pulley structure and the first connecting rod 7021, the vertical movement of the push rod 6 is reduced, so that the food can be pushed out of the serving port 101 by the push rod 6.

[0053] As one implementation, the second drive unit 702 also includes a gear structure, through which the drive wheel 703 is connected to the first pulley 7024.

[0054] Specifically, the gear structure includes a driving gear 7028 and a driven gear 7027. The driving gear 7028 is connected to the driving wheel 703 and rotates with the driving wheel 703. The driven gear 7027 is fixedly connected to the first connecting rod 7021 and drives the first connecting rod 7021 to swing.

[0055] It should be noted that the drive assembly 7 also includes a stepper motor, which is connected to the drive wheel 703.

[0056] As one implementation, the heating moving assembly 8 includes a lifting frame 801, a heating head 802, and a moving guide plate 803. The moving guide plate 803 is installed inside the vending machine housing 1. The lifting frame 801 and the baffle 5 are slidably connected to the moving guide plate 803, thereby slidably installing the guide plate 5 and the lifting frame 801 inside the vending machine housing 1, and the lifting frame 801 moves along the second direction.

[0057] Along the first direction, the lifting frame 801 extends at least partially above the baffle 5, and when the baffle 5 moves upward, it causes the lifting frame 801 to move upward.

[0058] Specifically, the lifting frame 801 includes a bending portion 8011, which extends above the baffle 5, so that when the baffle 5 moves upward, it drives the lifting frame 801 to move upward.

[0059] The heating head 802 is installed at the end of the lifting frame 801 facing the food dispensing plate 102. The heating head 802 is used to guide hot steam into the food to heat it.

[0060] In one implementation, the heating moving assembly 8 includes a spring 804 located between the lifting frame 801 and the moving guide plate 803, which applies a force toward the food dispensing plate 102 to the lifting frame 801.

[0061] Under the action of spring 804, the lifting frame 801 moves toward the food dispensing plate 102, thereby causing the heating head 802 on the lifting frame 801 to pierce the food.

[0062] As one implementation, the heating moving component 8 also includes an electromagnet 805, which is installed at the end of the lifting frame 801 facing the moving guide plate 803. Under normal conditions, the lifting frame 801 is attracted to the moving guide plate 803 by the electromagnet 805, so that the lifting frame 801 is in a suspended state.

[0063] In one implementation, the heating head 802 includes a connector 8021 and a buffer sleeve 8022 respectively installed on the lifting frame 801, with the buffer sleeve 8022 sleeved over the connector 8021.

[0064] The buffer sleeve 8022 is a rubber part. The deformation of the buffer sleeve 8022 buffers the lifting frame 801, while ensuring that the connector 8021 can be inserted into the food and heated through the connector 8021.

[0065] It should be noted that connector 8021 is a hollow tube fitting, which allows steam to be introduced into the food through connector 8021 to heat the food.

[0066] The working steps of the heating moving component 8 are as follows: Under normal conditions, under the action of electromagnet 805, electromagnet 805 is attracted to the moving guide plate 803, so that the lifting frame 801 is in a suspended state.

[0067] When the food moves onto the serving plate 102, the electromagnet 805 is de-energized. Under its own weight and the action of the spring 804, the lifting frame 801 falls toward the serving plate 102, causing the connector 8021 to be inserted into the food, and the food is heated through the connector 8021.

[0068] After the food is heated, the drive assembly 7 drives the baffle 5 to rise, opening the outlet 101. As the baffle 5 moves upward, the bent part 8011 of the lifting frame 801 abuts against the baffle 5, causing the lifting frame 801 to rise along with the baffle 5. When the lifting frame 801 rises to the initial position, the electromagnet 805 is activated and attracts the moving guide plate 803, keeping the lifting frame 801 suspended. During the rise of the baffle 5, under the action of the drive assembly 7, the push rod 6 pushes the food out of the outlet.

[0069] As one implementation, the heating moving assembly 8 also includes a steam generator 806, which is connected to the connector 8021 via a pipe, and the steam generated by the steam generator 806 heats the food.

[0070] As one implementation, the discharging robot 3 includes a vertical moving component 301, a front-back moving component 302, and a left-right moving component 303. The front-back moving component 302 is installed on the inner wall of the vending machine housing 1. The two ends of the left-right moving component 303 are respectively connected to the front-back moving component 302, and the front-back moving component 302 drives the left-right moving component 303 to move back and forth. The vertical moving component 301 is installed on the left-right moving component 303, and the left-right moving component 303 drives the vertical moving component 301 to move left and right. The gripper 4 is installed on the vertical moving component 301, and the vertical moving component 301 drives the gripper 4 to move up and down.

[0071] It should be noted that both the forward and backward moving component 302 and the left and right moving component 303 use lead screws and sliders. The lead screw drives the slider to move, thereby driving the left and right moving component 303 and the vertical moving component 301 mounted on the slider to move forward, backward, left and right.

[0072] As one implementation, the vertical moving component 301 includes a vertical plate 3011, a guide rail, a vertical connecting column 3012, and a pulley assembly 3013. The vertical connecting column 3012 is connected to the vertical plate 3011 through the guide rail, and the vertical connecting column 3012 is connected to the pulley assembly 3013. The pulley assembly 3013 drives the vertical connecting column 3012 to rise and fall.

[0073] In one implementation, the gripper includes a gripper unit 401, a gripper base 402, and a drive disk 403. Multiple gripper units 401 are mounted on the gripper base 402, and the gripper units 401 can move relative to the gripper base 402 to achieve the convergence or separation of multiple gripper units 401. When multiple gripper units 401 converge, the gripper units 401 grip the item; when multiple gripper units 401 separate, the gripper units 401 release the item. The drive disk 403 is used to drive multiple gripper units 401 to move simultaneously.

[0074] Specifically, the gripper unit 401 includes a gripper body and a connecting post 4011, with the connecting post 4011 connected to the end of the gripper body facing the drive disk 403.

[0075] The gripper seat 402 includes a gripper groove 4021. The gripper seat 402 is disc-shaped and extends radially along the gripper seat 402. The gripper unit 401 is installed in the gripper groove 4021 and has a degree of freedom of movement along the gripper groove 4021. That is, the gripper unit 401 can move along the gripper groove 4021 to realize the convergence or separation of multiple gripper units 401.

[0076] The drive disk 403 is located above the gripper seat 402. The drive disk 403 has a rotational degree of freedom to rotate relative to the gripper seat 402. The drive disk 403 includes a guide groove 4031, and the connecting post 4011 extends at least partially into the guide groove 4031.

[0077] Along the extension direction of the guide groove 4031, the guide groove 4031 includes a first end 40311 and a second end 40312. The distance between the first end 40311 and the rotation center of the drive disk 403 is greater than the distance between the second end 40312 and the rotation center of the drive disk 403. The connecting column 4011 moves between the first end 40311 and the second end 40312.

[0078] When the drive disk 403 rotates relative to the gripper seat 402, the guide groove 4031 moves relative to the connecting post 4011, causing a change in the positional relationship between the connecting post 4011 and the guide groove 4031. That is, the connecting post 4011 moves between the first end 40311 and the second end 40312, thereby changing the distance between the connecting post 4011 and the center of the drive disk 403, and thus enabling the gripper unit 401 to move radially relative to the gripper seat 402.

[0079] To more clearly describe the technical solution of this application, the following are defined: Figure 1 The vertical direction is shown. The axial direction of the gripper seat 402 is... Figure 1 The up and down directions in the middle.

[0080] As one implementation, the gripper base 402 includes a base 4022 and a cover plate 4023. Multiple guide grooves 4031 are located inside the base 4022, and the cover plate 4023 is installed above the base 4022. The cover plate 4023 closes the upper end face of the guide grooves 4031 so that the gripper unit 401 can move stably within the guide grooves 4031.

[0081] In one implementation, the gripper seat 402 includes a detection through hole 4024, which is located at the center of the gripper seat 402.

[0082] Specifically, the base 4022 and the cover plate 4023 are coaxially arranged in a ring structure, thereby forming a detection through hole 4024 at the center of the gripper seat 402.

[0083] As one implementation, a stepped groove is formed on the inner edge of the base 4022, and the cover plate 4023 extends at least partially above the stepped groove, so that the cover plate 4023 and the stepped groove are joined to form a bearing groove 4025. A bearing 4026 is installed in the bearing groove 4025, and the drive disk 403 is rotatably connected to the gripper seat 402 through the bearing 4026.

[0084] In one implementation, a drive sleeve 4034 is connected to the bottom of the drive disk 403. The drive sleeve 4034 is installed inside the bearing 4026, and the drive disk 403 is installed above the gripper seat 402 via the drive sleeve 4034.

[0085] In one implementation, the gripper also includes a gripper drive assembly 404, which includes a gripper drive gear 4041, a gripper driven gear 4042, and a gripper drive member 4043. The gripper driven gear 4042 is connected to the drive disk 403, the gripper drive gear 4041 meshes with the gripper driven gear 4042, and the gripper drive member 4043 is connected to the gripper drive gear 4041.

[0086] Specifically, the gripper driven gear 4042 and the drive disc 403 are fixedly mounted on the drive sleeve 4034 by bolts.

[0087] It should be noted that the bolt passes through the driven gear 4042 of the gripper and the drive disk 403, and is connected to the drive sleeve 4034 by threads. The head of the bolt abuts against the upper end face of the driven gear 4042 of the gripper, thereby enabling the driven gear 4042 of the gripper and the drive disk 403 to be installed on the drive sleeve 4034.

[0088] In one implementation, the gripper drive 4043 is a stepper motor. The gripper drive 4043 is used to drive the gripper drive gear 4041 to rotate, thereby driving the gripper driven gear 4042 to rotate, and then driving the drive disk 403 to rotate relative to the gripper seat 402.

[0089] As one implementation, the gripper also includes a gripper mounting bracket 405, which is mounted on the gripper base 402. The gripper drive 4043 is mounted on the gripper mounting bracket 405, and the gripper drive 4043 is mounted above the drive disk 403 via the gripper mounting bracket 405.

[0090] In one implementation, the gripper mounting bracket 405 includes a mounting post 4051 and a mounting plate 4052, with the mounting plate 4052 mounted on the gripper seat 402 via the mounting post 4051.

[0091] As one implementation, an arc-shaped groove 4032 is formed on the drive disk 403, and the mounting post 4051 is connected to the gripper seat 402 through the arc-shaped groove 4032. On the one hand, the arc-shaped groove 4032 is used to prevent the mounting post 4051 from interfering with the drive disk 403, and on the other hand, the arc-shaped groove 4032 can be used to limit the rotation angle of the drive disk 403.

[0092] Specifically, the trajectory of the arc-shaped groove 4032 is an arc shape, and the center of the trajectory of the arc-shaped groove 4032 coincides with the rotation center of the drive disk 403.

[0093] As one implementation, the gripper mounting bracket 405 also includes a connecting plate 4053, which is fixed to the mounting plate 4052.

[0094] The gripper also includes a scanner 406 and a range sensor 407, which are mounted in the detection through-hole 4024 and mounted on the mounting plate 4052 via a connecting plate 4053.

[0095] Scanner 406 is used to scan product types, and distance sensor 407 is used to measure the distance between the gripper and the item holder.

[0096] It should be noted that the lower end surfaces of the scanner 406 and the distance sensor 407 are not lower than the lower end surface of the gripper base 402 to prevent the scanner 406 and the distance sensor 407 from contacting the object.

[0097] As one implementation, the gripper unit 401 also includes a guide wheel 4012, which is mounted on the connecting column 4011 and located in the guide groove 4031. The guide wheel 4012 facilitates the movement of the connecting column 4011 within the guide groove 4031.

[0098] It should be noted that the width of the guide groove 4031 is slightly larger than the outer diameter of the guide wheel 4012, so that the outer diameter of the guide wheel 4012 simultaneously abuts against the two side walls of the guide groove 4031.

[0099] As one implementation, a sliding groove 40231 is formed on the cover plate 4023. The sliding groove 40231 extends along the axial direction of the gripper seat 402. The connecting post 4011 extends into the guide groove 4031 through the sliding groove 40231, ensuring that the gripper body can be connected to the guide groove 4031 through the connecting post 4011, thereby driving the gripper unit 401 to move radially along the gripper seat 402 through the drive disk 403.

[0100] In one implementation, the gripper unit 401 includes a slider 4013, a connecting block 4014, and a clamping block 4015, which are combined to form the gripper body.

[0101] The slider 4013 and the clamping block 4015 are respectively connected to the side of the connecting block 4014 facing the jaw seat 402, and the slider 4013 can be slidably installed in the jaw groove 4021.

[0102] When the gripper is holding an item, the gripping block 4015 can engage with the lower end face of the item, thereby improving the gripping stability of the gripper unit 401.

[0103] As one implementation, a baffle 4033 is installed on the drive disk 403, and a sensor 4054 is installed on the gripper mounting bracket 405. During the rotation of the drive disk 403 relative to the gripper seat 402, the baffle 4033 has a reset state and a separation state.

[0104] When the baffle 4033 is in the reset state, the baffle 4033 at least partially blocks the sensor 4054. At this time, the gripper unit 401 is in a clamping state where they are brought together.

[0105] When the baffle 4033 is in the separated state, the baffle 4033 is separated from the sensor 4054. At this time, the gripper unit 401 is in a separated state.

[0106] It should be noted that sensor 4054 can be one of infrared sensors, proximity sensors, etc., used to sense whether baffle 4033 is in the reset state.

[0107] As one implementation, a cutlery output device 9 is installed in the storage cavity 104. The cutlery output device 9 includes a cutlery guide rail 901, a paddle 902, a cutlery motor 903, and a base 904. The cutlery guide rail 901, the paddle 902, and the cutlery motor 903 are respectively installed on the base 904. The cutlery motor 903 is connected to the paddle 902 and is used to drive the paddle 902 to swing.

[0108] When the cutlery motor 903 operates, the paddle 902 extends into the guide rail 901, thereby pushing the cutlery out of the guide rail 901 into the cutlery output device 9.

[0109] The above description is merely an embodiment of this application and is not intended to limit this application. Various modifications and variations can be made to this application by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principle of this application should be included within the scope of the claims of this application.

[0110] Although embodiments of this application have been described in conjunction with the accompanying drawings, those skilled in the art can make various modifications and variations without departing from the spirit and scope of this application, and such modifications and variations all fall within the scope defined by the appended claims.

Claims

1. A food refrigeration vending machine, comprising: The vending machine housing, the storage unit disposed within the vending machine housing, the dispensing robot, and the grippers mounted on the dispensing robot are characterized in that: The vending machine housing (1) has a plurality of food dispensing ports (101), and the vending machine housing (1) includes a food dispensing plate (102) extending in a first direction. The food dispensing plate (102) is connected to the food dispensing ports (101) to place food in the food dispensing ports (101). The storage unit (2) has a plurality of storage cavities (201) extending along the second direction, and food is stored in the storage cavities (201). The unloading robot (3) has the freedom of movement along the first direction, the second direction and the third direction, and the first direction, the second direction and the third direction are perpendicular to each other; It also includes a food preparation unit, which includes: A baffle (5) is slidably mounted on the vending machine housing (1) to open or close the food dispensing port (101) via the baffle (5); Push rod (6), which is mounted on one side of the serving plate (102) and extends at least partially onto the serving plate (102), the push rod (6) being movable relative to the serving plate (102) to push the food on the serving plate (102) out of the serving port (101). A drive assembly (7) is connected to the baffle (5) and the push rod (6) to drive the baffle (5) to move in a second direction, and at the same time drive the push rod (6) to move in a first direction; Heating moving component (8) is installed above the serving plate (102). The heating moving component (8) extends at least partially above the baffle (5). Under the action of the driving component (7), the heating moving component (8) moves upward with the baffle (5).

2. The food refrigeration vending machine according to claim 1, characterized in that, The drive assembly (7) includes a first drive member (701), a second drive member (702), and a drive wheel (703), wherein the drive wheel (703) is connected to the first drive member (701) and the second drive member (702) respectively; The first driving member (701) is connected to the baffle (5) and drives the baffle (5) to move along the second direction; The second driving member (702) is connected to the push rod (6) and drives the push rod (6) to move along the first direction.

3. A food refrigeration vending machine according to claim 2, characterized in that, The first driving component (701) includes a driven pulley (7011), a first connecting block (7012), and a first belt (7013), wherein the driven pulley (7011) is connected to the driving pulley (703) via the first belt (7013); The first belt (7013) and the baffle (5) are connected by a first connecting block (7012).

4. A food refrigeration vending machine according to claim 2, characterized in that, The second driving component (702) includes a first connecting rod (7021), a second connecting rod (7022), a driving frame (7023), a first pulley (7024), and a second pulley (7025). The first pulley (7024) and the first connecting rod (7021) are mounted on one end of the driving frame (7023) via a rotating shaft, and the first pulley (7024) and the first connecting rod (7021) rotate simultaneously. The second pulley (7025) and the second connecting rod (7022) are mounted on the other end of the first connecting rod (7021) via a rotating shaft. The first pulley (7024) and the second pulley (7025) are connected by the second belt (7026).

5. A food refrigeration vending machine according to claim 4, characterized in that, The second drive unit (702) also includes a gear structure, and the drive wheel (703) is connected to the first pulley (7024) through the gear structure.

6. A food refrigeration vending machine according to claim 1, characterized in that, The heating moving assembly (8) includes a lifting frame (801) and a heating head (802). The lifting frame (801) is slidably mounted inside the vending machine housing (1) and moves in a second direction. The lifting frame (801) extends at least partially above the baffle (5). The heating head (802) is mounted on the lifting frame (801).

7. A food refrigeration vending machine according to claim 6, characterized in that, The heating moving assembly (8) includes a moving guide plate (803) and a spring (804). The moving guide plate (803) is installed inside the vending machine housing (1). The lifting frame (801) and the baffle (5) are slidably connected to the guide plate (803) respectively. The spring (804) is located between the lifting frame (801) and the moving guide plate (803), and applies a force toward the serving plate (102) to the lifting frame (801) through the spring (804).

8. A food refrigeration vending machine according to claim 7, characterized in that, The heating moving assembly (8) also includes an electromagnet (805), which is mounted on the lifting frame (801), and the lifting frame (801) is attracted to the moving guide plate (803) by the electromagnet (805).

9. A food refrigeration vending machine according to claim 6, characterized in that, The heating head (802) includes a connector (8021) and a buffer sleeve (8022) respectively installed on the lifting frame (801), and the buffer sleeve (8022) is sleeved on the outside of the connector (8021).

10. A food refrigeration vending machine according to claim 1, characterized in that, The gripper (4) includes: The gripper unit (401) includes a connecting post (4011). A gripper seat (402) includes a gripper groove (4021) that extends radially along the gripper seat (402). A gripper unit (401) is mounted in the gripper groove (4021) and has a degree of freedom of movement that moves along the gripper groove (4021). A drive disk (403) is located above the gripper seat (402), the drive disk (403) has a rotational degree of freedom to rotate relative to the gripper seat (402), the drive disk (403) includes a guide groove (4031), and the connecting post (4011) extends at least partially into the guide groove (4031); Along the extension direction of the guide groove (4031), the guide groove (4031) includes a first end (40311) and a second end (40312). The distance between the first end (40311) and the rotation center of the drive disk (403) is greater than the distance between the second end (40312) and the rotation center of the drive disk (403). The connecting column (4011) moves between the first end (40311) and the second end (40312) so that the gripper unit (401) moves relative to the gripper seat (402).

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