Automatic ice cream cone filling equipment

Abstract

The invention provides automatic ice cream cone filling equipment, which relates to the field of ice cream, and comprises an interactive robot for automatically cruising to provide ice cream to surrounding personnel, a spoon-like tool for providing ice cream, an ice cream cone and paper cup matching storage and discharge module, and a swing arm module for automatically delivering the ice cream cone, the ice cream cone self-adaption module is used for adapting to ice cream containers with different sizes, eight inclined supporting arc pieces support and hoop the ice cream containers in a self-adaption mode according to the container width recognized by a camera, and meanwhile a cone bottom camera located on the lower portion recognizes the appearance of the bottoms of the ice cream containers; the volume of a cup body can be measured according to an intelligent system after container appearance data is obtained through data of two sets of cameras, the ice cream storage and discharge module can be controlled to discharge ice cream with the amount suitable for that of a current container in a feedback mode, and the problem that existing filling equipment is inconvenient to conduct self-adaptive filling according to different containers delivered by customers is solved.

Description

Technical Field

[0001] This invention relates to the field of ice cream, and more specifically, to an automatic ice cream cone filling device. Background Technology

[0002] Modern ice cream comes in both mass-produced, individually packaged forms and handcrafted, bulk ice cream made from milk. When participating in food exhibitions or other large conferences, or when selling ice cream, manual filling is required. Existing ice cream filling equipment requires the user to open the valve with one hand and hold the ice cream cone with the other, shaking it horizontally as the ice cream flows out, using a spiral trajectory to form the ice cream into a cone shape. To prevent the ice cream from flowing out along the ice cream cone wall, a high degree of precision is required from the filling personnel.

[0003] Existing equipment is highly dependent on human operation and is difficult to automate the ice cream filling process for customers. Due to the lack of standardized ice cream cones, sometimes crispy cone-shaped ice cream cones are used, and sometimes flat-bottomed paper ice cream cones are used. Existing filling equipment is not convenient for adaptive filling based on different containers handed by customers, making it unsuitable for use in large-scale events such as exhibitions, and it cannot achieve automatic filling and delivery of ice cream. Summary of the Invention

[0004] To address the aforementioned technical problems, this invention provides an automatic ice cream cone filling device to solve the problem that traditional filling devices are inconvenient for adaptive filling based on different containers handed by customers.

[0005] This invention provides an automatic ice cream cone filling device, achieved through the following specific technical means: It includes an interactive robot for automatically patrolling and providing ice cream to surrounding personnel, comprising a mobile platform containing a battery, a sensor ring, a lidar, and a head. The mobile platform has a cylindrical shape and a mobile module at the bottom. An artificial intelligence system is installed inside the mobile platform. The sensor ring is located on the outside of the mobile platform and includes four obstacle avoidance ultrasonic sensors and three infrared anti-fall sensors. The lidar is arranged around the outside of the mobile platform. The head is located above the mobile platform and contains a voice interaction system. The voice interaction system includes an interactive screen and a ring microphone array. A stereo camera is located on the top of the interactive screen. The ring microphone array is located on the outer curved side of the head. A side recess is located on the left side of the head. A tool storage and arrangement module for providing ice cream-related spoons, ice cream cones, and paper cups is provided. An ice cream storage and arrangement module is used for storing and discharging ice cream. The ice cream storage and arrangement module is located inside the head. A swing arm module is used for automatically delivering ice cream cones. An ice cream cone adaptive module is used to adapt to ice cream containers of different sizes.

[0006] According to the plan, interactive robots can automatically roam the venue, interact with surrounding customers, and automatically provide handmade ice cream to those around them, making it suitable for use in exhibitions.

[0007] In some designs, the equipment storage and arrangement module includes a housing located on top of the mobile platform. The housing includes a wide-angle camera, an opening, two slide rails a, a reciprocating screw, a hopper, and a partition. The wide-angle camera and the opening are located at the front of the housing. The two slide rails a are located on the left and right sides inside the housing. The reciprocating screw is located inside the two slide rails a. The hopper is located on top of the ball nut seat of the reciprocating screw. The hopper has a partition inside, and the ice cream equipment is installed inside the partition. The partition is located inside the housing.

[0008] According to the solution, after customers interact with the interactive screen and microphone above to obtain their ice cream needs, the artificial intelligence system controls the reciprocating screw to drive the hopper outward. After the customer takes the ice cream cone or paper cup and spoon out of the shelf, the hopper is automatically retracted after the wide-angle camera recognizes the human body's actions. The system can automatically provide customers with the containers and utensils needed to eat ice cream.

[0009] In some designs, the swing arm module is located on the top of the cabin. The swing arm module includes a servo motor, a rotary table, and a swing arm motor. The servo motor is located on the top of the partition, and a transmission gear is located on the top of the servo motor shaft. The rotary table is rotatably connected to the top of the cabin, and an internal gear ring is located at the bottom of the rotary table. The internal gear ring meshes with the transmission gear for transmission. A side arm is located on the top left side of the rotary table, and the head is located on the top of the side arm. The swing arm motor is located on the right side of the side arm, and a rocker arm is located on the right side of the swing arm motor shaft. The rocker arm has a telescopic mechanism inside, and a center of gravity motor is located in the telescopic part of the telescopic mechanism. A center of gravity sensor is located inside the center of gravity motor.

[0010] According to this solution, after the distance between the customer and the equipment is measured by the sensor, the program automatically calculates and controls the swing arm motor to swing the ice cream cone adaptive module forward. At the same time, the telescopic mechanism controls the ice cream cone adaptive module to extend forward by the measured distance. Meanwhile, the center of gravity motor automatically adjusts the ice cream cone adaptive module to keep it horizontal, so that the customer can place the ice cream cone stably on the ice cream cone adaptive module. It can move the ice cream container between the ice cream storage and dispensing module and the customer, and can automatically hand the ice cream cone to the customer after filling the ice cream.

[0011] In some designs, the ice cream storage and discharging module includes an insulated compartment located inside the head. The head also contains a microcomputer. A control pump is located at the bottom of the insulated compartment, and a discharge control valve is located at the bottom of the control pump. A gooseneck tube is rotatably connected to the bottom of the discharge control valve, and a nozzle is located at the bottom of the gooseneck tube.

[0012] According to the scheme, the system automatically calculates the amount of ice cream based on the feedback container shape data, and then controls the operation of the pump and discharge control valve to fill the container with the appropriate amount of ice cream, preventing the ice cream from being too little or overflowing.

[0013] In some designs, the ice cream cone adaptive module is located on the right side of the center of gravity motor shaft. The ice cream cone adaptive module includes a support ring a, two drive motors, and a support ring b. A hand recognition camera is located at the top of the support ring a, and a bottom camera is located at the bottom of the support ring a. A collar is fixedly connected to the inner side of the support ring a, and eight linkage gears are located on the outer side of the collar. An external gear ring a is rotatably connected inside the collar. The lower half of the eight linkage gears meshes with the external gear ring a. Eight slide rails b are located at the top of the collar, and eight racks are slidably connected to the top of the eight slide rails b. The eight racks mesh with the upper half of the eight linkage gears respectively. Eight inclined support arc plates are hinged to the side ends of the eight racks. Torsion springs are located at the hinge points between the eight inclined support arc plates and the eight racks. The drive motor is located inside the support ring a and is used to drive the external gear ring a to rotate. A worm gear mechanism is located at the shaft of the drive motor. The worm is located at the shaft of the drive motor, and a drive gear is located at the top of the worm wheel of the worm gear mechanism. The drive gear meshes with the external gear ring a.

[0014] According to the solution, the moment a customer inserts the ice cream cone into the support ring A, the hand recognition camera identifies the ice cream container and simultaneously controls the drive motor to rotate. This rotation drives the outer gear ring A to rotate, which in turn drives eight linkage gears to rotate synchronously. These gears then drive eight racks to slide synchronously, causing eight inclined support plates to extend and retract synchronously. Based on the container width identified by the camera, the eight inclined support plates can adaptively support and tighten the container. Simultaneously, a camera located at the bottom of the cone identifies the shape of the bottom of the ice cream container. Based on the container shape data obtained from the two sets of cameras, the intelligent system can calculate the volume of the cup and provide feedback to control the ice cream storage and dispensing module to dispense the appropriate amount of ice cream to the current container.

[0015] In some designs, the support ring b is located at the bottom inside the head, and an external toothed ring b is rotatably connected inside the support ring b. An angle-adjusting telescopic rod is hinged to the bottom of the external toothed ring b, and the telescopic part of the angle-adjusting telescopic rod is hinged to the nozzle.

[0016] According to the scheme, the drive motor at the top drives the support ring b to rotate, which in turn drives the angle adjustment telescopic rod to rotate, which in turn drives the nozzle to rotate horizontally. Based on the container's shape data, the angle adjustment telescopic rod can be controlled to adjust its extension and retraction, allowing the nozzle to be adjusted to the inner edge of the container. During the rotation, the extension and retraction part of the angle adjustment telescopic rod continues to extend outward, so that while rotating and discharging the ice cream, the end of the ice cream gradually retracts towards the center of the container. This causes the ice cream to be discharged into the container in a conical spiral trajectory, automatically forming a cone-shaped ice cream cone. Attached Figure Description

[0017] Figure 1 This is a front perspective view of the overall structure of this application; Figure 2 Show Figure 1 A magnified view of part A in the diagram; Figure 3 This is a top-view perspective view of the overall structure of this application; Figure 4 This diagram shows a side sectional perspective view of the three-dimensional structure of the cabin and head of the aircraft in this application. Figure 5 Show Figure 4 A magnified view of part B in the diagram; Figure 6 This is a side sectional three-dimensional disassembly diagram of the storage and drainage module of this application; Figure 7 A three-dimensional schematic diagram of the ice cream storage and dispensing module and the ice cream cone adaptive module of this application is shown; Figure 8 A three-dimensional disassembly diagram of the adaptive ice cream cone module of this application is shown; Figure 9 This is a three-dimensional disassembly diagram of the ice cream storage and discharging module of this application.

[0018] In the diagram, the correspondence between component names and drawing numbers is as follows: 1. Mobile platform; 2. Sensor ring; 3. LiDAR; 4. Cabin; 401. Wide-angle camera; 402. Opening; 403. Slide rail a; 404. Reciprocating screw; 405. Slide bucket; 4051. Partition; 406. Partition plate; 5. Servo motor; 501. Transmission gear; 502. Internal gear ring; 6. Rotary table; 601. Side arm; 7. Swing arm motor; 701. Rocker arm; 702. Telescopic mechanism; 703. Center of gravity motor; 8. Head; 801. Side recess; 802. Insulated chamber; 8021. Control pump; 8022. Discharge control Valve; 8023, Gooseneck tube; 8024, Nozzle; 803, Interactive screen; 8031, Stereo camera; 804, Circular microphone array; 9, Support ring a; 901, Hand recognition camera; 9011, Bottom camera; 902, Collar ring; 9021, Linkage gear; 903, External gear ring a; 904, Slide rail b; 905, Rack; 906, Inclined support plate; 10, Drive motor; 1001, Worm gear mechanism; 1002, Drive gear; 11, Support ring b; 1101, External gear ring b; 1102, Angle-adjusting telescopic rod. Detailed Implementation

[0019] To make the objectives, solutions, and advantages of the present invention clearer, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Unless otherwise stated, the terms used herein have their ordinary meanings in the art. The same reference numerals in the drawings represent the same parts.

[0020] Figures 1 to 9 A schematic diagram of a filling device according to an embodiment of the present invention is shown. The filling device specifically includes an interactive robot for automatically patrolling and providing ice cream to people in the vicinity. It includes a mobile platform 1 containing a battery, a sensor ring 2, a lidar 3, and a head 8. The mobile platform 1 has a cylindrical shape and a moving module at its bottom. An artificial intelligence system is installed inside the mobile platform 1. The sensor ring 2 is located on the outside of the mobile platform 1 and includes four obstacle avoidance ultrasonic sensors and three infrared anti-fall sensors. The lidar 3 is arranged around the outside of the mobile platform 1. The head 8 is located above the mobile platform 1 and contains a voice interaction system. The voice interaction system includes an interactive screen 803 and a ring microphone. The interactive screen 803 has a stereo camera 8031 ​​on top of the wind array 804 and the interactive screen 803. The ring microphone array 804 is located on the outer curved side of the head 8. The left side of the head 8 has a side recess 801 for providing ice cream-related tools such as spoons, ice cream cones and paper cups. There is also an ice cream storage and distribution module for storing and discharging ice cream. The ice cream storage and distribution module is located inside the head 8. There is also a swing arm module for automatically delivering ice cream cones. There is also an ice cream cone adaptive module for adapting to ice cream containers of different sizes. The interactive robot can automatically roam in the venue and interact with surrounding customers. It can automatically provide handmade ice cream to people around it and is suitable for use in exhibitions.

[0021] Preferably, the equipment storage and arrangement module includes a housing 4, which is located on top of the mobile platform 1. The housing 4 includes a wide-angle camera 401, an opening 402, two slide rails a403, a reciprocating screw 404, a hopper 405, and a partition 406. The wide-angle camera 401 is located on the front side of the housing 4, the opening 402 is located on the front side of the housing 4, the two slide rails a403 are located on the left and right sides inside the housing 4, the reciprocating screw 404 is located inside the two slide rails a403, and the hopper 405 is located on top of the ball nut seat of the reciprocating screw 404. The system is equipped with a partition 4051, with ice cream utensils installed inside the partition 4051. A partition 406 is located inside the machine compartment 4. After the customer interacts with the interactive screen 803 above and the microphone to obtain the customer's ice cream needs, the artificial intelligence system controls the reciprocating screw 404 to operate, causing it to drive the hopper 405 to slide outward. After the customer takes the ice cream cone or paper cup and spoon out of the partition 4051, the hopper 405 is automatically retracted after the wide-angle camera 401 recognizes the human body's actions. The system can automatically provide customers with the containers and utensils needed to eat ice cream.

[0022] Optionally, the swing arm module is located on the top of the housing 4. The swing arm module includes a servo motor 5, a rotary table 6, and a swing arm motor 7. The servo motor 5 is located on the top of the partition 406. A microcomputer is also located inside the head 8. A transmission gear 501 is located on the top of the shaft of the servo motor 5. The rotary table 6 is rotatably connected to the top of the housing 4. An internal gear ring 502 is located at the bottom of the rotary table 6. The internal gear ring 502 meshes with the transmission gear 501 for transmission. A side arm 601 is located on the top left side of the rotary table 6. The head 8 is located on the top of the side arm 601. The swing arm motor 7 is located on the right side of the side arm 601. A rocker arm 701 is located on the right side of the shaft of the swing arm motor 7. A telescopic mechanism 7 is located inside the rocker arm 701. 02. The telescopic mechanism 702 is equipped with a center-of-gravity motor 703. The center-of-gravity motor 703 has a center-of-gravity sensor inside. After the distance between the customer and the equipment is measured by the sensor and camera, the program automatically calculates and controls the swing arm motor 7 to operate as a servo, so that the ice cream cone adaptive module is swung forward. At the same time, the telescopic mechanism 702 controls the ice cream cone adaptive module to extend forward by the measured distance. Meanwhile, the center-of-gravity motor 703 automatically adjusts the ice cream cone adaptive module to keep it horizontal, so that the customer can place the ice cream cone stably on the ice cream cone adaptive module. It can move the ice cream container between the ice cream storage and distribution module and the customer.

[0023] Preferably, the ice cream storage and discharging module includes an insulated chamber 802, which is located inside the head 8. A control pump 8021 is located at the bottom of the insulated chamber 802, and a discharge control valve 8022 is located at the bottom of the control pump 8021. A gooseneck tube 8023 is rotatably connected to the bottom pipe of the discharge control valve 8022, and a nozzle 8024 is located at the bottom of the gooseneck tube 8023. After the system automatically calculates the amount of ice cream based on the feedback container shape data, it adjusts the operation of the control pump 8021 and the discharge control valve 8022 to pour an appropriate amount of ice cream into the current container, preventing the ice cream from being too little or overflowing.

[0024] Specifically, the ice cream cone adaptive module is located on the right side of the shaft of the center of gravity motor 703. The ice cream cone adaptive module includes a support ring a9, two drive motors 10, and a support ring b11. A hand recognition camera 901 is located at the top of the support ring a9, and a bottom camera 9011 is located at the bottom of the support ring a9. A collar 902 is fixedly connected to the inner side of the support ring a9, and eight linkage gears 9021 are located on the outer side of the collar 902. An external gear ring a903 is rotatably connected inside the collar 902. The lower half of the eight linkage gears 9021 meshes with the external gear ring a903 for transmission. Eight slide rails b904 are located at the top of the collar 902, and eight racks 905 are slidably connected to the top of the eight slide rails b904. The eight racks 905 are respectively connected to the eight linkage gears b9021. The upper part of 21 is engaged in transmission. Eight inclined support plates 906 are hinged to the side ends of eight racks 905. Torsion springs are provided at the hinge points between the eight inclined support plates 906 and the eight racks 905. The drive motor 10 is located inside the support ring a9 and is used to drive the rotation of the external gear ring a903. A worm gear mechanism 1001 is provided at the shaft of the drive motor 10. The worm is located at the shaft of the drive motor 10. A drive gear 1002 is provided at the top of the worm wheel of the worm gear mechanism 1001. The drive gear 1002 meshes with the external gear ring a903. The support ring b11 is located at the bottom inside the head 8. An external gear ring b1101 is rotatably connected inside the support ring b11. An angle-adjusting telescopic rod 1102 is hinged to the bottom of the external gear ring b1101. The telescopic part of 102 is hinged to the nozzle 8024. The moment the customer inserts the ice cream cone into the support ring a9, the hand recognition camera 901 identifies the ice cream container and simultaneously controls the drive motor 10 to operate. This, in turn, drives the outer gear ring a903 to rotate. The outer gear ring a903 drives eight linkage gears 9021 to rotate synchronously, causing the eight linkage gears 9021 to simultaneously drive eight racks 905 to slide synchronously. This causes the eight inclined support plates 906 to extend and retract synchronously. Based on the container width identified by the camera, the eight inclined support plates 906 can adaptively support and tighten the container. Simultaneously, the bottom camera 9011 below identifies the bottom shape of the ice cream container. The container's external shape is determined by the data from both sets of cameras. Based on the shape data, the intelligent system can calculate the volume of the cup and provide feedback to control the ice cream storage and dispensing module to dispense the appropriate amount of ice cream to the current container. The drive motor 10 above drives the support ring b11 to rotate, which in turn drives the angle adjustment telescopic rod 1102 to rotate, which in turn drives the nozzle 8024 to rotate horizontally. Based on the container's shape data, the angle adjustment telescopic rod 1102 can be adjusted to extend and retract, allowing the nozzle 8024 to be adjusted to the inner edge of the container. During the rotation, the telescopic part of the angle adjustment telescopic rod 1102 continues to extend outward, so that while dispensing the ice cream, the end of the ice cream gradually retracts towards the center of the container. This causes the ice cream to form a conical spiral trajectory inside the container, automatically forming a cone-shaped ice cream cone.

[0025] In another embodiment of the present invention, the head 8 is equipped with an online payment system that can work with a voice interaction system. After obtaining purchase information from the customer, the interactive robot can automatically display the payment code on the interactive screen 803 for convenient automatic sales.

[0026] The specific operation process of the above-mentioned filling equipment is as follows: First, the top of the head 8 needs to be opened to fill the handmade ice cream into the insulated chamber 802. The ice cream utensils are placed in the slide 405, and the interactive robot is charged. The interactive robot automatically patrols the venue, identifies the surrounding people, and asks them if they want ice cream. After receiving a yes, the artificial intelligence system controls the reciprocating screw 404 to rotate, causing it to slide the slide 405 outward to provide the customer with an ice cream cone or paper cup and spoon. The voice prompts the customer to place the ice cream cone inside the insertion ring a9. The hand recognition camera 901 recognizes the ice cream container and synchronously controls the drive motor 10 to operate. According to the width of the container recognized by the camera, the eight inclined support plates 906 adaptively support and clamp it. At the same time, the bottom camera 9011 located below the cylinder... The system identifies the bottom shape of the ice cream container and calculates its volume using data from two sets of cameras. This data is then fed back to control the ice cream storage and dispensing module, which dispenses an appropriate amount of ice cream to the container. Based on the container's shape data, the system controls the extension and retraction of the angle-adjusting telescopic rod 1102, allowing the nozzle 8024 to be positioned at the inner edge of the container. During rotation, the extension and retraction of the angle-adjusting telescopic rod 1102 continuously extends outward, causing the ice cream to gradually retract towards the center of the container while dispensing. This creates a conical spiral trajectory within the container, automatically forming a cone-shaped ice cream cone. After sensors and cameras measure the distance between the customer and the equipment, the system controls the swing arm motor 7 to operate as a servo, thus forward-adaptively delivering the ice cream cone to the customer.

[0027] In the description of this invention, unless otherwise stated, "a plurality of" means two or more; the terms "upper," "lower," "left," "right," "inner," "outer," "front end," "rear end," "head," "tail," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, and are only for the convenience of describing the invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of the invention. Furthermore, the terms "first," "second," "third," etc., are used for descriptive purposes only and should not be construed as indicating or implying relative importance.

[0028] In the description of this invention, it should be noted that, unless otherwise explicitly specified and limited, the terms "connected" and "linked" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium. Those skilled in the art can understand the specific meaning of the above terms in this invention based on the specific circumstances.

[0029] Although the present invention has been described in detail with reference to the foregoing 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. 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. An automatic ice cream cone filling device, characterized in that, include: An interactive robot for automatically patrolling and serving ice cream to people in the vicinity includes a mobile platform, a sensor ring, a lidar, and a head. The mobile platform is cylindrical with a mobile module at the bottom and contains an artificial intelligence system. The sensor ring is located on the outside of the mobile platform and includes four obstacle avoidance ultrasonic sensors and three infrared anti-fall sensors. The lidar is arranged around the outside of the mobile platform. The head is located above the mobile platform and contains a voice interaction system. The voice interaction system includes an interactive screen and a ring microphone array. A stereo camera is located on the top of the interactive screen, and the ring microphone array is located on the outer curved side of the head. The left side of the head has a side recess. The tooling storage module provides ice cream scoops, ice cream cones, and paper cups. An ice cream storage and discharge module, located inside the head, is used for storing and discharging ice cream; The swing arm module is used for automatic delivery of ice cream cones; An adaptive ice cream cone module is used to adapt to ice cream containers of different sizes.

2. The automatic ice cream cone filling equipment according to claim 1, characterized in that, The equipment storage and arrangement module includes a machine compartment, which is located on top of the mobile platform; The cabin includes a wide-angle camera, an opening, two slide rails a, a reciprocating screw, a hopper, and a partition. The wide-angle camera is located on the front side of the cabin, the opening is located on the front side of the cabin, the two slide rails a are located on the left and right sides inside the cabin, the reciprocating screw is located inside the two slide rails a, the hopper is located on top of the ball nut seat of the reciprocating screw, the hopper has a partition inside, ice cream dispensers are installed inside the partition, and the partition is located inside the cabin.

3. The automatic ice cream cone filling equipment according to claim 2, characterized in that, The swing arm module is located on the top of the machine compartment, and the swing arm module includes a servo motor, a rotary table, and a swing arm motor. The servo motor is located on the top of the partition, and a transmission gear is provided on the top of the servo motor shaft; The rotating platform is rotatably connected to the top of the machine compartment. The bottom of the rotating platform is provided with an internal gear ring, which meshes with a transmission gear. A side arm is provided on the top left side of the rotating platform, and the head is located on the top of the side arm. The swing arm motor is located on the right side of the side arm, and a rocker arm is located on the right side of the swing arm motor shaft. The rocker arm has a telescopic mechanism inside, and a center of gravity motor is located in the telescopic part of the telescopic mechanism. A center of gravity sensor is located inside the center of gravity motor.

4. The automatic ice cream cone filling equipment according to claim 1, characterized in that, The ice cream storage and discharge module includes an insulated compartment located inside the head. A control pump is located at the bottom of the insulated compartment, and a discharge control valve is located at the bottom of the control pump. A gooseneck tube is rotatably connected to the bottom pipe of the discharge control valve, and a nozzle is located at the bottom of the gooseneck tube. The nozzle has a conical tube shape at its bottom.

5. The automatic ice cream cone filling equipment according to claim 1, characterized in that, The ice cream cone adaptive module is located on the right side of the center of gravity motor shaft. The ice cream cone adaptive module includes a support ring a, two drive motors, and a support ring b. A hand recognition camera is located at the top of the support ring a, and a bottom camera is located at the bottom of the support ring a. A collar is fixedly connected to the inner side of the support ring a, and eight linkage gears are located on the outer side of the collar. An external gear ring a is rotatably connected inside the collar. The lower half of the eight linkage gears meshes with the external gear ring a. Eight slide rails b are located at the top of the collar, and eight racks are slidably connected to the top of the eight slide rails b. The eight racks mesh with the upper half of the eight linkage gears respectively. Eight inclined support plates are hinged to the side ends of the eight racks, and torsion springs are provided at the hinge points between the eight inclined support plates and the eight racks.

6. The automatic ice cream cone filling equipment according to claim 5, characterized in that, The drive motor is located inside the support ring a and is used to drive the external gear ring a to rotate. A worm gear mechanism is provided at the shaft of the drive motor. The worm is located at the shaft of the drive motor. A drive gear is provided at the top of the worm wheel of the worm gear mechanism. The drive gear meshes with the external gear ring a for transmission.

7. The automatic ice cream cone filling equipment according to claim 5, characterized in that, The support ring b is located at the bottom inside the head. An external toothed ring b is rotatably connected inside the support ring b. An angle-adjusting telescopic rod is hinged to the bottom of the external toothed ring b. The telescopic part of the angle-adjusting telescopic rod is hinged to the side of the nozzle.

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