Automatic roast sausage vending machine

Abstract

The utility model relates to the technical field of automatic food processing and vending equipment, in particular to an automatic roast sausage vending machine which comprises a cabinet, a refrigerated cabinet, a material taking mechanism, a material grabbing mechanism, an electric grill, a stick supply mechanism, a delivery mechanism, an ordering device and a controller, and the refrigerated cabinet, the material taking mechanism, the material grabbing mechanism, the electric grill, the stick supply mechanism, the delivery mechanism, the ordering device and the controller are arranged in the cabinet. A conveying mechanism, a discharging port and an elastically connected discharging baffle are arranged in each bin, and an elastic piece can drive the discharging baffle to block the discharging port in a natural state; the material taking mechanism comprises a material taking bracket and a material taking driving device which can drive any one of the material bins and push the discharging baffle to take materials; the stick supplying mechanism comprises a stick hopper for supplying sticks and a stick inserting position for inserting the sticks; the grabbing mechanism comprises a clamping jaw and a clamping jaw moving device; the delivery mechanism comprises a delivery bracket and a delivery driving device. The full-automatic sausage roasting and selling machine can realize full-automatic sausage roasting and selling, roast sausages and insert sticks in sequence, and is high in working efficiency, good in sanitation and safety and good in user experience.

Description

Technical Field

[0001] The utility model relates to the technical field of automated food processing and vending equipment, in particular to an automatic grilled sausage vending machine. Background Art

[0002] Grilled sausage is a very popular snack food. Grilled sausages sold on the market are basically made by grilling machines. Traditional grilled sausage machines require manual operation. Manual operation is required to put the sausages on the grill for grilling, manual operation is required to judge whether the grilled sausages are well grilled, and manual operation is required to take out the well-baked sausages. The labor cost is high, the efficiency is low, and it also increases the risk of food contamination. In order to solve the above problems, the Chinese utility model patent with announcement number CN210295282U discloses a mechanical arm and an automatic sausage grilling system, a vending system, and a vending machine. The basic principle is that the mechanical arm takes the sausages on the skewers out of the cold storage room and transfers them to the baking room. When the sausages are baked, the mechanical arm transfers the sausages for shipment. Although the automatic baking of sausages is realized, it is necessary to manually insert the skewers on the sausages in advance and then put them into the cold storage room, which will increase the labor cost and reduce the speed of replenishment. In addition, manual stringing will also increase the risk of food contamination and safety hazards. Moreover, the sausage skewers are also heated during the baking process. If bamboo or wooden skewers are used, it is easy to burn the skewers or cause the sausages to be undercooked. If iron coins are used, it is easy to scald consumers and increase costs. Therefore, although the existing automatic sausage grilling machine can realize the automatic baking of sausages, it still has technical defects in terms of consumer experience, food safety and operational efficiency, and there is a large space for technical optimization. Utility Model Content

[0003] In order to overcome the defects existing in the prior art, the purpose of the utility model is to provide an automatic sausage vending machine, which can not only realize the automatic grilling and selling of sausages without manual supervision, but also solve the problems of low working efficiency, low hygiene and safety, and the simultaneous heating and grilling of skewers and sausages on the grill existing in the existing sausage grilling machines.

[0004] The purpose of this utility model is achieved through the following technical solutions:

[0005] An automatic grilled sausage vending machine comprises a cabinet, characterized in that a refrigerating cabinet, a material taking mechanism, a material grabbing mechanism, an electric grill, a skewer supply mechanism and a delivery mechanism are installed in the cabinet, and a delivery port is provided on the cabinet; the refrigerating cabinet is placed in the lower part of the cabinet, and a refrigerating cabinet door and an automatic door opening mechanism for driving the refrigerating cabinet door to open and close are provided on the refrigerating cabinet, at least one automatic material bin is provided in the refrigerating cabinet, and each material bin is provided with a feeding mechanism arranged in a front-to-back direction for conveying sausages, a feeding motor is provided outside the refrigerating cabinet, the feeding motor is connected to the feeding mechanism through transmission, and a feeding port is provided in front of the feeding mechanism, A material discharge baffle is provided at the discharge port, which is movably connected to the material bin in the front-to-back direction and an elastic member is provided between the two. In a natural state, the elastic member can drive the material discharge baffle to extend forward to block the discharge port; the material taking mechanism is located directly in front of the refrigerator, and includes a material taking bracket and a material taking drive device. The material taking drive device can drive the material taking bracket to move to the front of any of the material discharge baffles, and can drive the material taking bracket to push the material discharge baffle to retract backward to open the discharge port so that the sausage can fall onto the material taking bracket; the electric grill is located directly above the refrigerator, and includes a plurality of parallel The electric heating grilling tube is provided; the skewer supply mechanism is located on one side of the electric grill, and includes a skewer bucket for supplying skewers and a skewer insertion position for axially limiting the skewers along the skewer insertion direction; the material grabbing mechanism is located directly above the electric grill, and includes a clamping claw and a clamping claw moving device, which is used to grab and transfer the sausages on the material taking bracket to the electric grill for grilling, and can grab and transfer the grilled sausages to the skewer insertion position and then insert the sausages at one end of the skewer along the skewer insertion direction, and can grab and transfer the sausages with completed skewer insertion to the delivery mechanism; the delivery mechanism is located on one side of the electric grill, It includes a delivery bracket and a delivery drive device, which can drive the delivery bracket to move back and forth between a receiving position and a delivery position, and is used to transfer the sausages to a delivery port and make the exposed skewers at the ends of the sausages face the delivery port; it also includes a controller and an ordering device, and the controller is electrically connected to the ordering device, automatic door opening mechanism, feeding mechanism, material taking mechanism, material grabbing mechanism, electric grill, skewers supplying mechanism, and delivery mechanism respectively; the ordering device is used to input purchase information and payment information and send it to the controller, and the controller is used to control the automatic operation of the automatic grilled sausage vending machine.

[0006] As a preferred technical solution, the number of the silos is at least three, and the silos are arranged in parallel on the left and right. The feeding mechanism includes a conveyor belt arranged along the front-to-back direction, an active roller and a driven roller for supporting the conveyor belt, and the active roller and the driven roller are rotatably connected to the silo. The two left and right silos located on the outermost sides have corresponding feeding motors respectively arranged on the left and right outer walls of the refrigerator and directly connected to the active rollers of the corresponding conveyor belts through their driving shafts so that the conveyor belts can move back and forth. The other silos located between the outermost silos have corresponding active rollers with a first gear extending from the end thereof, and the driving shaft of the corresponding feeding motor passes through between the upper and lower layers of the conveyor belt of the outermost silo and is provided with a second gear at the end. The first gear and the second gear are meshed with each other, so that the conveyor belt of the silo can be driven to move back and forth.

[0007] As a preferred technical solution, the material picking drive device includes an XZ plane moving frame and a Y-axis driving mechanism. The Y-axis driving mechanism is installed on the XZ plane moving frame and can move in the XZ plane under its drive. The material picking bracket is installed on the Y-axis driving mechanism and can move along the Y-axis direction under its drive.

[0008] As an optimal technical solution, the skewer supply mechanism also includes a base and a skewer bucket driving mechanism, the skewer bucket is placed on the base and is slidably connected thereto in a front-to-rear direction, the skewer bucket driving mechanism can drive the skewer bucket to slide back and forth on the base, a skewer outlet is provided at the bottom of the skewer bucket for a single skewer to fall out laterally, and a locking groove is provided on the base for a single skewer to fall into. During the sliding process of the skewer bucket on the base, when the skewer outlet passes through the locking groove, the skewer in the skewer bucket can fall into the locking groove; when the skewer outlet misses the locking groove, the base can block the skewer outlet to prevent the skewer in the skewer bucket from falling; an avoidance notch is provided on the left side of the locking groove to suspend the skewer, and a blocking portion is provided on the right side of the locking groove to form the skewer insertion position at the locking groove; in the process of the material grabbing mechanism driving the sausage to move from left to right at the skewer insertion position to be inserted on the skewer, the blocking portion can block the right end of the skewer to prevent the skewer from moving to the right, and the avoidance notch can provide avoidance space for the movement of the sausage.

[0009] As a preferred technical solution, the shipping mechanism also includes a mounting seat, the shipping drive device is a rotating drive motor installed on the mounting seat, the shipping bracket is pivotally connected to the mounting seat and can reciprocate between a receiving position and a shipping position under the drive of the rotating drive motor, the shipping bracket is parallel to the skewer insertion direction when at the receiving position, and faces the shipping port when at the shipping position, and is used to receive the sausages transferred by the grabbing mechanism when the shipping bracket is rotated to the receiving position, and the skewer exposed at the tail of the sausage on it faces the shipping port when the shipping bracket is rotated to the shipping position.

[0010] As a preferred technical solution, the clamp moving device includes an XY plane moving frame and a Z-axis driving mechanism. The Z-axis driving mechanism is installed under the XY plane moving frame and can move in the XY plane under the drive of the XY plane moving frame. The clamp is installed at the lower end of the Z-axis driving mechanism and can move up and down along the Z-axis direction under the drive of the Z-axis driving mechanism. The clamp is also provided with a clamp driving device that can drive the clamp to close and grab the sausage or open and release the sausage. A sensor is provided in the clamp, and a through hole is provided on the inner side wall of the clamp. The contact of the sensor extends from the through hole so that it can be triggered when the clamp grabs the sausage.

[0011] As a preferred technical solution, the circuits of the electric heating baking tubes are connected in parallel so that they can operate independently under the control of the controller.

[0012] As a preferred technical solution, the ordering device is a touch screen installed on the outside of the cabinet.

[0013] As a preferred technical solution, the material taking mechanism, material grabbing mechanism, stick supplying mechanism, delivery mechanism and automatic door opening mechanism are provided with a number of travel switches for controlling the travel range; the material taking mechanism, material grabbing mechanism and delivery mechanism are also provided with a number of sensors for detecting whether there are sausages; the stick supplying mechanism is also provided with a sensor for detecting whether there are sticks at the stick insertion position.

[0014] Compared with the prior art, the utility model mainly has the following beneficial effects:

[0015] 1. The refrigerator is equipped with several independent automatic silos. Each silo is equipped with a built-in feeding mechanism, which can automatically transport the sausages to the discharge port. The feeding mechanism only needs to drive the feeding bracket to move to the front of the corresponding silo and then squeeze the discharge baffle to take out a single sausage, making the feeding mechanism and the feeding process simpler, more stable and more efficient. It is not necessary to pull out all the silos and the food materials inside them when taking materials. During the feeding process, the refrigerator has less heat exchange with the outside world, making the refrigerator more energy-efficient. The feeding motor of the automatic silo is located outside the refrigerator, and there are no electrical components in the refrigerator, which can improve the reliability and durability of the equipment.

[0016] 2. A skewer feeding mechanism is set up to cooperate with the material grabbing mechanism, which can realize automatic skewering of the grilled sausages without manual pre-insertion of skewers. This can effectively reduce labor costs, increase replenishment speed, reduce food contamination risks and safety hazards, and avoid heating and grilling skewers and sausages on the grill at the same time.

[0017] 3. A delivery bracket and a delivery drive device are provided to transfer the grilled and skewered sausages to the delivery port so that consumers can directly take them.

[0018] 4. The material picking mechanism uses an XZ plane moving frame in conjunction with a Y-axis driving mechanism to drive the picking bracket. The structural design is simple and ingenious. The XZ plane moving frame is vertically arranged in front of the refrigerator, so that the space occupied by the XZ plane moving frame and the refrigerator in the width direction (X-axis direction) and height direction (Z-axis direction) overlaps, and the space occupied in the cabinet in the depth direction (Y-axis direction) is also small; the material grabbing mechanism uses an XY plane moving frame in conjunction with a Z-axis driving mechanism to drive the gripper. The structural design is simple and ingenious. The XY plane moving frame is horizontally arranged above the electric grill, so that the X The Y-plane moving frame overlaps with the space occupied by the refrigerator and the electric grill in the width direction (X-axis direction) and the depth direction (Y-axis direction), and occupies less space in the cabinet in the height direction; thereby, the space utilization rate in the cabinet can be higher, the overall structural layout of the grilled sausage vending machine is more compact, and the space occupied is smaller. In addition, the material picking bracket can be driven to move arbitrarily within the XZ plane range by the XZ plane moving frame, and the Z-axis driving mechanism and the clamping claw can be driven to move arbitrarily within the XY plane range by the XY plane moving frame, so the range of movement is large, and the structural strength and stability are better.

[0019] The concept, specific structure and effects of the present invention will be further described below in conjunction with the accompanying drawings to fully understand the purpose, features and effects of the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] Figure 1 Schematic diagram of the external structure of the automatic grilled sausage vending machine in the embodiment;

[0021] Figure 2 is a schematic diagram of the internal structure of the automatic grilled sausage vending machine in the embodiment after omitting the external cabinet;

[0022] Figure 3 yes Figure 2 Schematic diagram of the structure of the medium refrigerated cabinet;

[0023] Figure 4 yes Figure 3 Schematic diagram of the internal structure of a medium refrigerator after omitting the refrigerator door and the automatic door opening mechanism;

[0024] Figure 5 yes Figure 4 Schematic diagram of the cross-sectional structure of the medium refrigerated cabinet at the axis of the active roller of each silo conveyor belt;

[0025] Figure 6 yes Figure 5 A partial enlarged view of part A;

[0026] Figure 7 yes Figure 2 Schematic diagram of the coordination structure between the intermediate refrigerated cabinet and the material taking mechanism;

[0027] Figure 8 yes Figure 2Structural diagram of the middle material taking mechanism;

[0028] Fig. 9 yes Figure 2 Schematic diagram of the structure of the China Visa Application Agency;

[0029] Fig.10 yes Figure 2 Schematic diagram of the bottom structure of the China Visa Application Agency;

[0030] Fig.11 yes Figure 2 Schematic diagram of the coordinated structure of the central material grabbing mechanism, the feeding mechanism, the shipping mechanism, and the electric grill.

[0031] Among them: refrigerator 1, refrigerator door 11, silo 12, feeding mechanism 13, conveyor belt 131, driving roller 132, first gear 133, second gear 134, feeding motor 14, unloading baffle 15, automatic door opening mechanism 16, door opening motor 161, Door opening slide rail 162, door opening push rod 163, door opening transmission belt 164, material picking mechanism 2, material picking bracket 21, material bracket 211, sensor 212, XZ plane moving frame 22, Z axis guide rail 221, slider 222, X axis guide rail 223, Z axis transmission belt 224, synchronous shaft 225, Z axis drive motor 226, X axis transmission belt 227, X axis drive motor 228, Y axis drive mechanism 23, material picking seat 231, Y axis drive motor 232, drive gear 233, Y axis rack 234, guide seat 235, guide rod 236, material grabbing mechanism 3, clamping claw 31, XY Planar moving frame 32, Z-axis driving mechanism 33, electric grill 4, skewer supply mechanism 5, skewer 51, base 52, embedding groove 521, avoidance gap 522, blocking part 523, follower beam 525, first sensor 526, first guide rod 527, fixed beam 528, second sensor 529, skewer driving mechanism 53, skewer transmission belt 531, skewer driving motor 532, second guide rod 533, sleeve 534, shipping mechanism 6, shipping bracket 61, mounting seat 62, third sensor 63, cabinet 7, shipping port 71, ordering device 8, sausage 100, skewer 200. DETAILED DESCRIPTION

[0032] In order to make the purpose, technical solution and advantages of the utility model more clear, the utility model is further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described here are only used to explain the utility model and are not used to limit the utility model.

[0033] like Figure 1-11 As shown, this embodiment provides an automatic grilled sausage vending machine, including a cabinet 7, in which a refrigeration cabinet 1, a material taking mechanism 2, a material grabbing mechanism 3, an electric grill 4, a skewers supply mechanism 5 and a delivery mechanism 6 are installed, and a delivery port 71 is provided on the cabinet 7.

[0034] The refrigerator 1 is provided with a refrigerator door 11 and an automatic door opening mechanism 16 for driving the refrigerator door 11 to open and close. At least one automatic silo 12 is provided in the refrigerator 1. Each silo 12 is provided with a feeding mechanism 13 arranged along the front-to-back direction for conveying sausages 100. A feeding motor 14 is provided outside the refrigerator 1. The feeding motor 14 is connected to the feeding mechanism 13 in a transmission manner. A feeding port (not shown in the drawings) for a single sausage 100 to fall out is provided at the bottom of the silo 12 in front of the feeding mechanism 13. A feeding baffle 15 is provided at the feeding port. The feeding baffle 15 is movably connected to the silo 12 in the front-to-back direction and an elastic member (not shown in the drawings) is provided between the two. In the natural state, the elastic member can drive the feeding baffle 15 to extend forward to block the feeding port. The feeding baffle 15 can retract backward under the action of an external force to open the feeding port so that the sausage can fall out.

[0035] The feeding mechanism 2 includes a feeding bracket 21 and a feeding drive device, which can drive the feeding bracket 21 to move in front of any of the unloading baffles 15, and can drive the feeding bracket 21 to push the unloading baffle 15 to retract backwards to open the unloading port so that the sausages can fall onto the feeding bracket 21.

[0036] The stick supply mechanism 5 includes a stick bucket 51 for storing and automatically supplying sticks 200 by gravity and a stick insertion position for axially limiting the sticks 200 along the stick insertion direction.

[0037] The material grabbing mechanism 3 includes a clamp 31 and a clamp moving device, which is used to grab the sausage 100 on the material picking bracket 21 and transfer it to the electric grill 4 for grilling, and can grab and transfer the grilled sausage 100 to the skewer insertion position and then insert the sausage 100 into one end of the skewer 200 along the skewer insertion direction, and can grab and transfer the sausage 100 with the skewer inserted to the shipping mechanism 6.

[0038] The delivery mechanism 6 includes a delivery bracket 61 and a delivery drive device, which can drive the delivery bracket 61 to reciprocate between a receiving position and a delivery position, so as to transfer the sausage 100 to the delivery port 71 and make the exposed skewer 200 at the end of the sausage 100 face the delivery port 71.

[0039] The automatic grilled sausage vending machine also includes a controller and an ordering device 8. The controller is electrically connected to the ordering device 8, the automatic door opening mechanism 16, the feeding mechanism 13, the material taking mechanism 2, the material grabbing mechanism 3, the electric grill 4, the stick supply mechanism 5, and the delivery mechanism 6. The ordering device 8 is used to input the purchase information and payment information and send it to the controller. The controller is used to control the automatic operation of the automatic grilled sausage vending machine. The material taking mechanism 2, the material grabbing mechanism 3, the stick supply mechanism 5, the delivery mechanism 6, and the automatic door opening mechanism 16 are provided with a plurality of travel switches for controlling the travel range. The material taking mechanism 2, the material grabbing mechanism 3, and the delivery mechanism 6 are also provided with a plurality of sensors for detecting whether there are sausages 100. The stick supply mechanism 5 is also provided with a sensor for detecting whether there are sticks 200 at the stick insertion position. Each sensor and travel switch are connected to the controller (not shown in the attached drawings). The preferred ordering device 8 uses a touch screen arranged on the outer wall of the cabinet 7, with a built-in Android system, for consumers to choose the type of sausages 100 (hot dogs) and generate a payment QR code. When the consumer pays for the sausages 100 (hot dogs), the automatic grilled sausage vending machine will automatically grill the sausages 100, then insert the skewers, and then send the grilled sausages 100 to the delivery port 71 for consumers to take.

[0040] The automatic sausage vending machine provided in this embodiment generally includes the following steps:

[0041] S1, the ordering device 8 obtains purchase information and sends the purchase information to the controller;

[0042] S2, the controller sends instructions to the refrigerator 1, the material taking mechanism 2, and the signing mechanism 5 according to the received purchase information, and the automatic door opening mechanism 16 drives the refrigerator door 11 of the refrigerator 1 to open, and at the same time, the material taking drive device drives the material taking bracket 21 to move to the front of the material bin 12 corresponding to the purchase information, and then drives the material taking bracket 21 to push the material discharge baffle 15 to retract backward to open the discharge port so that the sausage 100 falls onto the material taking bracket 21, and then the sensor on the material taking bracket 21 detects whether there is sausage 100 on it, and if so, proceeds to the next step, and if not, the material is The feeding motor 14 corresponding to the bin 12 drives the feeding mechanism 13 to move to the set time or the set distance, and the sensor on the material taking bracket 21 detects whether there is a sausage 100 on it. If yes, it continues to the next step. If no, it controls the shortage reminder device on the automatic grilled sausage vending machine to work to remind the replenishment of sausage 100; the stick supply mechanism 5 supplies sticks 200 to the stick insertion position, and the sensor of the stick supply position detects whether there is a stick 200 on it. If yes, it continues to the next step. If no, it controls the shortage reminder device on the automatic grilled sausage vending machine to work to remind the replenishment of sticks 200 into the stick bucket 51;

[0043] S3, the controller controls the material taking drive device to drive the material taking bracket 21 to move to the set position, and controls the material grabbing mechanism 3 to grab the sausages 100 on the material taking bracket 21 and transfer them to the electric grill 4 for grilling;

[0044] S4, after the electric grill 4 grills the sausage 100 according to the temperature and time set on the controller, the controller controls the grabbing mechanism 3 to grab and transfer the grilled sausage 100 to the skewer insertion position and then insert the sausage 100 into one end of the skewer 200 along the skewer insertion direction;

[0045] S5, the controller controls the grabbing mechanism 3 to grab and transfer the grilled sausages 100 to the delivery bracket 61 at the receiving position;

[0046] S6, the controller controls the delivery driving device to drive the delivery bracket 61 to move to the delivery position, so as to transfer the sausage 100 to the delivery port 71 and make the exposed skewer 200 at the end of the sausage 100 face the delivery port 71;

[0047] S7, the controller controls the grabbing mechanism 3 to move the sausages on the delivery bracket 61 toward the delivery port 71 for the user to grab.

[0048] Some aspects of the above steps may also be slightly adjusted in actual applications.

[0049] Compared with the prior art, the automatic grilled sausage vending machine provided in this embodiment mainly has the following beneficial effects: the refrigerator 1 is provided with a plurality of independent automatic silos 12, each of which has a built-in feeding mechanism, which can automatically convey the sausages to the unloading port, and the material taking mechanism 2 only needs to drive the material taking bracket 21 to the front of the corresponding silo, and then squeeze the unloading baffle 15 of the corresponding silo 12 to take out a single sausage 100, making the material taking mechanism 2 and the material taking process simpler, more stable and more efficient; and the feeding motor 14 of the automatic silo 12 is located outside the refrigerator 1, and the refrigerator There are no electrical components in the cabinet 1, which can improve the reliability and durability of the equipment; a skewer supply mechanism 5 is provided, which cooperates with the material grabbing mechanism 3 to realize automatic skewering of the baked sausages 100 without manual pre-insertion of skewer, which can effectively reduce labor costs, increase the replenishment speed, reduce food contamination risks and safety hazards, and avoid the skewers 200 and sausages 100 being heated and baked on the grill at the same time; a shipping bracket 61 and a shipping drive device are provided, which can transfer the baked and skewered sausages 100 to the shipping port 71, so that consumers can take them directly.

[0050] As a preferred solution of this embodiment, the number of the silos 12 is four (in other embodiments, it may be three or more, and sausages 100 of different types or flavors may be placed in each silo 12), and each silo 12 is arranged side by side on the left and right, with the front ends flush. The feeding mechanism 13 includes a conveyor belt 131 arranged in the front-to-back direction, an active roller 132 and a driven roller for supporting the conveyor belt 131, and the active roller 132 and the driven roller are rotatably connected to the silos 12. The feeding motors 14 corresponding to the two silos 12 on the left and right sides are respectively The driving rollers 132 are respectively arranged on the left and right outer walls of the refrigerator 1 and are directly connected to the driving rollers 132 of the corresponding conveyor belts 131 through their driving shafts so that the conveyor belts 131 can move forward and backward. The other silos 12 located between the outermost silos 12 have a first gear 133 extending from the end of their corresponding driving rollers 132. The driving shaft of the corresponding feeding motor 14 passes through the upper and lower layers of the conveyor belt 131 of the outermost silo 12 and is provided with a second gear 134 at the end. The first gear 133 and the second gear 134 are meshed, so that the conveyor belt 131 of the silo 12 can be driven to move forward and backward. This solution realizes that when there are three or more silos 12, the feeding mechanisms 13 of the middle silo 12 and the outermost silo 12 can be independently controlled and driven without interfering with each other, and the structural design is reasonable and ingenious.

[0051] As a preferred solution of this embodiment, the automatic door opening mechanism 16 includes a door opening motor 161 and a door opening slide rail 162 fixedly connected to the outer wall of the refrigerator 1, and a door opening push rod 163 slidably connected to the door opening slide rail 162. The output shaft of the door opening motor 161 is transmission-connected to the door opening push rod 163 via a door opening transmission belt 164. The front end of the door opening push rod 163 is tilted upward and a roller protrudes from the inner side of the front end. The roller abuts against the refrigerator door 11. The rotation of the door opening motor 161 can drive the door opening push rod 163 to move along the direction of the door opening slide rail 162, thereby driving the refrigerator door 11 to open and close.

[0052] As a preferred solution of this embodiment, the material picking mechanism 2 is arranged directly in front of the cold storage cabinet 1, and the material picking drive device includes an XZ plane moving frame 22 and a Y-axis driving mechanism 23. The Y-axis driving mechanism 23 is installed on the XZ plane moving frame 22 and can move in the XZ plane under the drive of the XZ plane moving frame 22. The material picking bracket 21 is installed on the Y-axis driving mechanism 23 and can move along the Y-axis direction under the drive of the Y-axis driving mechanism 23. In this solution, an XZ plane moving frame 22 is used in conjunction with a Y-axis driving mechanism 23 to drive the material picking bracket 21. The structural design is simple and ingenious. The XZ plane moving frame 22 is vertically arranged in front of the refrigerator 1, so that the XZ plane moving frame 22 overlaps with the space occupied by the refrigerator 1 in the width direction (X-axis direction) and the height direction (Z-axis direction), and the space occupied in the cabinet 7 in the depth direction (Y-axis direction) is also small, so that the space utilization rate in the cabinet can be higher, the overall structural layout of the sausage vending machine is more compact, and the occupied space is smaller. Moreover, the material picking bracket 21 can be driven by the XZ plane moving frame 22 to move arbitrarily within the XZ plane range, with a large range of activity and better structural strength and stability.

[0053] As a preferred solution of this embodiment, the XZ plane moving frame 22 is arranged in front of the refrigerator 1, including two groups of Z-axis guide rails 221 arranged in parallel on the left and right sides of the refrigerator door 11, two sliders 222 respectively slidably connected to the two groups of Z-axis guide rails 221, an X-axis guide rail 223 with two sliders 222 connected at both ends, two Z-axis transmission belts 224 respectively arranged along the two groups of Z-axis guide rails 221 and respectively connected to the two sliders 222, and the two Z-axis transmission belts 224 are connected to the two Z-axis transmission belts 224. The driving wheels are connected together to realize synchronous rotation of the horizontal synchronous shaft 225, a Z-axis driving motor 226 for driving any Z-axis transmission belt 224, an X-axis transmission belt 227 arranged along the X-axis guide rail 223, and an X-axis driving motor 228 for driving the X-axis transmission belt 227. The Y-axis driving mechanism 23 is slidably connected to the X-axis guide rail 223 and fixedly connected to the X-axis transmission belt 227. The lower dead point of the Y-axis driving mechanism 23 in the Z-axis direction is lower than the lower edge of the refrigerator door 11. In this solution, the XZ plane moving frame 22 is arranged in front of the refrigerator 1, and the two sets of Z-axis guide rails 221 are respectively arranged on both sides of the refrigerator door 11, which takes up little space for the sausage grill in terms of width and has high space utilization rate; by setting the synchronous shaft 225, the left and right Z-axis transmission belts 224 can move synchronously, and the XZ plane moving frame 22 can be made into a rectangular frame structure as a whole, and the structure is more stable; when it is necessary to take materials and open the refrigerator door 11, only two Z-axis transmission belts 224 are needed to drive, and the Y-axis driving mechanism 23 runs downward to below the lower edge of the refrigerator door 11, so as to avoid the rotation and opening of the refrigerator door 11. The refrigerator door 11 only needs to be rotated and opened at a smaller angle (for example, about 30°), and the XZ plane moving frame 22 can drive the Y-axis driving mechanism 23 to move to the front of the unloading baffle 15 of the corresponding material bin 12, and then the Y-axis driving mechanism 23 drives the material taking bracket 21 to move in the front-to-back direction to push the unloading baffle 15 to retract and unload materials.

[0054] As a preferred solution of this embodiment, the Y-axis driving mechanism 23 includes a material picking seat 231 connected to the X-axis transmission belt 227, a Y-axis driving motor 232 arranged on the material picking seat 231, a driving gear 233 arranged on the driving shaft of the Y-axis driving motor 232, and a Y-axis rack 234 arranged on the material picking bracket 21. The driving gear 233 is engaged with the Y-axis rack 234 so as to drive the material picking bracket 21 to move forward and backward along the Y-axis direction. The material picking seat 231 and the material picking bracket 21 are also provided with a guide seat 235 and a guide rod 236 that cooperate with each other.

[0055] As a preferred solution of this embodiment, the material picking bracket 21 is provided with a material trough 211, and the end of the material trough 211 is provided with a sensor 212 for detecting whether there is material therein, and the sensor 212 is a through-beam sensor, and the XZ plane moving frame 22, the Y-axis driving mechanism 23 and the automatic door opening mechanism 16 are provided with a plurality of travel switches for controlling the travel range.

[0056] As a preferred solution of this embodiment, the stick feeding mechanism 5 includes a stick bucket 51, a base 52 and a stick bucket driving mechanism 53. The stick bucket 51 is placed on the base 52 and is slidably connected thereto in the front-to-back direction. The stick bucket driving mechanism 53 can drive the stick bucket 51 to slide back and forth on the base 52. The bottom of the stick bucket 51 is provided with a stick outlet for a single stick 200 to fall out horizontally. The base 52 is provided with a groove 521 for a single stick 200 to fall into. When the stick bucket 51 slides on the base 52, when the stick outlet passes through the groove 521, the stick 200 in the stick bucket 51 can fall into the groove 521. When the stick outlet passes through the groove 521, the stick 200 in the stick bucket 51 can fall into the groove 521. When the embedding groove 521 is staggered, the base 52 can block the skewer outlet to prevent the skewer 200 in the skewer bucket 51 from falling. The base 52 is provided with an avoidance gap 522 on the left side of the embedding groove 521 that can suspend the skewer 200, and a blocking portion 523 is provided on the right side of the embedding groove 521, so that the skewer insertion position is formed at the embedding groove 521. In the process of the grabbing mechanism 3 driving the sausage 100 to move from left to right at the skewer insertion position to be inserted into the skewer 200, the blocking portion 523 can block the right end of the skewer 200 to prevent the skewer 200 from moving to the right, and the avoidance gap 522 can provide an avoidance space for the movement of the sausage 100.

[0057] As a preferred solution of this embodiment, the base 52 includes a fixed frame and a follower beam 525, and the follower beam 525 is slidably connected to the fixed frame along the insertion direction of the stick. The avoidance gap 522 is located on one side of the follower beam 525, and a first sensor 526 is provided on the other side of the follower beam 525. When the material is inserted to the target position on the stick, the right end of the material can touch the follower beam 525 and push it to move to the right, so that the follower beam 525 can trigger the first sensor 526. An elastic member (spring) is also provided between the follower beam 525 and the fixed frame to enable the follower beam 525 to automatically reset in a natural state. Preferably, the fixing frame is provided with at least one first guide rod 527 which is arranged transversely along the insertion direction, and the fixing frame is provided with a fixed beam 528 on the other side of the follower beam 525, and the follower beam 525 is slidably connected to the first guide rod 527, and the upper surfaces of the fixed beam 528 and the follower beam 525 are flush and respectively provided with grooves which are located in opposite positions, and the two grooves cooperate to form the embedding groove 521, and the first sensor 526 and the second sensor 529 are provided between the fixed beam 528 and the follower beam 525, and the first sensor 526 is a contact sensor, and the second sensor 529 is a beam sensor, and the second sensor The detection light of 529 passes through the stick placement space between the two grooves, so as to detect whether there is a stick in the embedding groove 521; by setting the fixed beam 528 and the follower beam 525, the grooves on the upper surfaces of the two are used to cooperate as the embedding groove for the stick to fall into, which can not only ensure stable support for the stick, but also trigger the first sensor 526 through the follower beam 525 when the stick is inserted into place, and the space between the fixed beam 528 and the follower beam 525 can be used to place the first sensor 526 and the second sensor 529, and the second sensor 529 is used to detect whether there is a stick in the stick insertion position, thereby avoiding misoperation. The structural design is reasonable and ingenious.

[0058] As a preferred solution of this embodiment, the sign-slot driving mechanism 53 includes a sign-slot transmission belt 531, a sign-slot driving motor 532 and a connecting piece installed on the base 52. The sign-slot 51 is connected to the sign-slot transmission belt 531 via the connecting piece. The sign-slot driving motor 532 can drive the sign-slot 51 to move back and forth through the sign-slot transmission belt 531. At least one second guide rod 533 arranged along the front-to-back direction is provided on the base 52, and a sleeve 534 slidably connected to the second guide rod 533 is provided on the sign-slot 51.

[0059] As a preferred solution of this embodiment, the shipping mechanism 6 also includes a mounting seat 62, and the shipping drive device is a rotating drive motor installed on the mounting seat. The shipping bracket 61 is pivotally connected to the mounting seat 62 and can reciprocate between the receiving position and the shipping position under the drive of the rotating drive motor. The shipping bracket 61 is parallel to the skewer insertion direction when it is at the receiving position, and faces the shipping port 71 when it is at the shipping position. When the shipping bracket 61 rotates to the receiving position, it is used to receive the sausage 100 transferred by the grabbing mechanism 3. When the shipping bracket 61 rotates to the shipping position, the skewer 200 exposed at the tail of the sausage 100 faces the shipping port 71. In this solution, the delivery mechanism 6 adopts a rotating delivery bracket 61, which is driven by a rotating drive motor to reciprocate between the receiving position and the delivery position, so that the grabbing mechanism 3 can translate the material with the inserted skewers to the delivery bracket 61 at the receiving position without rotating, which can make the structure and motion control of the grabbing mechanism 3 coordinated therewith simpler. When the delivery bracket 61 rotates to the delivery position, the exposed skewers at the tail of the material face the delivery direction, and the grabbing mechanism 3 can also move the material on the delivery bracket 61 toward the delivery direction for the user to grab.

[0060] As a preferred solution of this embodiment, a third sensor 63 is provided on the mounting seat 62, and the third sensor 63 is a through-beam sensor. When the shipping bracket 61 rotates to the shipping position, the detection light of the third sensor 63 passes through the material placement space on the shipping bracket 61, thereby being able to detect whether there is material on the shipping bracket 61. The mounting seat 62 is also provided with two travel switches for controlling the rotation range.

[0061] As a preferred solution of this embodiment, the electric grill 4 is located above the refrigerator 1, and the electric grill 4 includes a plurality of electric heating grill tubes arranged in parallel, and the circuits of the electric heating grill tubes are arranged in parallel so that they can operate independently under the control of the controller, and the skewer supply mechanism 5 and the delivery mechanism 6 are located on the side of the electric grill 4. In this solution, the space layout of the electric grill 4, the refrigerator 1, the skewer supply mechanism 5, and the delivery mechanism 6 is reasonable, so that the space utilization rate in the grilled sausage vending machine cabinet 7 is higher, the structure is more compact, and each electric heating grill tube can be independently controlled, which is convenient for energy saving.

[0062] As a preferred solution of this embodiment, the refrigerator 1 is arranged at the lower part of the cabinet 1, the electric grill 4 is placed horizontally above the refrigerator 1, the stick supply mechanism 5 and the delivery mechanism 6 are located on the side of the electric grill 4, the grabbing mechanism 3 is located above the electric grill 4, the clamp moving device includes an XY plane moving frame 32 and a Z-axis driving mechanism 33, the Z-axis driving mechanism 33 is installed below the XY plane moving frame 32 and can move in the XY plane under the drive of the XY plane moving frame 32, the clamp 31 is installed at the lower end of the Z-axis driving mechanism 33 and can move up and down along the Z-axis direction under the drive of the Z-axis driving mechanism 33, the clamp 31 is also provided with a clamp driving device that can drive the clamp 31 to close and grab sausages or open and release sausages, a sensor is provided in the clamp 31 (not shown in the drawings), the inner side wall of the clamp 31 is provided with a through hole, and the contact of the sensor extends from the through hole so that it can be triggered when the clamp 31 grabs the sausage. In this solution, an XY plane moving frame 32 is used in conjunction with a Z-axis driving mechanism 33 to drive the clamping claw 31. The structural design is simple and ingenious. The XY plane moving frame 32 is horizontally arranged above the electric grill 4, so that the XY plane moving frame 32 overlaps with the space occupied by the refrigerator 1 and the electric grill 4 in the width direction (X-axis direction) and the depth direction (Y-axis direction), and the space occupied in the cabinet 7 in the height direction is also small, thereby enabling a higher space utilization rate in the cabinet, and the overall structural layout of the sausage vending machine is more compact, occupying less space, and the Z-axis driving mechanism 33 and the clamping claw 31 are driven by the XY plane moving frame 32 to move arbitrarily within the XY plane range, with a large range of motion and better structural strength and stability.

[0063] The above description is only a preferred embodiment of the present application and an explanation of the technical principles used. Those skilled in the art should understand that the scope of the utility model involved in the present application is not limited to the technical solution formed by a specific combination of the above technical features, but should also cover other technical solutions formed by any combination of the above technical features or their equivalent features without departing from the concept of the utility model. For example, the above features are replaced with (but not limited to) technical features with similar functions disclosed in the present application.

Claims

1. An automatic sausage vending machine, comprising a cabinet, characterized in that: The cabinet is equipped with a refrigerator, a material taking mechanism, a material grabbing mechanism, an electric grill, a signing mechanism and a delivery mechanism, and a delivery port is provided on the cabinet; The refrigerator is placed at the lower part of the cabinet, and is provided with a refrigerator door and an automatic door opening mechanism for driving the refrigerator door to open and close. At least one automatic silo is provided in the refrigerator, and each silo is provided with a feeding mechanism for conveying sausages arranged in the front-to-back direction. A feeding motor is provided outside the refrigerator, and the feeding motor is connected to the feeding mechanism in a transmission manner. A feeding port is provided in front of the feeding mechanism, and a feeding baffle is provided at the feeding port. The feeding baffle is movably connected to the silo in the front-to-back direction, and an elastic member is provided between the two. In a natural state, the elastic member can drive the feeding baffle to extend forward to block the feeding port. The material taking mechanism is located in front of the refrigerator, and includes a material taking bracket and a material taking driving device. The material taking driving device can drive the material taking bracket to move in front of any of the material discharge baffles, and can drive the material taking bracket to push the material discharge baffle to retract backward to open the discharge port so that the sausage can fall onto the material taking bracket; The electric grill is located directly above the refrigerator and includes a plurality of electric heating grill tubes arranged in parallel; The skewer supply mechanism is located on one side of the electric grill, and includes a skewer bucket for supplying skewers and a skewer insertion position for axially limiting the skewers along the skewer insertion direction; The material grabbing mechanism is located directly above the electric grill, and includes a clamping claw and a clamping claw moving device, which is used to grab and transfer the sausages on the material taking bracket to the electric grill for grilling, and can grab and transfer the grilled sausages to the skewer inserting position and then insert the sausages at one end of the skewer along the skewer inserting direction, and can grab and transfer the sausages with skewer inserted to the delivery mechanism; The delivery mechanism is located on one side of the electric grill, and includes a delivery bracket and a delivery drive device, wherein the delivery drive device can drive the delivery bracket to reciprocate between a receiving position and a delivery position, and is used to transfer the sausage to the delivery port and make the exposed skewers at the ends of the sausages face the delivery port; It also includes a controller and an ordering device. The controller is electrically connected to the ordering device, automatic door opening mechanism, material feeding mechanism, material taking mechanism, material grabbing mechanism, electric grill, signing mechanism, and shipping mechanism. The ordering device is used to input purchase information and payment information and send it to the controller. The controller is used to control the automatic operation of the automatic grilled sausage vending machine.

2. The automatic sausage vending machine according to claim 1, characterized in that: There are at least three silos, each of which is arranged in parallel on the left and right. The feeding mechanism includes a conveyor belt arranged along the front-to-back direction, an active roller and a driven roller for supporting the conveyor belt, and the active roller and the driven roller are rotatably connected to the silo. The two left and right silos located on the outermost sides have corresponding feeding motors respectively arranged on the left and right outer walls of the refrigerator and directly connected to the active rollers of the corresponding conveyor belts through their driving shafts so that the conveyor belts can move back and forth. The other silos located between the outermost silos have corresponding active rollers with a first gear extending from the end thereof, and the driving shaft of the corresponding feeding motor passes through between the upper and lower layers of the conveyor belt of the outermost silo and is provided with a second gear at the end. The first gear and the second gear are meshed with each other, so that the conveyor belt of the silo can be driven to move back and forth.

3. The automatic sausage vending machine according to claim 1, characterized in that: The material picking drive device includes an XZ plane moving frame and a Y-axis driving mechanism. The Y-axis driving mechanism is installed on the XZ plane moving frame and can move in the XZ plane under the drive of the XZ plane. The material picking bracket is installed on the Y-axis driving mechanism and can move along the Y-axis direction under the drive of the Y-axis.

4. The automatic sausage vending machine according to claim 1, characterized in that: The stick supply mechanism also includes a base and a stick bucket driving mechanism, the stick bucket is placed on the base and is slidably connected thereto in a front-to-back direction, the stick bucket driving mechanism can drive the stick bucket to slide back and forth on the base, a stick outlet is provided at the bottom of the stick bucket for a single stick to fall out laterally, and a locking groove is provided on the base for a single stick to fall into, and in the process of the stick bucket sliding on the base, when the stick outlet passes through the locking groove, the stick in the stick bucket can fall into the locking groove, and when the stick outlet misses the locking groove, the base can block the stick outlet to prevent the stick in the stick bucket from falling, and an avoidance notch is provided on the left side of the locking groove to suspend the stick, and a blocking portion is provided on the right side of the locking groove to form the stick insertion position at the locking groove, and in the process of the grabbing mechanism driving the sausage to move from left to right at the stick insertion position to be inserted on the stick, the blocking portion can block the right end of the stick to prevent the stick from moving to the right, and the avoidance notch can provide avoidance space for the movement of the sausage.

5. The automatic sausage vending machine according to claim 1, characterized in that: The delivery mechanism also includes a mounting seat, and the delivery drive device is a rotary drive motor installed on the mounting seat. The delivery bracket is pivotally connected to the mounting seat and can reciprocate between a receiving position and a delivery position driven by the rotary drive motor. The delivery bracket is parallel to the skewer insertion direction when it is at the receiving position, and faces the delivery port when it is at the delivery position. When the delivery bracket rotates to the receiving position, it is used to receive the sausages transferred by the grabbing mechanism. When the delivery bracket rotates to the delivery position, the skewer exposed at the tail of the sausage faces the delivery port.

6. The automatic sausage vending machine according to claim 1, characterized in that: The clamp moving device includes an XY plane moving frame and a Z axis driving mechanism. The Z axis driving mechanism is installed below the XY plane moving frame and can move in the XY plane under the drive of the XY plane moving frame. The clamp is installed at the lower end of the Z axis driving mechanism and can move up and down along the Z axis direction under the drive of the Z axis. The clamp is also provided with a clamp driving device that can drive the clamp to close and grab sausages or open and release sausages. A sensor is provided in the clamp, and a through hole is provided on the inner side wall of the clamp. The contact of the sensor extends from the through hole so that it can be triggered when the clamp grabs the sausage.

7. The automatic sausage vending machine according to claim 1, characterized in that: The circuits of the electric heating baking tubes are connected in parallel so that they can operate independently under the control of the controller.

8. The automatic sausage vending machine according to claim 1, characterized in that: The ordering device is a touch screen installed on the outside of the cabinet.

9. The automatic sausage vending machine according to claim 1, characterized in that: The material taking mechanism, material grabbing mechanism, stick supplying mechanism, delivery mechanism and automatic door opening mechanism are provided with a plurality of travel switches for controlling the travel range; the material taking mechanism, material grabbing mechanism and delivery mechanism are also provided with a plurality of sensors for detecting whether there are sausages; the stick supplying mechanism is also provided with a sensor for detecting whether there are sticks at the stick insertion position.

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