Automatic dish distribution equipment

Abstract

The utility model discloses an automatic dish distributing device, which relates to the technical field of mechanical equipment, and comprises a feeding device, a multi-shaft manipulator sorting device, a weighing device and a control device, the feeding device is configured to input materials, the multi-shaft manipulator sorting device is configured to transfer the materials from the feeding device to the weighing device, and the weighing device is configured to transfer the materials from the multi-shaft manipulator sorting device to the weighing device. The weighing device is configured to weigh materials conveyed by the multi-axis mechanical arm sorting device and automatically turn over to transfer the materials after the materials reach a set weight range, and the control device is electrically connected with the feeding device, the multi-axis mechanical arm sorting device and the weighing device. The utility model provides dish sorting equipment with a brand new structure, the equipment can realize automatic dish sorting and automatic weighing functions through the matching of the multi-shaft manipulator sorting device and the weighing device, replaces the traditional manual operation, is high in production efficiency, can be matched with an automatic packaging production line for use, and is convenient for the formation of a full-automatic production line.

Description

Technical Field

[0001] The utility model relates to the technical field of mechanical equipment, in particular to automatic food dispensing equipment. Background Art

[0002] Food packaging is an integral part of food products. It is one of the main processes in the food industry. It protects food and prevents it from being damaged by biological, chemical, and physical external factors during the circulation process from leaving the factory to the hands of consumers.

[0003] Existing large-volume food packaging is generally carried out using automated packaging lines. For most products, they need to be weighed before packaging. However, weighing some pre-prepared dishes is a tricky task. Since the cooked dishes contain moisture, they are easy to stick together. Therefore, the current market basically uses manual food sorting, which is inefficient and cannot meet the needs of mass production. Utility Model Content

[0004] The purpose of the utility model is to provide an automatic food dispensing device, which can at least solve one of the above problems.

[0005] According to one aspect of the utility model, there is provided an automatic food serving device, comprising a feeding device, a multi-axis manipulator sorting device, a weighing device and a control device, wherein the feeding device is configured to input materials, the multi-axis manipulator sorting device is configured to transfer materials from the feeding device to the weighing device, the weighing device is configured to weigh the materials conveyed by the multi-axis manipulator sorting device and automatically flip and transfer the materials after reaching a set weight range, and the control device is electrically connected to the feeding device, the multi-axis manipulator sorting device and the weighing device.

[0006] In some embodiments, the automatic vegetable sorting device further comprises a first collecting device, which is arranged at the discharge end of the feeding device. Therefore, since the cooked vegetable materials are easy to stick together, there will still be a little sticking when the multi-axis manipulator sorting device clamps the vegetable materials, and the first collecting device serves to receive the materials that fall during the sorting process.

[0007] In some embodiments, the automatic food sorting device further includes a second collecting device, which is disposed on one side of the multi-axis manipulator sorting device and cooperates with the multi-axis manipulator sorting device. Therefore, since it is difficult to ensure that the weight specifications of each material are different, there may be an overweight situation in the sorting process where the weight of the material on the weighing mechanism exceeds the set weight range. When overweight occurs, this problem can be solved by controlling the multi-axis manipulator sorting device to clamp the material from the weighing mechanism and put it into the second collecting device.

[0008] In some embodiments, the feeding device includes a conveying mechanism, a guiding mechanism, and a detecting mechanism. The conveying mechanism is used for continuously conveying materials. The guiding mechanism is installed on the conveying mechanism and is used for guiding the materials. The detecting mechanism is arranged at the discharging end of the conveying mechanism and is electrically connected to the control device. When the detecting mechanism detects the materials, it feeds back a signal to the control device, and the control device controls the conveying mechanism to stop operating and controls the multi-axis manipulator sorting device to start the grasping action.

[0009] In some embodiments, the weighing device includes a flipping mechanism and a weighing mechanism that are electrically connected to the control device.

[0010] In some embodiments, the multi-axis manipulator sorting device includes a multi-axis driving mechanism and a clamping mechanism. The clamping mechanism is installed on the multi-axis driving mechanism and cooperates with the materials.

[0011] In some embodiments, the multi-axis driving mechanism includes a fixed base, a fixed shaft, a first mounting bracket, a second mounting bracket, a third mounting bracket, a fourth mounting bracket, a first driving component, a second driving component, a third driving component, and a fourth driving component. The fixed shaft is installed on the fixed base. The first mounting bracket is movably sleeved on the outer periphery of the fixed shaft. The first driving component is installed on the first mounting bracket and is used for driving the first mounting bracket to rotate relative to the fixed base. The second mounting bracket is movably installed on the first mounting bracket. The second driving component is installed on the first mounting bracket and cooperates with the second mounting bracket to drive the second mounting bracket to lift relative to the first mounting bracket. The third driving component is installed on the second mounting bracket. The third mounting bracket is movably connected to the second mounting bracket. The third driving component cooperates with the third mounting bracket to drive the third mounting bracket to rotate relative to the second mounting bracket. The fourth mounting bracket is movably connected to the third mounting bracket. The clamping mechanism is installed on the fourth mounting bracket. The fourth driving component is installed on the third mounting bracket and cooperates with the fourth mounting bracket to drive the fourth mounting bracket and the clamping mechanism installed on the fourth mounting bracket to rotate.

[0012] In some embodiments, the multi-axis driving mechanism further includes a guiding component. The guiding component includes a guiding column installed on the first mounting bracket and a guiding slider that cooperates with the guiding column and is connected to the second mounting bracket;

[0013] The first driving component includes a first driving member, a first transmission module, a second transmission module, and a first connecting shaft. The first driving member is installed on the first mounting bracket. The first transmission module is in transmission connection with the first driving member and is in transmission connection with the second transmission module through the first connecting shaft. The output end of the second transmission module is fixedly connected to the first mounting bracket and is movably sleeved on the outer periphery of the fixed shaft;

[0014] The second driving assembly includes a second driving member, a third transmission module, a fourth transmission module, and a second connecting shaft. The second driving member is installed on the first mounting bracket. The third transmission module is in transmission connection with the second driving member and is in transmission connection with the third transmission module through the second connecting shaft. The third transmission module is connected to the guiding slider.

[0015] Thus, the first driving assembly is used to drive the first mounting bracket and all the components installed on the first mounting bracket to rotate together around a fixed axis relative to the fixed base, achieving integral rotation and quickly driving the clamping mechanism to reach the specified position. The second driving assembly is used to drive the second mounting bracket and all the components installed on the second mounting bracket to lift along the guiding column, completing the feeding of the clamping mechanism in the height direction.

[0016] In some embodiments, the third driving assembly includes a third driving member, a fifth transmission module, a sixth transmission module, a third connecting shaft, and a fourth connecting shaft. The third driving member is installed on the second mounting bracket. The fifth transmission module is in transmission connection with the third driving member and is in transmission connection with the sixth transmission module through the third connecting shaft. The output end of the sixth transmission module is connected to the third mounting bracket through the fourth connecting shaft. The fourth driving assembly includes a fourth driving member, a seventh transmission module, and a fifth connecting shaft. The fourth driving member is installed on the third mounting bracket. The seventh transmission module is in transmission connection with the fourth driving member and its output end is fixedly connected to the fourth mounting bracket through the fifth connecting shaft.

[0017] In some embodiments, the multi-axis manipulator sorting device further includes a first sensing mechanism. The first sensing mechanism includes a first sensor installed on the third mounting bracket and electrically connected to the control device, and a first sensing element installed on the fourth mounting bracket and cooperating with the first sensor. Thus, through the cooperation of the first sensor and the first sensing element, the position between the fourth mounting bracket and the third mounting bracket can be confirmed, facilitating the realization of accurate reset actions.

[0018] Advantages of the automatic vegetable sorting device of the present utility model:

[0019] The present utility model provides a vegetable sorting device with a brand-new structure. Through the cooperation of the multi-axis manipulator sorting device and the weighing device, the device can realize the functions of automatic vegetable sorting and automatic weighing, replacing traditional manual operations, with high production efficiency, and can be used in supporting an automated packaging production line, facilitating the formation of a fully automated production line. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] Figure 1 is a simplified top view structural schematic diagram of the automatic vegetable sorting device according to an embodiment of the present utility model;

[0021] Figure 2 is Figure 1Schematic three-dimensional structure diagram of the multi-axis drive mechanism of the multi-axis manipulator sorting device of the automatic vegetable dispensing device shown;

[0022] Figure 3 is Figure 1 Schematic three-dimensional structure diagram of the clamping mechanism of the multi-axis manipulator sorting device of the automatic vegetable dispensing device shown;

[0023] Figure 4 is Figure 2 One of the schematic three-dimensional structure diagrams of the multi-axis drive mechanism with some structures omitted;

[0024] Figure 5 is Figure 4 Schematic three-dimensional structure diagram of the multi-axis drive mechanism with some structures omitted shown;

[0025] Figure 6 is Figure 2 Another schematic three-dimensional structure diagram of the multi-axis drive mechanism with some structures omitted;

[0026] Figure 7 is Figure 1 Schematic three-dimensional structure diagram of the flipping mechanism of the weighing device of the automatic vegetable dispensing device shown.

[0027] Figures 1 to 7 Reference numerals in the figures: 1 - feeding device; 2 - multi-axis manipulator sorting device; 3 - weighing device; 4 - first collection device; 5 - second collection device; 11 - conveying mechanism; 12 - guiding mechanism; 13 - detection mechanism; 21 - multi-axis drive mechanism; 22 - clamping mechanism; 22A - connecting head; 22B - clamping member; 23 - first sensing mechanism; 31 - weighing mechanism; 32 - flipping mechanism; 211 - fixed base; 212 - fixed shaft; 213 - first mounting bracket; 214 - second mounting bracket; 215 - third mounting bracket; 216 - fourth mounting bracket; 217 - first driving component; 218 - second driving component; 219 - third driving component; 220 - fourth driving component; 221 - guiding component; 231 - first inductor; 232 - first sensing element; 321 - fifth driving member; 322 - gear-rack transmission component; 323 - connecting plate; 217a - first driving member; 217b - first transmission module; 217c - second transmission module; 217d - first connecting shaft; 218a - second driving member; 218b - third transmission module; 218c - fourth transmission module; 218d - second connecting shaft; 219a - third driving member; 219b - fifth transmission module; 219c - sixth transmission module; 219d - third connecting shaft; 219e - fourth connecting shaft; 220a - fourth driving member; 220b - seventh transmission module; 220c - fifth connecting shaft; 221a - guiding column; 221b - guiding slider; 322a - gear; 322b - rack. Detailed implementation mode

[0028] The present utility model will be further described in detail below with reference to the accompanying drawings.

[0029] Figures 1 to 7 Schematically shows an automatic dish-serving device according to an embodiment of the present utility model.

[0030] As Figures 1 to 7 shown, the automatic dish-serving device includes a feeding device 1, a multi-axis manipulator sorting device 2, a weighing device 3 and a control device. The feeding device 1 is configured to input materials. The multi-axis manipulator sorting device 2 is configured to transfer the materials from the feeding device 1 to the weighing device 3. The weighing device 3 is configured to weigh the materials conveyed by the multi-axis manipulator sorting device 2 and automatically flip to transfer the materials after reaching the set weight range. The control device is electrically connected to the feeding device 1, the multi-axis manipulator sorting device 2 and the weighing device 3.

[0031] The feeding device 1 includes a conveying mechanism 11, a guiding mechanism 12 and a detecting mechanism 13. The conveying mechanism 11 is used for continuously conveying materials. The guiding mechanism 12 is installed on the conveying mechanism 11 and is used for guiding the materials. The detecting mechanism 13 is arranged at the discharging end of the conveying mechanism 11 and is electrically connected to the control device. When the detecting mechanism 13 detects the materials, it feeds back a signal to the control device, and the control device controls the conveying mechanism 11 to stop running and controls the multi-axis manipulator sorting device 2 to start the grasping action.

[0032] It should be noted that the conveying mechanism 11 in this embodiment is a belt conveyor, the guiding mechanism 12 is a pair of guiding plates arranged on both sides of the conveyor belt of the belt conveyor, and from the feeding end to the discharging end, the distance between the pair of guiding plates gradually becomes smaller, playing a guiding role for the materials. The detecting mechanism 13 can be a pair of grating sensors or photoelectric sensors arranged at the discharging end of the belt conveyor, etc.

[0033] The weighing device 3 includes a flipping mechanism 32 and a weighing mechanism 31 that are electrically connected to the control device.

[0034] It should be noted that the weighing mechanism 31 in this embodiment is a commercially available intelligent weighing machine, specifically, it can be a quantitative weighing controller with the manufacturer being Chengdu Yibo Rock Technology Co., Ltd. and the model being BH-Z02. The flipping mechanism 32 can be a commercially purchased rack cylinder. Specifically, the flipping mechanism 32 includes a fifth driving member 321, a gear-rack transmission assembly 322, and a connecting plate 323. The fifth driving member 321 is a telescopic cylinder. The gear-rack transmission assembly 322 includes a rack 322b connected to the driving end of the fifth driving member 321 and a gear 322a meshing with the rack 322b and fixedly connected to the connecting plate 323. The gear 322a is movably connected to the fifth driving member 321 in a rotatable manner. The connecting plate 323 is fixedly installed at the bottom of the weighing mechanism 31. By driving the rack 322b to expand and contract through the fifth driving member 321, the gear 322a is driven to rotate, and then the weighing mechanism 31 is driven to flip to complete the unloading action.

[0035] The multi-axis manipulator sorting device 2 includes a multi-axis driving mechanism 21 and a material clamping mechanism 22. The material clamping mechanism 22 is installed on the multi-axis driving mechanism 21 and cooperates with the material.

[0036] The multi-axis driving mechanism 21 includes a fixed base 211, a fixed shaft 212, a first mounting bracket 213, a second mounting bracket 214, a third mounting bracket 215, a fourth mounting bracket 216, a first driving component 217, a second driving component 218, a third driving component 219, and a fourth driving component 220. The fixed shaft 212 is installed on the fixed base 211. The first mounting bracket 213 is movably sleeved on the outer periphery of the fixed shaft 212. The first driving component 217 is installed on the first mounting bracket 213 and is used to drive the first mounting bracket 213 to rotate relative to the fixed base 211. The second mounting bracket 214 is movably installed on the first mounting bracket 213. The second driving component 218 is installed on the first mounting bracket 213 and cooperates with the second mounting bracket 214 to drive the second mounting bracket 214 to move up and down relative to the first mounting bracket 213. The third driving component 219 is installed on the second mounting bracket 214. The third mounting bracket 215 is movably connected to the second mounting bracket 214. The third driving component 219 cooperates with the third mounting bracket 215 to drive the third mounting bracket 215 to rotate relative to the second mounting bracket 214. The fourth mounting bracket 216 is movably connected to the third mounting bracket 215. The material clamping mechanism 22 is installed on the fourth mounting bracket 216. The fourth driving component 220 is installed on the third mounting bracket 215 and cooperates with the fourth mounting bracket 216 to drive the fourth mounting bracket 216 and the material clamping mechanism installed on the fourth mounting bracket 216 to rotate.

[0037] The multi-axis driving mechanism 21 further includes a guiding component 221. The guiding component 221 includes a guiding column 221a installed on the first mounting bracket 213 and a guiding slider 221b cooperating with the guiding column 221a and connected to the second mounting bracket 214;

[0038] The first driving assembly 217 includes a first driving member 217a, a first transmission module 217b, a second transmission module 217c and a first connecting shaft 217d. The first driving member 217a is installed on the first mounting bracket 213. The first transmission module 217b is in transmission connection with the first driving member 217a and is in transmission connection with the second transmission module 217c through the first connecting shaft 217d. The output end of the second transmission module 217c is fixedly connected to the first mounting bracket 213 and is movably sleeved on the outer periphery of the fixed shaft 212;

[0039] The second driving assembly 218 includes a second driving member 218a, a third transmission module 218b, a fourth transmission module 218c and a second connecting shaft 218d. The second driving member 218a is installed on the first mounting bracket 213. The third transmission module 218b is in transmission connection with the second driving member 218a and is in transmission connection with the third transmission module 218b through the second connecting shaft 218d. The third transmission module 218b is connected to the guiding slider 221b.

[0040] Thus, the first driving assembly 217 is used to drive the first mounting bracket 213 and all components installed on the first mounting bracket 213 to rotate together around the fixed shaft 212 relative to the fixed base 211, realizing integral rotation, and driving the material clamping mechanism to quickly reach the designated position. The second driving assembly 218 is used to drive the second mounting bracket 214 and all components installed on the second mounting bracket 214 to move up and down along the guiding column 221a, completing the feeding of the material clamping mechanism in the height direction.

[0041] The third driving assembly 219 includes a third driving member 219a, a fifth transmission module 219b, a sixth transmission module 219c, a third connecting shaft 219d and a fourth connecting shaft 219e. The third driving member 219a is installed on the second mounting bracket 214. The fifth transmission module 219b is in transmission connection with the third driving member 219a and is in transmission connection with the sixth transmission module 219c through the third connecting shaft 219d. The output end of the sixth transmission module 219c is connected to the third mounting bracket 215 through the fourth connecting shaft 219e. The fourth driving assembly 220 includes a fourth driving member 220a, a seventh transmission module 220b and a fifth connecting shaft 220c. The fourth driving member 220a is installed on the third mounting bracket 215. The seventh transmission module 220b is in transmission connection with the fourth driving member 220a and its output end is fixedly connected to the fourth mounting bracket 216 through the fifth connecting shaft 220c.

[0042] It should be noted that the first driving member 217a, the second driving member 218a, the third driving member 219a, and the fourth driving member 220a in this embodiment can all be stepper motors. The first transmission module 217b, the second transmission module 217c, the third transmission module 218b, the fourth transmission module 218c, the fifth transmission module 219b, the sixth transmission module 219c, and the seventh transmission module 220b can all be belt transmission structures, and their structures all include an input wheel, an output wheel, and a transmission belt sleeved on the outer peripheries of the two.

[0043] It should be noted that the clamping mechanism in this embodiment can be a commercially available cylinder-driven gripper, which specifically includes a connector 22A connected to the air source and a pair of clamping members 22B hinged to the connector 22A and cooperating with the material.

[0044] The multi-axis manipulator sorting device 2 further includes a first sensing mechanism 23. The first sensing mechanism 23 includes a first sensor 231 installed on the third mounting bracket 215 and electrically connected to the control device, and a first sensing member 232 cooperating with the first sensor 231 and installed on the fourth mounting bracket 216. Thus, through the cooperation of the first sensor 231 and the first sensing member 232, the position between the fourth mounting bracket 216 and the third mounting bracket 215 can be confirmed, facilitating the realization of accurate reset actions.

[0045] It should be noted that the first sensor 231 in this embodiment can be a photoelectric sensor. At the same time, in order to achieve precise control, the multi-axis manipulator sorting device 2 in this embodiment further includes a plurality of sensing mechanisms similar to the first sensing mechanism 23 and encoders, etc. These sensors are all electrically connected to the control device to achieve precise control of material sensing, rotation angle, etc.

[0046] In addition, the multi-axis manipulator sorting device 2 is also provided with an automatic zeroing action, which is completed through the cooperation of the multi-axis manipulator sorting device 2, the weighing device 3, and the control device. Specifically: The multi-axis manipulator sorting device 2 utilizes the running time of the flipping mechanism 32 of the weighing device 3 (i.e., the unloading process), and automatically returns the fourth mounting bracket 216 and the clamping mechanism installed on the fourth mounting bracket 216 (when clamping, the fourth mounting bracket 216 and the third mounting bracket 215 are at a certain angle, and automatic return means making the fourth mounting bracket 216 parallel to the third mounting bracket 215), so that the first sensor 231 senses the first sensing member 232, and then feeds back to the control device for zeroing calibration, thereby improving the accuracy of each stepper motor and further improving production efficiency.

[0047] The automatic vegetable sorting device further comprises a first collecting device 4 and a second collecting device 5, wherein the first collecting device 4 is arranged at the discharging end of the feeding device 1. Therefore, since the cooked vegetable materials are easy to stick together, there will still be a little sticking when the multi-axis manipulator sorting device 2 clamps the vegetable materials, and the first collecting device 4 serves to receive the materials that fall during the sorting process.

[0048] The second collecting device 5 is arranged on one side of the multi-axis manipulator sorting device 2 and cooperates with the multi-axis manipulator sorting device 2. Therefore, since it is difficult to ensure that the weight specifications of each material are different, there may be an overweight situation in the sorting process where the weight of the material on the weighing mechanism exceeds the set weight range. When overweight occurs, this problem can be solved by controlling the multi-axis manipulator sorting device 2 to clamp the material from the weighing mechanism and put it into the second collecting device 5. The first collecting device 4 and the second collecting device 5 can be a storage tank or a storage frame, etc.

[0049] Preferably, the control device of this embodiment can be a PLC controller, and all actions of the device are controlled by the PLC. The purpose of the device is to tear or separate materials such as vegetables that are stuck together for weighing.

[0050] The operation steps of the automatic food dispensing device of the utility model are:

[0051] S1. First, set the weight range (assuming it is M) through the control device or the button on the load-bearing mechanism.

[0052] S2. A detection mechanism 13 for sensing materials is provided at the front end of the conveying mechanism 11. Normally, the conveying mechanism 11 is continuously conveying materials. Only when the detection mechanism 13 senses the presence of materials will the conveyor belt of the conveying mechanism 11 be controlled to stop.

[0053] S3. After the conveyor belt of the conveying mechanism 11 stops (i.e. when there are vegetables at the front end of the conveyor belt), the multi-axis manipulator sorting device 2 goes forward to pick up the vegetables.

[0054] S4, after the multi-axis manipulator sorting device 2 has finished picking up the vegetables, it moves to the weighing mechanism 31. The output end of the feeding device 1 is at a certain distance from the weighing mechanism 31, so that the multi-axis manipulator sorting device 2 can run a certain distance to separate the vegetables stuck together. At the same time, the first collecting device 4 can collect the materials dropped here.

[0055] S5, the weighing mechanism 31 determines the weight of the material and gives corresponding feedback:

[0056] The weighing mechanism 31 has three signal outputs: when the weight of the material on the weighing mechanism 31 does not reach the M segment, signal 1 is valid; when the weight is in the M segment, signal 2 is valid; when the weight exceeds the M segment, signal 3 is valid.

[0057] S51. When signal 1 is valid, the multi-axis manipulator sorting device 2 repeatedly performs the transfer action of transporting materials from the feeding device 1 to the weighing mechanism 31.

[0058] S52. When signal 2 is valid, the flipping mechanism 32 controls the weighing mechanism 31 to flip and perform the material discharging action.

[0059] S53. When signal 3 is valid, the multi-axis manipulator sorting device 2 repeatedly performs the discarding action of removing materials from the weighing mechanism 31 to the second collection device 5.

[0060] S6. The multi-axis manipulator sorting device 2 selectively performs the actions of steps S51 to S53 according to the signal of the weighing mechanism 31 and cycles in this way.

[0061] The present utility model provides a vegetable sorting device with a brand-new structure. Through the cooperation of the multi-axis manipulator sorting device and the weighing device, this device can realize the functions of automatic vegetable sorting and automatic weighing, replace the traditional manual operation, has high production efficiency, can be used in supporting with an automated packaging production line, and is convenient for the formation of a fully automated production line.

[0062] The above are only some embodiments of the present utility model. For those of ordinary skill in the art, without departing from the creative concept of the present utility model, several deformations and improvements can still be made, and these all belong to the protection scope of the present utility model.

Claims

1. An automatic dish-serving device, characterized in that, It includes a feeding device (1), a multi-axis manipulator sorting device (2), a weighing device (3) and a control device. The feeding device (1) is configured to input materials. The multi-axis manipulator sorting device (2) is configured to transfer the materials from the feeding device (1) to the weighing device (3). The weighing device (3) is configured to weigh the materials conveyed by the multi-axis manipulator sorting device (2) and automatically flip to transfer the materials after reaching the set weight range. The control device is electrically connected to the feeding device (1), the multi-axis manipulator sorting device (2) and the weighing device (3).

2. The automatic dish-serving device according to claim 1, wherein, It further includes a first collection device (4), and the first collection device (4) is arranged at the discharge end of the feeding device (1).

3. The automatic dish-serving device according to claim 1, characterized in that It further includes a second collection device (5), and the second collection device (5) is arranged on one side of the multi-axis manipulator sorting device (2) and cooperates with the multi-axis manipulator sorting device (2).

4. The automatic dish-serving device according to claim 1, wherein, The feeding device (1) includes a conveying mechanism (11), a guiding mechanism (12) and a detection mechanism (13). The conveying mechanism (11) is used for continuously conveying materials. The guiding mechanism (12) is installed on the conveying mechanism (11) and is used for guiding the materials. The detection mechanism (13) is arranged at the discharge end of the conveying mechanism (11) and is electrically connected to the control device. When the detection mechanism (13) detects materials, it feeds back a signal to the control device, and the control device controls the conveying mechanism (11) to stop running and controls the multi-axis manipulator sorting device (2) to start the grasping action.

5. The automatic dish distribution device according to claim 1, characterized in that The weighing device (3) includes a flipping mechanism (32) and a weighing mechanism (31) that are electrically connected to the control device.

6. The automatic dish-serving device according to any one of claims 1-5, characterized in that, The multi-axis manipulator sorting device (2) includes a multi-axis driving mechanism (21) and a clamping mechanism (22). The clamping mechanism (22) is installed on the multi-axis driving mechanism (21) and cooperates with the materials.

7. The automatic dish-serving device according to claim 6, characterized in that, The multi-axis drive mechanism (21) includes a fixed base (211), a fixed shaft (212), a first mounting bracket (213), a second mounting bracket (214), a third mounting bracket (215), a fourth mounting bracket (216), a first drive assembly (217), a second drive assembly (218), a third drive assembly (219), and a fourth drive assembly (220). The fixed shaft (212) is mounted on the fixed base (211). The first mounting bracket (213) is movably sleeved on the outer periphery of the fixed shaft (212). The first drive assembly (217) is mounted on the first mounting bracket (213) and is used to drive the first mounting bracket (213) to rotate relative to the fixed base (211). The second mounting bracket (214) is movably mounted on the first mounting bracket (213). The second drive assembly (218) is mounted on the first mounting bracket (213) and cooperates with the second mounting bracket (214) to drive the second mounting bracket (214) to lift relative to the first mounting bracket (213). The third drive assembly (219) is mounted on the second mounting bracket (214). The third mounting bracket (215) is movably connected to the second mounting bracket (214). The third drive assembly (219) cooperates with the third mounting bracket (215) to drive the third mounting bracket (215) to rotate relative to the second mounting bracket (214). The fourth mounting bracket (216) is movably connected to the third mounting bracket (215). The material clamping mechanism (22) is mounted on the fourth mounting bracket (216). The fourth drive assembly (220) is mounted on the third mounting bracket (215) and cooperates with the fourth mounting bracket (216) to drive the fourth mounting bracket (216) and the material clamping mechanism mounted on the fourth mounting bracket (216) to rotate.

8. The automatic dish-dividing device according to claim 7, characterized in that, The multi-axis drive mechanism (21) further includes a guiding assembly (221). The guiding assembly (221) includes a guiding column (221a) mounted on the first mounting bracket (213) and a guiding slider (221b) that cooperates with the guiding column (221a) and is connected to the second mounting bracket (214); The first drive assembly (217) includes a first drive member (217a), a first transmission module (217b), a second transmission module (217c), and a first connecting shaft (217d). The first drive member (217a) is mounted on the first mounting bracket (213). The first transmission module (217b) is in transmission connection with the first drive member (217a) and is in transmission connection with the second transmission module (217c) through the first connecting shaft (217d). The output end of the second transmission module (217c) is fixedly connected to the first mounting bracket (213) and is movably sleeved on the outer periphery of the fixed shaft (212); The second driving component (218) includes a second driving member (218a), a third transmission module (218b), a fourth transmission module (218c), and a second connecting shaft (218d). The second driving member (218a) is installed on the first mounting bracket (213). The third transmission module (218b) is in transmission connection with the second driving member (218a) and is in transmission connection with the third transmission module (218b) through the second connecting shaft (218d). The third transmission module (218b) is connected to the guiding slider (221b).

9. The automatic dish-serving device according to claim 8, wherein, The third driving component (219) includes a third driving member (219a), a fifth transmission module (219b), a sixth transmission module (219c), a third connecting shaft (219d), and a fourth connecting shaft (219e). The third driving member (219a) is installed on the second mounting bracket (214). The fifth transmission module (219b) is in transmission connection with the third driving member (219a) and is in transmission connection with the sixth transmission module (219c) through the third connecting shaft (219d). The output end of the sixth transmission module (219c) is connected to the third mounting bracket (215) through the fourth connecting shaft (219e). The fourth driving component (220) includes a fourth driving member (220a), a seventh transmission module (220b), and a fifth connecting shaft (220c). The fourth driving member (220a) is installed on the third mounting bracket (215). The seventh transmission module (220b) is in transmission connection with the fourth driving member (220a) and its output end is fixedly connected to the fourth mounting bracket (216) through the fifth connecting shaft (220c).

10. The automatic dish-serving device according to claim 7, characterized in that, The multi-axis manipulator sorting device (2) further includes a first sensing mechanism (23). The first sensing mechanism (23) includes a first sensor (231) installed on the third mounting bracket (215) and electrically connected to the control device, and a first sensing element (232) that cooperates with the first sensor (231) and is installed on the fourth mounting bracket (216).

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