Meal adding robot matched with intelligent meal vending machine

Abstract

The utility model discloses a food adding robot matched with an intelligent food vending machine, which comprises an AGV (Automatic Guided Vehicle), and further comprises a telescopic assembly which is arranged on the AGV and moves up and down; the vegetable adding bin is arranged on the telescopic assembly through a first horizontal reciprocating mechanism; the vegetable pushing piston assembly and the bin door are arranged on the two sides of the vegetable adding bin respectively; the second horizontal reciprocating mechanism is used for providing a power source for the vegetable pushing piston assembly to complete vegetable discharging operation; the executing mechanism is used for providing a power source for the bin door to open and close the bin door. According to the dish adding robot matched with the intelligent meal vending machine, after the dish adding bin is transported to the designated position through the AGV, the dish adding bin is lifted to the preset space height through the telescopic assembly, then the bin door is adjusted to be located on the upper edge of the dish barrel through the first horizontal reciprocating mechanism, the bin door is in the open state through the executing mechanism, and the dish adding bin is lifted to the preset space height through the telescopic assembly; the second horizontal reciprocating mechanism controls the vegetable pushing piston assembly to move forwards, and the vegetables in the vegetable adding bin are pushed out and fall into the vegetable barrel to complete vegetable adding operation.

Description

TECHNICAL FIELD

[0001] The utility model relates to the field of intelligent rice serving. More particularly, the utility model relates to a refilling robot compatible with an intelligent meal vending machine. BACKGROUND

[0002] The intelligent meal vending machine mainly refers to a machine capable of automatically serving rice manually. The working principle is that rice is placed in a rice hopper in advance before use, the rice hopper is loaded into the rice serving machine, and a mechanical rice leakage system inside the rice serving machine performs accurate rice cutting operation. The rice quantity can be set according to requirements, and the rice is automatically served in a fixed quantity, which is free of human contact throughout the process. Through technological progress, the existing rice serving system can also achieve the operation of serving rice and serving dishes on the same machine. However, when such equipment is applied in a high-flow use environment, temporary refilling or insufficient quantity of a certain dish often occurs. At present, temporary refilling, initial refilling, and replenishment of dishes are mainly performed manually, which is time-consuming and labor-intensive. SUMMARY

[0003] An object of the utility model is to solve the above problems and / or defects and provide the advantages to be described later.

[0004] In order to achieve the purposes and other advantages of the utility model, a refilling robot compatible with an intelligent meal vending machine is provided, which comprises an AGV and further comprises:

[0005] A telescopic assembly arranged on the AGV and moving up and down;

[0006] A refilling bin arranged on the telescopic assembly by a first horizontal reciprocating mechanism;

[0007] A dish pushing piston assembly and a bin door arranged on both sides of the refilling bin, respectively;

[0008] A second horizontal reciprocating mechanism for providing power source to the dish pushing piston assembly to complete dish serving operation;

[0009] An execution mechanism for providing power source to the bin door to complete opening and closing of the bin door.

[0010] Preferably, the telescopic assembly is configured to comprise:

[0011] A mounting plate matched with the first horizontal reciprocating mechanism;

[0012] An electric push rod arranged between the mounting plate and the AGV to provide reciprocating power;

[0013] A plurality of telescopic guide mechanisms arranged around the electric push rod.

[0014] Preferably, on one side of the food adding bin, a cover plate is arranged in a hinged manner to close the storage area between the food pushing piston assembly and the bin door.

[0015] Wherein, on the other side of the cover plate, at least one outwardly extending handle or holding portion is arranged.

[0016] Preferably, further comprising: an integrated circuit board arranged between the mounting plate and the first horizontal reciprocating mechanism, and electrically connected with the first horizontal reciprocating mechanism, the second horizontal reciprocating mechanism and the execution mechanism.

[0017] Wherein, the integrated circuit board is communicatively connected with the control board of the AGV.

[0018] Preferably, further comprising a food pushing assembly arranged on one side of the bin door, the food pushing assembly comprising:

[0019] A third horizontal reciprocating mechanism arranged on both sides of the food adding bin.

[0020] A vertical reciprocating mechanism arranged on the free end of the third horizontal reciprocating mechanism.

[0021] A food pushing plate arranged between the vertical reciprocating mechanisms.

[0022] Wherein, the food pushing plate is configured in a tile shape.

[0023] Preferably, further comprising: a gear assembly arranged on the AGV to adjust the rotation angle of the food adding bin, and a power mechanism cooperating with the gear assembly.

[0024] The present application has at least the following beneficial effects: The present application sets a cooperating food adding bin on a conventional AGV (Automated Guided Vehicle), transports the food adding bin to a designated position by the AGV, then lifts the food adding bin to a predetermined space height by the telescopic assembly, so that the lower edge of the food adding bin is adapted to the upper edge of the food barrel in the rice serving system, further adjusts the food adding bin by the first horizontal reciprocating mechanism, so that the bin door is located at 1 / 3 of the upper edge of the food barrel, controls the bin door to be in an open state by the execution mechanism, controls the food pushing piston assembly to move forward by the second horizontal reciprocating mechanism, pushes the food in the food adding bin to fall into the food barrel, and completes the food adding operation. Compared with the existing pure manual operation, time and labor are saved, and it is more conducive to implementation.

[0025] Other advantages, objects and features of the present application will be partly illustrated in the following description, and will be partly understood by those skilled in the art through research and practice of the present application. BRIEF DESCRIPTION OF DRAWINGS

[0026] Figure 1In an embodiment of the utility model, the structure schematic diagram of the telescopic component and the upper adding dish unit cooperation in the adding dish robot;

[0027] Figure 2 In an embodiment of the utility model, the structure schematic diagram of the telescopic component and the lower AGV cooperation in the adding dish robot;

[0028] Figure 3 In an embodiment of the utility model, the structure schematic diagram of the AGV;

[0029] Figure 4 In an embodiment of the utility model, the structure schematic diagram of the adding dish unit in the adding dish warehouse and the corresponding horizontal reciprocating mechanism cooperation;

[0030] Figure 5 In an embodiment of the utility model, the structure schematic diagram of the adding dish warehouse and the corresponding horizontal reciprocating mechanism cooperation;

[0031] Figure 6 In an embodiment of the utility model, the top side view structure schematic diagram of the adding dish warehouse;

[0032] Figure 7 For Figure 5 The structure schematic diagram after removing the cover plate;

[0033] Figure 8 For Figure 5 Another top view structure schematic diagram after removing the cover plate;

[0034] Figure 9 In an embodiment of the utility model, the structure schematic diagram of the telescopic component;

[0035] Figure 10 In an embodiment of the utility model, the partial enlarged schematic diagram of the gear assembly and the adding dish warehouse cooperation

[0036] Figure 11 For Figure 10 The partial enlarged schematic diagram. Specific implementation

[0037] The utility model will be further explained in detail below in combination with the drawings, so that the person skilled in the art can implement according to the specification text.

[0038] It should be understood that the terms such as "have", "contain" and "include" used in this paper do not exclude the presence or addition of one or more other elements or combinations thereof.

[0039] It should be noted that in the description of the utility model, the orientation or position relationship indicated by the terms is based on the orientation or position relationship shown in the drawings, which is only for the convenience of describing the utility model and simplifying the description, and does not indicate or imply that the indicated device or element must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as a limitation on the utility model. In addition, the terms "I", "II" are only for the purpose of description, and cannot be understood as indicating or implying relative importance.

[0040] In the description of the utility model, unless otherwise explicitly specified and limited, the terms "mounting", "provided with", "sleeved / connected", "connected" and the like should be understood broadly, for example, "connected" can be fixedly connected, can be detachably connected, or integrally connected, can be mechanically connected, can be electrically connected, can be directly connected, can be indirectly connected through an intermediate medium, can be the communication between two elements, and for those skilled in the art, the specific meaning of the above terms in the utility model can be understood according to the specific circumstances.

[0041] In addition, in the utility model, unless otherwise explicitly specified and limited, the first feature is "on" or "under" the second feature, which can be direct contact between the first and second features, or indirect contact between the first and second features through an intermediate medium. Moreover, the first feature "above", "above" and "above" the second feature can be directly above or obliquely above the first feature, or only indicate that the horizontal height of the first feature is higher than that of the second feature. The first feature "below", "below" and "below" the second feature can be directly below or obliquely below the first feature, or only indicate that the horizontal height of the first feature is less than that of the second feature.

[0042] Embodiment 1

[0043] A kind of add food robot compatible with intelligent meal vending machine, its structure as Figures 1-9 As shown in the figure, including AGV 1, automatic guided vehicle (AGV) is loaded with goods by automatic or manual way, automatically travels or drags the loading platform truck to the specified place according to the set route, and then automatically or manually unloads the goods. Industrial vehicle, since its structure belongs to the prior art, therefore, its structure is not expanded, further including:

[0044] The telescopic assembly 2 is arranged on the AGV and moves up and down, in actual application, when AGV 1 runs to the specified position, the spatial position of the add food bin 4 is lifted by the telescopic assembly 2, so as to facilitate subsequent add food operation;

[0045] The first horizontal reciprocating mechanism 3 is arranged on the telescopic assembly 2, and the food adding bin 4 is arranged on the first horizontal reciprocating mechanism 3. The food adding bin 4 is used for storing dishes. In actual application, the inner cavity or body of the food adding bin 4 can be arranged in a transversely arranged cylindrical structure or a square structure. The first horizontal reciprocating mechanism 3 and the subsequent horizontal reciprocating mechanisms can be arranged as a ball screw module (ball screw + sleeve + motor), a telescopic module of a pneumatic cylinder type, or a telescopic module of a sliding type (sliding rail + sliding block + pneumatic cylinder / motor) according to actual use requirements.

[0046] The food pushing piston assembly 5 (the structure of the food pushing piston assembly 5 is known in the art, and thus is not described in detail) and the bin door 6 are arranged on both sides of the food adding bin 4. The food pushing piston assembly 5 is used to push the dishes in the food adding bin 4 outwards to complete the food adding operation. The bin door 6 is used to keep the inside of the food adding bin 4 closed when the AGV is running. When food adding is needed, the bin door 6 is opened, so that the dishes can flow out from the bin door 6.

[0047] The second horizontal reciprocating mechanism 7 is used to provide a power source for the food pushing piston assembly 5 to complete the dish output operation. The second horizontal reciprocating mechanism 7 is used to provide a power source, so that the food pushing piston assembly 5 can complete the dish output operation in the food adding bin 4 in the reciprocating process. In actual application, the structure of the food pushing piston assembly 5 is matched with the inner cavity structure of the food adding bin 4.

[0048] The execution mechanism 8 is used to provide a power source for the bin door 6 to complete the opening and closing of the bin door 6. The execution mechanism 8 is in principle an electric push rod structure, which is used to complete the opening and closing of the bin door 6.

[0049] Working principle: In this embodiment, the AGV is used to transport the food adding bin 4 to a specified position, and then the telescopic assembly 2 is used to lift the food adding bin 4 to a predetermined space height, so that the lower edge of the food adding bin 4 is matched with the upper edge of the dish barrel in the rice serving system. Further, the first horizontal reciprocating mechanism 3 is adjusted, so that the position of the bin door 6 of the food adding bin 4 is located at 1 / 3 of the upper edge of the dish barrel. The execution mechanism 8 is used to control the bin door 6 to be in an open state. The second horizontal reciprocating mechanism 7 is used to control the food pushing piston assembly 5 to move forward, so that the dishes in the food adding bin 4 are pushed out and fall into the dish barrel, thereby completing the food adding operation. In actual application, the working states of the horizontal reciprocating mechanisms and the execution mechanism 8 can be manually completed by using the control buttons provided on the robot. The control switches (or control buttons) of the execution actions are arranged as needed, which is a general technology in the field, and thus the connection relationship and the connection position are not limited herein.

[0050] Embodiment 2

[0051] This embodiment 2 is a preferred embodiment of the utility model. The specific structure is shown in Figures 8-9 The improvements are as follows on the basis of the embodiment 1.

[0052] The telescopic assembly 2 is configured to include:

[0053] A mounting plate 20 matched with the first horizontal reciprocating mechanism 3, which is used to provide a horizontal mounting platform, which is more conducive to the installation of the first horizontal reciprocating mechanism 3, and makes the stability of each part during the telescopic process better;

[0054] An electric push rod 21 provided between the mounting plate 20 and the AGV 1 to provide reciprocating power, the electric push rod 21 is installed on the mounting surface of the AGV 1, and the free end is connected with the mounting plate 20, so that the mounting plate 20 can reciprocate up and down under the action of the electric push rod 21;

[0055] A plurality of telescopic guide mechanisms 22 are arranged on the periphery of the electric push rod 21, in actual application, the telescopic guide mechanisms 22 can be provided as a multi-stage telescopic rod structure, which functions to ensure that the force transmission is more stable, and can provide better planar stability for the mounting plate 20, and in addition, according to the actual application environment, the telescopic assembly 2 can also include a surrounding plate 23 for packaging the electric push rod 21 and the telescopic guide mechanism 22.

[0056] Embodiment 3

[0057] The embodiment 3 is a preferred embodiment of the utility model, and the specific structure is as shown in Figures 4-7 The following improvements are disclosed based on the embodiment 1:

[0058] On one side of the dish adding bin 4, a cover plate 40 is arranged in a hinged manner to close the dish storage area 42 between the dish pushing piston assembly 5 and the bin door 6;

[0059] Among them, at least one outwardly extending handle or holding part 41 is arranged on the other side of the cover plate 40, and in actual application, the handle or holding part 41 is arranged on the opposite side of the hinged side, which is convenient for opening operation, and the layout of the hinged side should be arranged along the length direction of the dish storage area, so as to reduce the interference operation when opening and closing.

[0060] Working principle: in use, the dish storage area is closed by the cover plate 40 to reduce the pollution of the external environment to the dishes, and the handle or holding part 41 is convenient for the operator to open the cover plate 41 when putting dishes into the dish adding bin 4.

[0061] Embodiment 4

[0062] The embodiment 4 is a preferred embodiment of the utility model, and the specific structure is as shown in Figure 1 , Figure 6 , Figure 8 The following improvements are disclosed based on the embodiment 1:

[0063] Further comprising: an integrated circuit board (not shown) disposed between the mounting plate 20 and the first horizontal reciprocating mechanism 3, and electrically connected with the first horizontal reciprocating mechanism 3, the second horizontal reciprocating mechanism 7, and the execution mechanism 8, the integrated circuit board is packaged by the matched housing 24;

[0064] Wherein, the integrated circuit board is in communication connection with the control board (not shown) of the AGV, and in actual application, through cooperation of the control board and the integrated circuit board, the working state of each horizontal reciprocating mechanism and the execution mechanism 8 can be completed through the control board to complete the automatic food adding operation, and the control board is used to send a control signal to the integrated circuit board to further control the working state of each horizontal reciprocating mechanism, the execution mechanism 8 and other control mechanisms, which belongs to the prior art in the field, so the circuit structure, connection relationship and control algorithm are not further introduced herein.

[0065] Embodiment 5

[0066] Embodiment 5 is a preferred embodiment of the utility model, and the specific structure is as shown in Figures 4-6 The following improvements are disclosed based on the embodiment 1:

[0067] Further comprising a food pushing assembly 9 disposed on one side of the warehouse door 6, the food pushing assembly comprising:

[0068] A third horizontal reciprocating mechanism 90 disposed on both sides of the food adding warehouse 4;

[0069] A vertical reciprocating mechanism 91 disposed on the free end of the third horizontal reciprocating mechanism 90;

[0070] A food pushing plate 92 disposed between the vertical reciprocating mechanisms 91;

[0071] Wherein, the food pushing plate 92 is configured in a tile-shaped structure.

[0072] Working principle: It should be noted that the working state of the vertical reciprocating mechanism 91 and the third horizontal reciprocating mechanism 90 can be manually completed through the control button provided on the robot, or can be automatically controlled through the cooperation of the control board of the AGV and the above-mentioned integrated circuit board.

[0073] In use, the food pushing plate 90 is first moved away from the warehouse door 6 through the forward action of the third horizontal reciprocating mechanism 90, and then approaches the position of the stirring mechanism at the center of the food barrel, and then the food pushing plate is vertically lowered through the vertical reciprocating mechanism 91, and then approaches the lower end of the food barrel.

[0074] The door 6 is opened by the actuator 8, and the food in the food adding bin 4 is pushed forward by the pushing piston assembly 5 through the second horizontal reciprocating mechanism 7, and then falls into the food barrel from the position of the door 6, and the food adding operation is performed.

[0075] The food falling into one side of the food barrel is moved to the other side through the forward and backward movement of the third horizontal reciprocating mechanism 90, so that the food is not stacked and the surface is kept flat.

[0076] After the food adding is completed, the pushing piston assembly 5 is returned to the initial position through the second horizontal reciprocating mechanism 7, and then the door 6 is closed through the actuator 8, and the whole food adding process is completed.

[0077] Embodiment 6

[0078] The embodiment 5 is a preferred embodiment of the utility model, and the specific structure is as shown in Figures 10-11 The following improvements are disclosed based on the embodiment 1.

[0079] Further comprising: a gear assembly 10 arranged on the AGV to adjust the rotation angle of the food adding bin (two gears are arranged in meshing, one small gear is connected with the power output shaft of the power mechanism, and the other large gear is connected with the bottom transmission of the food adding bin, and the meshing teeth are not shown in the figure, only the spatial relationship is shown, and according to different position relationships, the spatial relationship can be referred to as left-right layout or front-rear layout), and a power mechanism 11 matched with the gear assembly 10.

[0080] The working principle is that after the AGV transports the food adding bin to the specified position and lifts the food adding bin to the predetermined space height through the telescopic assembly, one of the two gears of the power mechanism is rotated forward or reversely, thereby driving the meshing of the other gear to rotate, and then the food adding bin connected with the gear transmission is rotated (the transmission matching mode of the gear or gear module and other structures belongs to the prior art, so the structure and connection relationship are not described here), so as to adjust the angle of the food adding bin through left-right rotation, so that the food adding bin is opposite to the food barrel in the intelligent food selling machine.

[0081] In actual use, bearings matched between the food adding bin and the telescopic assembly are arranged to make the left-right rotation of the gear not affect the structural stability of the electric push rod and the food adding bin.

[0082] The above-mentioned schemes are only illustrative of a preferred embodiment, but are not limited thereto. In the implementation of the present application, appropriate replacement and / or modification can be made according to the needs of the user.

[0083] The number of devices and the scale of processing described herein are intended to be illustrative of the application. Applications, modifications and variations of the application will be apparent to those skilled in the art.

[0084] Although embodiments of the present application have been disclosed in connection with the officially described and illustrated embodiments, it should be understood that the application can be not limited to the particulars of the embodiments shown and described. Rather, the present application is intended to cover all modifications, equivalents and alternatives falling within the spirit and scope of the application as defined by the following claims.

Claims

1. A refilling robot adapted to an intelligent meal vending machine, comprising an AGV, characterized in that, Also included are: a telescopic assembly disposed on the AGV and configured to move up and down; a serving dish compartment disposed on the telescopic assembly via a first horizontal reciprocating mechanism; a serving dish piston assembly and a compartment door disposed on both sides of the serving dish compartment, respectively; a second horizontal reciprocating mechanism configured to provide a power source for the serving dish piston assembly to complete a serving operation; an actuating mechanism configured to provide a power source for the compartment door to complete opening and closing of the compartment door.

2. The refilling robot adapted to the smart meal vending machine as claimed in claim 1, wherein, The telescopic assembly is configured to include: a mounting plate configured to cooperate with the first horizontal reciprocating mechanism; an electric push rod disposed between the mounting plate and the AGV to provide reciprocating power; a plurality of telescopic guide mechanisms disposed around the electric push rod.

3. The refilling robot adapted to the smart meal vending machine as claimed in claim 1, wherein, On one side of the serving dish compartment, a cover plate is disposed in a hinged manner to close a storage area between the serving dish piston assembly and the compartment door. At least one outwardly extending handle or gripping portion is disposed on the other side of the cover plate.

4. The refilling robot adapted to the smart meal vending machine as claimed in claim 1, wherein, Also included are: an integrated circuit board disposed between the mounting plate and the first horizontal reciprocating mechanism and electrically connected to the first horizontal reciprocating mechanism, the second horizontal reciprocating mechanism, and the actuating mechanism; The integrated circuit board is in communication connection with the control board of the AGV.

5. The refilling robot adapted to the smart meal vending machine as claimed in claim 1, wherein, Also included are: a serving dish stirring assembly disposed on one side of the compartment door, the serving dish stirring assembly including: a third horizontal reciprocating mechanism disposed on both sides of the serving dish compartment; a vertical reciprocating mechanism disposed at the free end of the third horizontal reciprocating mechanism, respectively; a serving dish stirring plate disposed between the vertical reciprocating mechanisms; The serving dish stirring plate is configured in a tile shape.

6. The refilling robot adapted to the smart meal vending machine as claimed in claim 1, wherein, Also included are: a gear assembly disposed on the AGV to adjust the left and right rotation angle of the serving dish compartment, and a power mechanism cooperating with the gear assembly.

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