CN106272454A - A kind of mechanical arm type food automatic delivery method and device - Google Patents
A kind of mechanical arm type food automatic delivery method and device Download PDFInfo
- Publication number
- CN106272454A CN106272454A CN201610719276.4A CN201610719276A CN106272454A CN 106272454 A CN106272454 A CN 106272454A CN 201610719276 A CN201610719276 A CN 201610719276A CN 106272454 A CN106272454 A CN 106272454A
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- China
- Prior art keywords
- mechanical arm
- vegetable
- conveyer belt
- nappy
- dish
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
- B25J11/008—Manipulators for service tasks
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Table Equipment (AREA)
Abstract
The invention discloses a kind of mechanical arm type food automatic delivery method and device.This food automatic delivery method is that client first uses mobile phone application-specific to order dishes generation Quick Response Code, and place an order in the payment of barcode scanning machine, server host sends work order to mechanical arm after obtaining dishes ordering information, double end mechanical arm can stretch at the bottom of the nappy basin being placed on array conveyer belt, hold up rotation and deliver on opposite side conveyer belt service plate, contract arm separation nappy, dispensing the second vegetable is continued in mechanical arm other end, after having provided and delivered, client takes placed an order food away, when gravity sensor perception class vegetable lazy weight on food conveyer belt, the highlighted flicker of vegetable display screen reminds staff to add food in time.This device includes array food conveyer belt, gravity sensor, double end mechanical arm, service plate conveyer belt, server host, vegetable display screen, barcode scanning machine and other adnexaes.This device can be effectively improved food and drink staff and beat dish efficiency, reduces client and takes the dish time.
Description
Technical field
The present invention relates to the dispensing of food automatization, especially relate to a kind of machinery being applied to large enterprise, school lunch service
Arm-type food automatic delivery method and device.
Background technology
Current large enterprise, the dining room of school mainly use " manually buying dish, manually take dish " way, can be divided mainly into two kinds
Form.The first form is that each window one beats dish personnel, and client forms a line team, and under this form, every client beats different
Dish, add the working strength beating dish personnel, if a vegetable is sold out, then need to beat dish personnel and go to other windows and buy dish
Or confirm not re-supply, which vegetable whether heel row client also cannot be known has and sells out.The second form is to beat dish personnel
Being accomplished fluently in advance by food, identical forms a line, and during vegetable deficiency, more manually fills, and client queues up free, finally by work people
Member calculates price and settles accounts, and this form next column vegetable quantity is typically not greater than 3 parts, and staff needs dish window on sale etc.
To be seen, supplement at once when certain plants vegetables deficiency；Meanwhile, client is push by crowd and selects dish, it is considered to the time of purchase has very much
Limit, causes buying experience poor, and when client is more when, if there being client to want suddenly needs during the vegetable missed before buying
Pass from crowd, cause crowded and inconvenient.Both the above form is required to manually calculate price and with brush after having bought dish
The mode of card is settled accounts, and staff easily miscalculates price, causes the many brushes of the amount of money or few brush.
Summary of the invention
It is an object of the present invention to provide a kind of mechanical arm type food automatic delivery method and device.Client has only to pass through mobile phone
On application-specific, have vegetable needed for the selection of time of abundance, select to generate Quick Response Code on mobile phone after food, it is only necessary to
On client-server, barcode scanning just can pay the required amount of money in the account of binding, it is achieved accurately settles accounts；Double end machinery
Arm holds up the rotation of corresponding nappy and is placed on service plate, and passes to client by conveyer belt；On a display screen with strip grid
The scarce state that is full of of vegetable monitored by lamp, and highlighted flicker reminds vegetable not enough, it is to avoid beats dish personnel and ceaselessly arrives dozen dish window observation.
The method and device can be effectively improved food and drink staff and beat dish efficiency, reduces client and takes the dish time, improves client and buy food
Experience.
The technical solution adopted for the present invention to solve the technical problems:
One, a kind of mechanical arm type food automatic delivery method, comprises the following steps:
1) server host sends work order according to the dishes ordering information of client to double end mechanical arm；2) work of double end mechanical arm moves
Moving at the array belt position of required vegetable, of double end mechanical arm stretches into and is placed on array conveyer belt required dish
At the bottom of the nappy basin of product and hold up, double end mechanical arm rotates after holding up nappy to be delivered to opposite side and passes on the service plate of dish conveyer belt and put down
Nappy；3) then the contraction of double end mechanical arm separates with nappy；4), after separating, double end mechanical arm moves to vegetable needed for another
At array belt position, the other end of double end mechanical arm is stretched at the bottom of the nappy basin being placed on array conveyer belt required vegetable
And hold up, double end mechanical arm rotates after holding up nappy to be delivered on the service plate of opposite side biography dish conveyer belt and puts down nappy；5) then
Double end mechanical arm shrinks and separates with nappy；So repeat step 2) complete after vegetable provides and delivers to step 5), client takes away and is placed an order
Food；Described array conveyer belt is provided with vegetable Monitoring of Quantity mechanism, when vegetable Monitoring of Quantity mechanism monitors certain class vegetable
During lazy weight, the highlighted flicker of vegetable display screen reminds staff so that staff adds vegetable in time.
Shown the scarce state that is full of of all kinds of vegetable on described vegetable display screen by grid, each array column conveyer belt is equal
Corresponding string grid and corresponding vegetable sequence number show, each column grid quantity and the quantity phase of nappy on each column array conveyer belt
With, a few ready-to-cook dish of meat, vegetables, etc. i.e. lacks lattice, and when the quantity of a vegetable is less than two parts, whole piece grid and vegetable sequence number are together red high
Bright flicker is reminded.
Described client uses mobile phone A PP check the category of dish and whether sell out situation, and selects vegetable by mobile phone A PP,
Generating Quick Response Code after after placing an order, and barcode scanning payment places an order under barcode scanning machine, barcode scanning machine is connected with server host.
Two, a kind of automatic dispenser of mechanical arm type food.
It is from left to right followed successively by server host, vegetable display screen, has the array conveyer belt of gravity sensor, double
Head mechanical arm, biography dish conveyer belt and barcode scanning machine；Described array conveyer belt is placed on mutually level support with passing dish conveyer belt
On frame, and on the position that double end mechanical arm is between array conveyer belt and biography dish conveyer belt；On described array conveyer belt
It is provided with gravity sensor, described gravity sensor, between barcode scanning machine and server host, uses zigbee wireless transmission protocol to lead to
Letter.
Described double end mechanical arm is followed successively by from top to bottom: two " Π " shape machinery arm heads, two sleeves, two angle bar, two
Individual cylinder, support bar, ball screw framework, lifting motor, rotating stepper motor, timing belt pulley and base；Described two
Individual sleeve is fixed on support bar, and two symmetrical distributions of sleeve, and said two " Π " shape machinery arm head is respectively by sliding
Bar and two sleeves are slidably connected, and described sleeve is equipped with waist-shaped hole, are provided with " Π " shape machinery arm head in described waist-shaped hole
The caging bolt of stroke limit, caging bolt threaded shank is connected through waist-shaped hole with slide bar, and the afterbody of caging bolt is positioned at sleeve
Outside；The most corresponding two sleeves of said two angle bar, one end of angle bar is fixing with each self-corresponding sleeve to be connected, angle bar
The other end is fixing with support bar to be connected, and angle bar, sleeve and support bar form triangular structure；Corresponding two of said two cylinder
Sleeve, the axis of cylinder is parallel with the axis of sleeve, is fixed on the underface of sleeve for cylinder, and the piston rod of described cylinder is with each
" Π " shape machinery arm head corresponding from sleeve connects, to drive " Π " shape machinery arm head to stretch；Described support bar lower end leads to
Crossing ball screw framework to be connected with base, ball screw framework is connected with lifting motor so that strut moves up and down to reach
The purpose of nappy is taken and places to torr；Described ball screw framework and lifting motor are respectively positioned on rotary support seat, described
Timing belt pulley is connected with rotary support seat, and rotating stepper motor is in transmission connection with timing belt pulley, makes rotary support seat be forced to
Rotating, rotating stepper motor and lifting motor rotate the most accordingly, and two motors are relative to rotary support seat position not
Become.
The invention have the advantages that:
It is too low that the present invention solves large enterprise, dish efficiency is manually beaten in the dining room of school, and staff easily valuates mistake and client
Buying food and experience not good enough problem, can effectively reduce quantity and the labor intensity thereof beating dish personnel, client operating is simple, checkout
Accurately, there is good purchase food to experience.
Accompanying drawing illustrates:
Fig. 1: always scheme
In figure: 1, server host, 2, vegetable display screen, 3, array conveyer belt, 4, double end mechanical arm, 5, pass dish conveyer belt,
6, barcode scanning machine.
Fig. 2: array conveyer belt
In figure: 7, nappy, 8, gravity sensor, 9, conveyer belt.
Fig. 3: mechanical arm is always schemed
The telescopic section of Fig. 4: mechanical arm
In figure: 10, " Π " shape machinery arm head, 11, sleeve, 12, cylinder, 13, angle bar, 14, support bar.
The lifting of Fig. 5: mechanical arm and rotating part
In figure: 15, ball wire rod mechanism, 16, lifting motor, 17, rotating stepper motor, 18, rotary support seat, 19, with
Step belt pulley.
Detailed description of the invention:
As shown in Fig. 1,2,5, array conveyer belt 3 is placed on mutually level bracing frame with passing dish conveyer belt 5, gravity sensitive
Device 8, lifting motor 16 controller, rotating stepper motor 17 controller, cylinder 12 controller, barcode scanning machine 6 and server master
The communication of machine 1 uses zigbee wireless transmission protocol.
Fig. 3 is the overall construction drawing of mechanical arm, and Fig. 4 is the structure chart of mechanical arm, and Fig. 5 is mechanical arm lifting and rotating part
Point.Mechanical arm is bilateral symmetry, is from top to bottom: " Π " shape machinery arm head 10, sleeve 11, angle bar 13, cylinder 12, support
Bar 14, ball screw framework 15, lifting motor 16, rotating stepper motor 17, rotary support seat 18 and timing belt pulley 19.
Wherein, " Π " shape machinery arm head 10 is bolted with sleeve 11, and with angle bar 13 bracing reinforcement, " Π " shape machinery arm head 10
Lower end is connected the purpose reaching flexible torr vegetable basin with ball screw framework 15, and support bar 14 passes through with sleeve 11, angle bar 13
The threaded fastness that increases, cylinder 12 is fixed on immediately below sleeve 11, drives " Π " machinery arm head 10 to stretch, supports
Bar 14 is with ball screw framework 15 with threadeding, and the leading screw being controlled ball screw framework 15 by lifting motor 16 is turned
Dynamic, drive " Π " shape machinery arm head 10 to move up and down, rotating stepper motor 17 drives " Π " shape machinery by timing belt pulley 19
The rotation of arm head 10 and location.
It is from left to right followed successively by server host 1, vegetable display screen 2, has the array conveyer belt of gravity sensor 8
3, double end mechanical arm 4, biography dish conveyer belt 5 and barcode scanning machine 6；Described array conveyer belt 3 and biography dish conveyer belt 5 are placed on identical height
On the bracing frame of degree, and on the position that double end mechanical arm 4 is between array conveyer belt 3 and biography dish conveyer belt 5；Described array
Formula conveyer belt 3 is provided with gravity sensor 8, uses zigbee between described gravity sensor 8, barcode scanning machine 6 and server host 1
Wireless transmission protocol communicates.
Described double end mechanical arm 4 is followed successively by from top to bottom: 11, two angles of 10, two sleeves of two " Π " shape machinery arm heads
13, two cylinders 12 of ferrum, support bar 14, ball screw framework 15, lifting motor 16, rotating stepper motor 17, rotation
Support seat 18 and timing belt pulley 19；Said two sleeve 11 is fixed on support bar 14, and two symmetrical distributions of sleeve 11,
Said two " Π " shape machinery arm head 10 is slidably connected by slide bar and two sleeves 11 respectively, and described sleeve 11 is equipped with waist
Type hole, is provided with the caging bolt to " Π " shape machinery arm head 10 stroke limit in described waist-shaped hole, caging bolt threaded shank passes
Waist-shaped hole is connected with slide bar, and the afterbody of caging bolt is positioned at the outside of sleeve 11；The most corresponding two sets of said two angle bar 13
Cylinder 11, one end of angle bar 13 is fixing with each self-corresponding sleeve 11 to be connected, and the other end of angle bar 13 is fixing with support bar 14 to be connected,
And angle bar 13, sleeve 11 and support bar 14 form triangular structure；Corresponding two sleeves 11 of said two cylinder 12, cylinder 12
Axis is parallel with the axis of sleeve 11, is fixed on the underface of sleeve 11 for cylinder 12, and the piston rod of described cylinder 12 is with respective
" Π " shape machinery arm head 10 of sleeve 11 correspondence connects, to drive " Π " shape machinery arm head 10 to stretch；Described support bar 14
Lower end is connected with base by ball screw framework 15, and ball screw framework 15 is connected with lifting motor 16 so that support
Bar 14 moves up and down to reach to hold in the palm the purpose taking and placing nappy；Described ball screw framework 15 and the lifting equal position of motor 16
On rotary support seat 18, described timing belt pulley 19 is connected with rotary support seat 18, rotating stepper motor 17 and synchronous belt
Wheel 19 is in transmission connection, and makes rotary support seat 18 urged to rotate, and rotating stepper motor 17 and lifting motor 16 rotate the most accordingly,
Two motors are relative to rotary support seat 18 invariant position.
Total figure of the automatic dispenser of food is as shown in Figure 1.Operating procedure is as follows:
(1) beating dish personnel to be beaten in units of nappy 7 by food to array conveyer belt 3, the dish that every string is identical, different lines is different
Dish, gravity sensor 8 information can be fed back to server host 1, information is exported vegetable display screen by server host 1 again
On 2, vegetable display screen 2 shows the dish information of correspondence；
(2) client selects the dish oneself wanting to buy to place an order by mobile phone A PP, and generates Quick Response Code, then uses barcode scanning machine 6
Read the Quick Response Code that client's mobile phone generates, order is sent to server host 1；
(3) server host 1 sends work order to array conveyer belt 3 and corresponding double end mechanical arm 4, treats that service plate arrives and refers to
Location is put, and corresponding dish is placed on the service plate passing dish conveyer belt 5 in the way of " hold up-rotate " by double end mechanical arm 4, passes dish
Conveyer belt 5 moves to reach at next ready-to-cook dish of meat, vegetables, etc., repeats step (3) said process, until taking the vegetable that client is bought；When a certain
During class vegetable deficiency, the gravity sensor 8 on array conveyer belt 3 sends information to server host 1, vegetable display screen 2
Highlighted flash for prompting is beaten dish personnel and is supplemented corresponding vegetable；
(4) client takes bought food and dining instrument away.
Claims (5)
1. a mechanical arm type food automatic delivery method, it is characterised in that: comprise the following steps: 1) server host is according to Gu
The dishes ordering information of visitor sends work order to double end mechanical arm；2) work of double end mechanical arm moves to the array biography of required vegetable
Sending band position, of double end mechanical arm stretches at the bottom of the nappy basin being placed on array conveyer belt required vegetable and holds up, double
Head mechanical arm rotates after holding up nappy to be delivered on the service plate of opposite side biography dish conveyer belt and puts down nappy；3) then double end mechanical arm
Shrink and separate with nappy；4), after separating, double end mechanical arm moves to needed for another at array belt position of vegetable, double
The other end of head mechanical arm is stretched at the bottom of the nappy basin being placed on array conveyer belt required vegetable and holds up, and double end mechanical arm holds up
Rotate after nappy and deliver on the service plate of opposite side biography dish conveyer belt and put down nappy；5) then the contraction of double end mechanical arm divides with nappy
From；So repeat step 2) complete after vegetable provides and delivers to step 5), client takes placed an order food away；On described array conveyer belt
Being provided with vegetable Monitoring of Quantity mechanism, when vegetable Monitoring of Quantity mechanism monitors certain class vegetable lazy weight, vegetable display screen is high
Bright flicker reminds staff so that staff adds vegetable in time.
A kind of mechanical arm type food automatic delivery method the most according to claim 1, it is characterised in that: described vegetable shows
The scarce state that is full of of all kinds of vegetable is shown by grid, all corresponding string grid of each array column conveyer belt and corresponding dish on screen
Product sequence number shows, each column grid quantity is identical with the quantity of nappy on each column array conveyer belt, and a few ready-to-cook dish of meat, vegetables, etc. i.e. lacks one
Lattice, when the quantity of a vegetable is less than two parts, the highlighted flicker the most red with vegetable sequence number of whole piece grid is reminded.
A kind of mechanical arm type food automatic delivery method the most according to claim 1, it is characterised in that: described client uses
Mobile phone A PP is checked the category of dish and whether sells out situation, and by mobile phone A PP select vegetable, after placing an order after generate Quick Response Code, and
Under barcode scanning machine, barcode scanning pays and places an order, and then order placement information is sent to server host by barcode scanning machine.
4. described in claim 1 method use a kind of automatic dispenser of mechanical arm type food, it is characterised in that: it from a left side to
The right side is followed successively by server host, vegetable display screen, has the array conveyer belt of gravity sensor, double end mechanical arm, biography dish biography
Send band and barcode scanning machine；Described array conveyer belt is placed on mutually level bracing frame with passing dish conveyer belt, and double end machinery
On arm position between array conveyer belt and biography dish conveyer belt；Described array conveyer belt is provided with gravity sensor,
Zigbee wireless transmission protocol is used to communicate between described gravity sensor, barcode scanning machine and server host.
A kind of automatic dispenser of mechanical arm type food of method, it is characterised in that: described double end
Mechanical arm is followed successively by from top to bottom: two " Π " shape machinery arm heads, two sleeves, two angle bar, two cylinders, support bar, rollings
Screw mechanism, lifting motor, rotating stepper motor, timing belt pulley and base；Said two sleeve is fixed on support
On bar, and two symmetrical distributions of sleeve, said two " Π " shape machinery arm head is slided by slide bar and two sleeves respectively
Connect, described sleeve is equipped with waist-shaped hole, described waist-shaped hole is provided with the spacing spiral shell to " Π " shape machinery arm head stroke limit
Bolt, caging bolt threaded shank is connected through waist-shaped hole with slide bar, and the afterbody of caging bolt is positioned at the outside of sleeve；Said two angle
The most corresponding two sleeves of ferrum, one end of angle bar is fixing with each self-corresponding sleeve to be connected, and the other end of angle bar is solid with support bar
Fixed connection, and angle bar, sleeve and support bar formation triangular structure；Corresponding two sleeves of said two cylinder, the axis of cylinder
Parallel with the axis of sleeve, the underface of sleeve it is fixed on for cylinder, the piston rod of described cylinder is corresponding with respective sleeve
" Π " shape machinery arm head connects, to drive " Π " shape machinery arm head to stretch；Ball-screw machine is passed through in described support bar lower end
Structure is connected with base, and ball screw framework is connected with lifting motor so that support bar moves up and down to reach torr and takes and put
Put the purpose of nappy；Described ball screw framework and lifting motor are respectively positioned on rotary support seat, described timing belt pulley
Being connected with rotary support seat, rotating stepper motor is in transmission connection with timing belt pulley, makes rotary support seat urged to rotate, rotates step
Entering motor and lifting motor rotates the most accordingly, two motors are relative to rotary support seat invariant position.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610719276.4A CN106272454B (en) | 2016-08-24 | 2016-08-24 | A kind of mechanical arm type food automatic delivery method and device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610719276.4A CN106272454B (en) | 2016-08-24 | 2016-08-24 | A kind of mechanical arm type food automatic delivery method and device |
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| Publication Number | Publication Date |
|---|---|
| CN106272454A true CN106272454A (en) | 2017-01-04 |
| CN106272454B CN106272454B (en) | 2018-10-16 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
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| CN201610719276.4A Active CN106272454B (en) | 2016-08-24 | 2016-08-24 | A kind of mechanical arm type food automatic delivery method and device |
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Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106826848A (en) * | 2017-01-17 | 2017-06-13 | 上海福赛特机器人有限公司 | Robot passes ordering system |
| CN106910282A (en) * | 2017-03-12 | 2017-06-30 | 邵阳学院 | Ordering system is beaten in big-and-middle-sized dining room with intelligence |
| CN107184049A (en) * | 2017-07-31 | 2017-09-22 | 高壮壮 | A kind of cafeteria's vegetable supply table |
| CN109840862A (en) * | 2018-12-26 | 2019-06-04 | 无锡海强智造科技有限公司 | Intelligent canteen automated system and method |
| CN111429307A (en) * | 2020-04-10 | 2020-07-17 | 北京妙想科技有限公司 | Intelligent catering equipment |
| JP2021041078A (en) * | 2019-09-13 | 2021-03-18 | 株式会社 ゼンショーホールディングス | Conveyance system and conveyance method |
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| CN102018434A (en) * | 2009-09-18 | 2011-04-20 | 上海市静安区青少年活动中心 | Unmanned restaurant system |
| CN204463322U (en) * | 2015-01-08 | 2015-07-08 | 江苏前景信息科技有限公司 | A kind of buffet meal settlement system based on Internet of Things |
| CN104997369A (en) * | 2015-07-09 | 2015-10-28 | 南京第五纪机器人科技工程有限公司 | Fully-digital intelligent restaurant system and catering method |
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| JPH1146958A (en) * | 1997-08-06 | 1999-02-23 | Ishino Seisakusho:Kk | Food and drink control system in circular passage for conveyance |
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Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106826848A (en) * | 2017-01-17 | 2017-06-13 | 上海福赛特机器人有限公司 | Robot passes ordering system |
| CN106910282A (en) * | 2017-03-12 | 2017-06-30 | 邵阳学院 | Ordering system is beaten in big-and-middle-sized dining room with intelligence |
| CN106910282B (en) * | 2017-03-12 | 2019-03-29 | 邵阳学院 | Ordering system is beaten with intelligence in large and medium-sized dining room |
| CN107184049A (en) * | 2017-07-31 | 2017-09-22 | 高壮壮 | A kind of cafeteria's vegetable supply table |
| CN109840862A (en) * | 2018-12-26 | 2019-06-04 | 无锡海强智造科技有限公司 | Intelligent canteen automated system and method |
| JP2021041078A (en) * | 2019-09-13 | 2021-03-18 | 株式会社 ゼンショーホールディングス | Conveyance system and conveyance method |
| CN111429307A (en) * | 2020-04-10 | 2020-07-17 | 北京妙想科技有限公司 | Intelligent catering equipment |
Also Published As
| Publication number | Publication date |
|---|---|
| CN106272454B (en) | 2018-10-16 |
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Effective date of registration: 20200403 Address after: 355 200 No. 22 Pengjialan, Zhuxia Village, Tai Lao Shan Town, Fuding City, Ningde City, Fujian Province Patentee after: Lin Zefeng Address before: 315505 Zhejiang city of Ningbo province Fenghua Xining West Road No. 50-2 Patentee before: NINGBO VORIAS MACHINERY TECHNOLOGY Co.,Ltd. |
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Effective date of registration: 20200628 Address after: 215434 Small and medium enterprise Pioneer Park, Suzhou Road, Taicang, Jiangsu Patentee after: EAST SEAL TECHNOLOGY (JIANGSU) Co.,Ltd. Address before: 355 200 No. 22 Pengjialan, Zhuxia Village, Tai Lao Shan Town, Fuding City, Ningde City, Fujian Province Patentee before: Lin Zefeng |