CN111661642A

CN111661642A - Dinner plate supply equipment and automatic assembly line of food supply

Info

Publication number: CN111661642A
Application number: CN202010650135.8A
Authority: CN
Inventors: 吴文龙; 徐浩
Original assignee: Shanghai Minglue Artificial Intelligence Group Co Ltd
Current assignee: Shanghai Minglue Artificial Intelligence Group Co Ltd
Priority date: 2020-07-07
Filing date: 2020-07-07
Publication date: 2020-09-15

Abstract

The invention provides a dinner plate supply device and an automatic dinner plate supply assembly line, and relates to the technical field of intelligent devices. The dinner plate supply device comprises a plate supply device, a plate bearing device and a driving mechanism; the driving mechanism is arranged between the disc feeding device and the disc bearing device; the dish supply device comprises at least two shelves, and the driving mechanism is used for moving the dinner plates on the shelves to the dish bearing device. This automatic assembly line of supplying meal is provided with foretell dinner plate supply apparatus, holds a set device and includes the conveyer belt, and dinner plate supply apparatus is used for carrying the dinner plate through holding a set device to downstream side dish preparation district. The dinner plate supply equipment and the automatic dinner plate supply assembly line are provided with the plurality of shelf frames capable of supplying dinner plates in parallel, the dinner plates are taken out from the shelf frames respectively through the driving mechanism and are conveyed to the plate bearing device, time gaps and operation spaces for placing the dinner plates into the shelf frames are reserved in the flow operation, and the efficiency and the operation safety of the flow operation are improved.

Description

Dinner plate supply equipment and automatic assembly line of food supply

Technical Field

The invention relates to the technical field of intelligent equipment, in particular to dinner plate supply equipment and an automatic dinner plate supply assembly line.

Background

In large restaurants or canteens, food is prepared in advance and then is ordered by the order taker according to the customer order. In the catering process of a catering clerk, the method comprises two key steps of taking out the dinner plate and catering.

In order to ensure food safety and hygiene, the temporary storage rack of the dinner plates usually cannot store too many dinner plates at one time, and the dinner plates should be replaced and supplemented in sequence. However, in order to ensure continuous catering, the service plate supply flow should not stop.

Therefore, the catering process of the restaurant or the dining hall in the prior art obviously has the following disadvantages: in the catering process of the assembly line, the service plate is supplemented to the temporary storage rack, a large amount of labor cost and time cost are consumed, and the service plate supply efficiency and the catering efficiency are low.

Disclosure of Invention

The invention aims to provide a dinner plate supply device and an automatic dinner plate supply assembly line, which are helpful for solving the technical problems.

The invention is realized by the following steps:

a dinner plate supply device comprises a plate supply device, a plate bearing device and a driving mechanism; the driving mechanism is arranged between the disk feeding device and the disk bearing device; the dish supply device comprises at least two shelves, and the driving mechanism is used for moving the dinner plates on the shelves to the dish bearing device.

Conventional dish supply apparatus, when in use, typically utilize a drive mechanism to remove dishes from a rack and transfer them to a tray device. If only one shelf of the service plate is arranged, when the speed of the driving mechanism is high, the time between two times of grabbing the service plate by the driving mechanism is too short, so that the service plate can not be supplemented to the shelf, and the pause of the service plate supply flow is caused. If the speed of the drive mechanism is low and the time between two grasping of the dish by the drive mechanism becomes longer, the time of operation for replenishing the shelf with dishes becomes sufficient, but the efficiency of dish supply is greatly reduced. The dinner plate supply equipment is provided with the plurality of shelves, so that dinner plates can be alternately and sequentially grabbed from the plurality of shelves in the process of supplying the dinner plates, and the dinner plates can be grabbed from one shelf with sufficient dinner plate quantity for multiple times to supplement the dinner plates to other shelves. Both modes can reserve enough operation time and space for the shelf to supplement the dinner plate on the premise of ensuring the dinner plate supply efficiency.

Furthermore, a dinner plate inlet and outlet is formed in the upper end of the goods shelf, and a bottom support and a jacking motor are arranged at the bottom of the goods shelf; the bottom support is used for supporting the dinner plate, and the jacking motor is used for jacking the bottom support upwards. The technical effects are as follows: the jacking motor can upwards promote the collet, so every time snatch a dinner plate after, the collet can upwards improve the distance of a dinner plate thickness for actuating mechanism can both snatch the dinner plate at the same fixed position at every turn, reduces the operating error.

Further, the goods shelf is also provided with an inductor and a controller; the controller is electrically connected with the inductor and the jacking motor respectively; the sensor is arranged on the inner wall of the shelf and used for monitoring the position of the dinner plate in the shelf. The technical effects are as follows: the sensor is used for monitoring the height position of the dinner plate to be grabbed, and the controller is used for acquiring the position information and controlling the driving mechanism to lift the dinner plate to the position to be grabbed.

Further, the sensor comprises a first sensor and a second sensor; the first sensor is located above the second sensor. The technical effects are as follows: the first sensor and the second sensor are respectively arranged up and down, and the design can flexibly ensure the rising and the falling of the bottom support. The specific programming is as follows: (1) when the first sensor and the second sensor sense the dinner plates at the same time, the dinner plates are stacked too high on the bottom support, and the controller controls the lifting motor to descend; (2) when the first sensor and the second sensor cannot sense the dinner plates, the dinner plates are stacked on the bottom support too low, the quantity of the dinner plates is too small, and the controller controls the jacking motor to ascend; (3) when the first sensor positioned above does not sense the dinner plate and the second sensor positioned below senses the dinner plate, the stacking height of the dinner plate on the bottom support is just positioned at the position to be grabbed, and the jacking motor is not changed. And, both the first and second states will revert back to the third state. Therefore, regardless of whether the number of trays on the shelf is insufficient or too many trays are placed on the shelf, the trays that are eventually positioned at the top will be supported by the tray to a reasonable position to be grasped.

Further, the goods shelf is also provided with an alarm; the alarm is electrically connected with the controller. The technical effects are as follows: according to the program setting, the alarm can give out prompt sound or prompt light after the dinner plate is grabbed, and also can give out prompt sound or prompt light when the shelf is placed with too many dinner plates, so that the bottom support descends to the lowest position and the dinner plate is still higher than the position to be grabbed.

Further, the goods shelf is also provided with strip-shaped holes; the strip-shaped hole is arranged on one side wall of the goods shelf, or the strip-shaped hole is arranged on two opposite side walls of the goods shelf; the strip-shaped holes extend from bottom to top to the dinner plate inlet and outlet at the upper end of the shelf. The technical effects are as follows: the strip-shaped holes are formed in the side wall of the shelf, so that the service plate can be conveniently placed into the shelf by workers.

Further, the drive mechanism comprises a cooperative robot. The technical effects are as follows: compared with the traditional industrial robot, the cooperative robot has the advantages that the collision protection, speed and moment limitation, speed and moment monitoring, dragging speed limitation and other safety functions are added, and various mobile grabbing works can be completed more safely and more efficiently.

Further, the number of the shelves is two; the two goods shelves and the tray bearing device are distributed in a triangular shape. The technical effects are as follows: the space occupied by the two shelves is small, and the requirement of the efficiency of service plate supplement is met in the smallest installation space. Wherein, the two goods shelves and the tray device are respectively positioned at three vertexes of the triangle.

Further, the cooperative robot includes a first robot arm and a second robot arm; when the first mechanical arm is positioned on the tray device, the second mechanical arm is positioned on the first shelf; when the second mechanical arm is positioned on the tray device, the first mechanical arm is positioned on a second goods shelf. The technical effects are as follows: the dinner plate is grabbed from the two shelf by the two mechanical arms in a crossed mode, and the dinner plate supply efficiency can be further improved.

The utility model provides an automatic assembly line of food delivery, is provided with foretell dinner plate supply apparatus, tray holding device includes the conveyer belt, dinner plate supply apparatus is used for passing through tray holding device carries the dinner plate to downstream side dish preparation district.

The invention has the beneficial effects that:

the dinner plate supply equipment and the automatic dinner plate supply assembly line are provided with the plurality of shelf frames capable of supplying dinner plates in parallel, the dinner plates are taken out from the shelf frames respectively through the driving mechanism and are conveyed to the plate bearing device, time gaps and operation spaces for placing the dinner plates into the shelf frames are reserved in the pipelining operation, and the dinner plate supply efficiency is improved.

Drawings

In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings needed to be used in the embodiments will be briefly described below, it should be understood that the following drawings only illustrate some embodiments of the present invention and therefore should not be considered as limiting the scope, and for those skilled in the art, other related drawings can be obtained according to the drawings without inventive efforts.

Fig. 1 is a schematic perspective view of a plate supplying apparatus according to a first embodiment of the present invention;

FIG. 2 is a schematic top view of a plate supplying apparatus according to a first embodiment of the present invention;

FIG. 3 is a schematic perspective view of a shelf of the dish supplying apparatus according to the first embodiment of the present invention;

FIG. 4 is a schematic bottom view of a shelf of the dish supplying apparatus according to the first embodiment of the present invention;

fig. 5 is a schematic top view of a plate supplying apparatus according to a second embodiment of the present invention.

In the figure: 100-a shelf; 101-service plate import and export; 102-shoe; 103-a jacking motor; 104-a first sensor; 105-a second sensor; 106-strip-shaped holes; 200-a drive mechanism; 201-a first robot arm; 202-a second robotic arm; 300-a basin holding device.

Detailed Description

In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention. It is to be understood that the embodiments described are only a few embodiments of the present invention, and not all embodiments. The components of embodiments of the present invention that are generally described and illustrated in the figures can be arranged and designed in a wide variety of different configurations.

Thus, the following detailed description of the embodiments of the present invention, presented in the figures, is not intended to limit the scope of the invention, as claimed, but is merely representative of selected embodiments of the invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

It should be noted that: like reference numbers and letters refer to like items in the following figures, and thus, once an item is defined in one figure, it need not be further defined and explained in subsequent figures.

In the description of the present invention, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc. indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings or the orientations or positional relationships that the products of the present invention are conventionally placed in use, and are only used for convenience in describing the present invention and simplifying the description, but do not indicate or imply that the devices or elements referred to must have a specific orientation, be constructed and operated in a specific orientation, and thus, should not be construed as limiting the present invention. Furthermore, the terms "first," "second," "third," and the like are used solely to distinguish one from another and are not to be construed as indicating or implying relative importance.

Furthermore, the terms "horizontal", "vertical", "overhang" and the like do not imply that the components are required to be absolutely horizontal or overhang, but may be slightly inclined. For example, "horizontal" merely means that the direction is more horizontal than "vertical" and does not mean that the structure must be perfectly horizontal, but may be slightly inclined.

In the description of the present invention, it should also be noted that, unless otherwise explicitly specified or limited, the terms "disposed," "mounted," "connected," and "connected" are to be construed broadly and may, for example, be fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meanings of the above terms in the present invention can be understood in specific cases to those skilled in the art.

Some embodiments of the invention are described in detail below with reference to the accompanying drawings. The embodiments described below and the features of the embodiments can be combined with each other without conflict.

The first embodiment:

fig. 1 is a schematic perspective view of a plate supplying apparatus according to a first embodiment of the present invention; FIG. 2 is a schematic top view of a plate supplying apparatus according to a first embodiment of the present invention; fig. 3 is a schematic perspective view of a shelf 100 of the dish supplying apparatus according to the first embodiment of the present invention; fig. 4 is a schematic bottom structure view of a shelf 100 in the dinner plate supply device according to the first embodiment of the present invention. Referring to fig. 1 to 4, the present embodiment provides a dinner plate supplying apparatus, which includes a plate supplying device, a plate holding device 300 and a driving mechanism 200; the driving mechanism 200 is arranged between the disk feeding device and the disk bearing device 300; the dish feeding device comprises at least two shelves 100, and the driving mechanism 200 is used for moving the dishes on the shelves 100 to the dish supporting device 300.

Further, as shown in fig. 1 and 2, the driving mechanism 200 includes a cooperative robot. Alternatively, the driving device may be a gripper-type robot or a suction cup-type robot. The cooperation robot can select a UR5 cooperation robot, and the UR5 cooperation robot can automatically stop after touching the human body, so that the potential safety hazard can be reduced to the minimum.

Further, as shown in fig. 1, 2 and 3, a service plate entrance 101 is arranged at the upper end of the shelf 100, and a bottom support 102 and a jacking motor 103 are arranged at the bottom of the shelf 100; the bottom support 102 is used for supporting the dinner plate, and the jacking motor 103 is used for jacking the bottom support 102 upwards. The jacking motor 103 can lift the bottom support 102 upwards, so that after each dinner plate is grabbed, the bottom support 102 can be lifted upwards by the thickness of one dinner plate, so that the drive mechanism 200 can grab the dinner plate at the same fixed position every time, and the operation error is reduced. Among other things, as shown in fig. 4, the bottom bracket 102 preferably has a zigzag design for weight reduction and material saving.

Further, as shown in fig. 3, the shelf 100 is also provided with a sensor and a controller; the controller is respectively electrically connected with the inductor and the jacking motor 103; sensors are provided on the interior walls of shelf 100 for monitoring the position of the dishes in shelf 100. In this project organization, the inductor can set up to one, and when the dinner plate quantity on collet 102 was less, the pile up height of a plurality of dinner plates did not reach suitable position of waiting to snatch, and the controller controls jacking motor 103 according to the result of inductor monitoring and upwards jacks collet 102, and the dinner plate of up-most layer reachs the position of waiting to snatch.

Further, as shown in fig. 3, the sensor includes a first sensor 104 and a second sensor 105; the first sensor 104 is located above the second sensor 105. In this case, the first sensor 104 and the second sensor 105 are respectively disposed up and down, and the design can flexibly ensure the ascending and descending of the shoe 102. The specific programming is as follows: (1) when the first sensor 104 and the second sensor 105 sense the dinner plate at the same time, the dinner plate is piled up too high on the bottom support 102, and the controller controls the lifting motor 103 to descend; (2) when neither the first sensor 104 nor the second sensor 105 can sense the trays, it indicates that the trays are stacked too low on the bottom support 102 and the number of trays is too small, and the controller controls the lifting motor 103 to ascend; (3) when the first sensor 104 located above senses no dish and the second sensor 105 located below senses a dish, it means that the stacking height of the dish on the base 102 is just at the position to be gripped, and the lift motor 103 is not changed. And, both the first and second states will revert back to the third state. Therefore, regardless of the insufficient number of trays on shelf 100 or the placement of too many trays on shelf 100, the trays that are eventually on top will be supported by bottom plate 102 in a reasonable position to be grasped.

Further, the shelf 100 is also provided with an alarm; the alarm is electrically connected with the controller. According to the program setting, the alarm can give out a prompt sound or a prompt light after the dinner plate is completely grabbed, or can give out a prompt sound or a prompt light when the shelf 100 is provided with too many dinner plates so that the bottom support 102 is lowered to the lowest position and the dinner plate is still higher than the position to be grabbed.

Further, as shown in fig. 1, 2 and 3, the shelf 100 is further provided with a strip-shaped hole 106; the strip-shaped hole 106 is arranged on one side wall of the shelf 100, or the strip-shaped hole 106 is arranged on two opposite side walls of the shelf 100; the strip-shaped holes 106 extend from bottom to top to the dish openings 101 at the upper end of the shelf 100.

The working principle and the operation method of the dinner plate supply device are as follows:

in the process of serving the dinner plate, two methods can be selected to grab the dinner plate: (1) the cooperating robots alternately grasp the dishes in sequence from the plurality of racks 100. Since there are at least two shelves 100, when a dish is picked from any one of the shelves 100, the rest of the shelves 100 can be filled with dishes in the gap. (2) The tray 100 with a sufficient number of trays is selected to be picked up several times from one of the trays 100 and the trays are replenished to the other trays 100. After the dinner plates on other shelves 100 are supplemented, the cooperation robot turns to other shelves 100 to grab the dinner plates, and specially supplements the dinner plates to the shelf 100. Both of these ways can provide sufficient operating time and space for the shelf 100 to replenish the trays while ensuring the efficiency of tray supply.

Second embodiment:

fig. 5 is a schematic top view of a plate supplying apparatus according to a second embodiment of the present invention. Referring to fig. 5, the present embodiment provides a plate supplying apparatus, which is substantially the same as the plate supplying apparatus of the first embodiment, and the difference between the plate supplying apparatus of the present embodiment and the plate supplying apparatus is that the driving mechanism 200 includes a cooperative robot. The cooperative robot includes a first robot arm 201 and a second robot arm 202; when the first robotic arm 201 is positioned on the tray apparatus 300, the second robotic arm 202 is positioned on the first shelf 100; when the second robotic arm 202 is positioned on the tray apparatus 300, the first robotic arm 201 is positioned on the second shelf 100.

Further, as shown in fig. 5, the number of the shelves 100 is two; the two shelves 100 and the tray device 300 are distributed in a triangle. The two shelves 100 and the tray holding device 300 are respectively positioned at three vertexes of a triangle, the two shelves 100 occupy less space, and the mounting space as small as possible meets the requirement of the efficiency of dinner plate supplement. The number of shelves 100 may also be set to be plural according to the environmental design of the pipeline.

At this time, the worker places the collected dinner plate in the first shelf 100, and after the placement is completed, the placement completion button should be pressed. The lifting motor 103 lifts the dinner plate on the bottom support 102 to the position to be grabbed under the control of the controller. Then, UR5 cooperates with the robot to initiate the grasping of a dish from the first shelf 100 onto the holding device 300. Wherein, the tray device 300 can be designed as a conveyer belt, or can be arranged as a platform with a slope, and finally the dinner plate is conveyed to the rear dish distribution area.

When the UR5 cooperates with the robot to pick dishes from the first shelf 100, the staff member can place the collected dishes on the second shelf 100 and also press the place complete button after the placement is completed. When the UR5 cooperates with the robot to complete the gripping from the first shelf 100, the robot proceeds directly to the position of the second shelf 100 to be gripped.

Because the two shelves 100 and the tray device 300 are distributed in a triangle shape, the UR5 cooperates with the robot to grab the dinner plate from the first shelf 100 and the second shelf 100 respectively, and the lines are not interfered with each other.

The third embodiment:

the embodiment provides an automatic meal delivery assembly line, which is provided with the meal plate supply device, wherein the plate bearing device 300 comprises a conveying belt, and the meal plate supply device is used for conveying meal plates to a downstream dish distribution area through the plate bearing device 300.

The above is only a preferred embodiment of the present invention, and is not intended to limit the present invention, and various modifications and changes will occur to those skilled in the art. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims

1. A dinner plate supply device, which is characterized by comprising a plate supply device, a plate bearing device (300) and a driving mechanism (200); the driving mechanism (200) is arranged between the disk feeding device and the disk bearing device (300); the dish supply device comprises at least two shelves (100), and the driving mechanism (200) is used for moving the dinner dishes on the shelves (100) to the dish bearing device (300).

2. The meal tray supply apparatus according to claim 1, wherein the upper end of the shelf (100) is provided with a meal tray entrance/exit (101), and the bottom of the shelf (100) is provided with a bottom support (102) and a jacking motor (103); the bottom support (102) is used for supporting the dinner plate, and the jacking motor (103) is used for jacking the bottom support (102) upwards.

3. The meal tray supply apparatus of claim 2, wherein the shelf (100) is further provided with sensors and controls; the controller is electrically connected with the inductor and the jacking motor (103) respectively; the sensor is arranged on the inner wall of the shelf (100) and is used for monitoring the position of the dinner plate in the shelf (100).

4. The meal plate supply apparatus of claim 3, wherein the sensor comprises a first sensor (104) and a second sensor (105); the first sensor (104) is located above the second sensor (105).

5. The meal tray supply apparatus according to claim 3, wherein the shelf (100) is further provided with an alarm; the alarm is electrically connected with the controller.

6. The meal tray supply apparatus of claim 2, wherein the shelf (100) is further provided with a strip-shaped hole (106); the strip-shaped hole (106) is arranged on one side wall of the goods shelf (100), or the strip-shaped hole (106) is arranged on two opposite side walls of the goods shelf (100); the strip-shaped holes (106) extend to the dinner plate inlet and outlet (101) at the upper end of the shelf (100) from bottom to top.

7. The plate supply apparatus of claim 1, wherein the drive mechanism (200) comprises a cooperative robot.

8. The meal tray supply apparatus according to claim 7, characterized in that the number of shelves (100) is two; the two shelves (100) and the tray device (300) are distributed in a triangular shape.

9. The meal plate serving apparatus of claim 8, wherein the cooperative robot comprises a first robotic arm (201) and a second robotic arm (202); when the first mechanical arm (201) is positioned on the tray device (300), the second mechanical arm (202) is positioned at a first one of the shelves (100); when the second mechanical arm (202) is positioned on the tray device (300), the first mechanical arm (201) is positioned on a second rack (100).

10. An automatic meal serving assembly line, characterized in that a meal plate supplying device according to any one of claims 1 to 9 is provided, the tray bearing device (300) comprises a conveyor belt, and the meal plate supplying device is used for conveying meal plates to a downstream dish preparation area through the tray bearing device (300).