CN113159996A

CN113159996A - Automatic dish discharging machine and intelligent dish discharging system

Info

Publication number: CN113159996A
Application number: CN202110523925.4A
Authority: CN
Inventors: 徐超
Original assignee: Guangzhou Baoda Intelligent Technology Co ltd
Current assignee: Guangzhou Baoda Intelligent Technology Co ltd
Priority date: 2021-05-13
Filing date: 2021-05-13
Publication date: 2021-07-23

Abstract

The invention relates to the field of automation equipment, in particular to an automatic dish discharging machine and an intelligent dish discharging system, wherein the automatic dish discharging machine comprises a dish matching mechanism and a dish discharging conveying line, the dish matching mechanism distributes dishes to the dish discharging conveying line, the dishes are conveyed to the rear end by the dish discharging conveying line, the dish discharging conveying line comprises a dinner plate conveying line, the dinner plate is conveyed to the dish matching mechanism, the dish matching mechanism comprises a goods shelf and a distributing device, and the distributing device transfers goods above the goods shelf to the dinner plate and conveys the dinner plate to the rear end along with the dinner plate; the intelligent dish serving system comprises an ordering module, a dish serving module, a meal delivery module, a central control module and a database, a customer selects required dishes through the ordering module to form a menu, the menu is sent to the central control module and the database, the central control module sends an instruction to the dish serving module, the dish serving module sorts and mixes dishes and delivers the dishes to a place specified by the customer, and the dishes are received by the meal delivery module and delivered to the customer. The invention realizes intelligent dish distribution and automatic dish delivery, improves the efficiency, lightens the labor intensity of workers, reduces the operation cost and improves the food and beverage sanitation.

Description

Automatic dish discharging machine and intelligent dish discharging system

Technical Field

The invention relates to the technical field of automation equipment, in particular to an automatic dish discharging machine and an intelligent dish discharging system.

Background

At present, no automatic equipment capable of replacing manual dish sending exists in catering industries such as hot pot and the like, and manual dish matching and dish sending have more defects, for example, a plurality of waiters are required to be specially responsible for sending and taking dishes; the dish storage place is open, is easily influenced by the environment, is difficult to control the sanitary condition, and causes pollution to food in the human body operation process; labor costs for catering operators are gradually rising; information such as the type, quantity, shelf life and the like of food materials is not easy to be processed in a centralized manner, so that the catering industry tends to develop towards intelligence and automation.

Disclosure of Invention

In order to overcome the defects of the prior art, an automatic dish serving machine and an intelligent dish serving system are provided.

The invention is realized by the following technical scheme:

the utility model provides an automatic dish discharging machine, includes side dish mechanism and a dish delivery chain, and side dish mechanism distributes the dish to a dish delivery chain to by a dish delivery chain toward rear end conveying, its characterized in that: the dish discharging conveying line comprises a dish conveying line, the dish is conveyed to the dish distribution mechanism, the dish distribution mechanism comprises a shelf and a distribution device, the distribution device distributes a plurality of goods above the shelf to the dish, and the goods are conveyed out along with the dish towards the rear end.

Furthermore, the distribution device is a three-dimensional mechanical arm, one side of the goods shelf is provided with the three-dimensional mechanical arm, the three-dimensional mechanical arm moves goods on the goods shelf, the goods shelf is provided with a plurality of goods channels, the goods are placed on the corresponding goods channels according to categories, the goods shelf automatically pushes the goods to one side of the goods channels close to the three-dimensional mechanical arm, the three-dimensional mechanical arm can move in a three-dimensional mode, the goods channels moving to the types of the needed goods take out the closest goods and transmit the goods to the dish outlet conveying line.

Further, the device comprises a plurality of shelves and three-dimensional mechanical arms, wherein the shelf of each unit is provided with the corresponding three-dimensional mechanical arm, and the number ratio of the three-dimensional mechanical arms to the shelves can be different from 1: 1, a single three-dimensional mechanical arm is responsible for a plurality of shelf units or a plurality of three-dimensional mechanical arms are responsible for a single shelf unit, but the arrangement is low in efficiency or the working area of the three-dimensional mechanical arm is divided disorderly.

Further, three-dimensional arm includes mechanical clamping jaw, x to sharp module and y to sharp module, and mechanical clamping jaw includes anchor clamps and the flexible arm that links to each other, and flexible arm drives anchor clamps at y axle direction linear motion, and x is to sharp module and y to sharp module control mechanical clamping jaw at x axle, y axle direction linear motion respectively.

Furthermore, the telescopic arm is of a three-section structure and comprises a fixed section, a middle section and a movable section, wherein the fixed section, the middle section and the movable section are mutually overlapped and slide, the fixed section is used as a reference system for relative motion, and the middle section and the movable section can be slidably extended.

Further, anchor clamps include slip table cylinder and finger connection spare, and the slip table cylinder includes two cylinder sliders of sliding connection on guide rail and the guide rail, and the cylinder slider is connected with the finger through pointing the connecting piece to control the interval of two fingers. Besides the sliding table cylinder, other structures can be used for controlling finger clamping, and the structures including a worm gear, a cam sliding groove, a lead screw and the like can be realized.

Further, the dish transfer chain that goes out includes transfer chain A section, transfer chain B section and transfer chain C section, and the initiating terminal of transfer chain A section is provided with puts in the mouth, and manipulator and first climbing mechanism are installed to the rear end of transfer chain A section, and the manipulator is single to be shifted to first climbing mechanism on with the dinner plate on the transfer chain, and the dinner plate is by the jacking of first climbing mechanism to transfer chain B section to the conveying of the second climbing mechanism of rear end installation conveys, and the dinner plate is by the jacking of second climbing mechanism and convey to transfer chain C section.

Further, the dinner plate is jacked by the second jacking mechanism, is redirected and conveyed to the section C of the conveying line, so that the occupied area is small, the dinner plate placing area can be separated, the dish taking area can be separated, and the conflict is avoided.

Further, the manipulator includes actuating mechanism, lift module and translation module, and the translation module is sharp module with the lift module, and the lift module is established perpendicularly and is gone on horizontal migration on the translation module, and actuating mechanism includes sucking disc and sucking disc seat, and a plurality of sucking discs are installed to sucking disc seat bottom, and the sucking disc seat is connected with the lift module, and lift module control sucking disc seat vertical migration, manipulator actuating mechanism also can use the clamping jaw.

Furthermore, a storage area of the dinner plate is arranged below the executing mechanism, and a partition plate is vertically arranged on one side of the storage area.

Furthermore, a plurality of third sensors with different heights are arranged on the partition board and used for detecting the number or the height of the objects to be transferred in the induction storage area.

Further, first climbing mechanism includes first jacking device and jacking conveyer belt, and the jacking conveyer belt carries out horizontal transport, and first jacking device drives the jacking conveyer belt and carries out vertical lift.

Further, the second jacking mechanism comprises a second jacking device, an outer conveying belt and an inner conveying belt, the outer conveying belt is provided with two belts which are respectively arranged on two sides of the inner conveying belt, the outer conveying belt is provided with a synchronizing wheel, a connecting shaft and a driving device, the connecting shaft is arranged between the synchronizing wheels of the two outer conveying belts, the driving device controls the synchronizing wheels to rotate, the two outer conveying belts are synchronously conveyed, the second jacking device is fixed at the bottom of the inner conveying belt, and the second jacking device controls the inner conveying belt to carry out lifting motion relative to the outer conveying belt.

Furthermore, a vegetable taking place is arranged on the section C of the conveying line, and a plurality of placing racks are arranged above the vegetable taking place and used for temporarily placing the vegetable trays, the covers of the vegetable trays and the like.

Furthermore, an RFID reader-writer is installed on the conveying belt of the section C of the conveying line and used for reading and writing radio frequency tags such as chips preset in the dish outer box.

Furthermore, the conveyor line C section is provided with a scanner and a printer assembly, the printer prints bill, dish information and the like, and the scanner is used for scanning codes.

Furthermore, the dish discharging conveying line is arranged in a segmented mode and divided into a plurality of units, and conveying and assembling are facilitated.

Further, the goods shelf comprises a rack and slides, wherein the rack is obliquely provided with a plurality of slides, the high ends and the low ends of the slides are respectively erected on the high-position cross beams and the low-position cross beams, the single high-position cross beams and the single low-position cross beams are in one group, the rack is provided with a plurality of groups of high-position cross beams and low-position cross beams in the vertical direction, and a plurality of slides are arranged above each group. The slide is detachably mounted on the frame.

Furthermore, a plurality of high-position clamping pieces are arranged on the high-position cross beam, a plurality of low-position clamping pieces are arranged on the low-position cross beam, and the slideway is clamped between the high-position clamping pieces and the low-position clamping pieces.

Furthermore, a plurality of RFID readers are installed on the shelf.

Furthermore, a plurality of indicator lamps or displays are installed on the side face of the high-position clamping piece, the indicator lamps are controlled by a background system, different working states of the slide way are represented by different numbers, different off states, different light colors and the like, and the displays can display numbers and can be used for representing the number of dishes on the slide way or data such as replenishment, replenishment and the like.

Furthermore, a soft buffer piece is installed on the side face, close to the slide way, of the low-position clamping piece.

Furthermore, install the vibrator in the frame, can make the whole vibration of goods shelves, prevent that the dish box from stagnating on the slide, influencing the dish.

Further, the vegetable distribution device comprises an outer shell, the outer shell covers the vegetable distribution mechanism and the vegetable outlet conveying line, and one part of the vegetable outlet conveying line extends out of the outer shell and is exposed outside.

Furthermore, a door body is arranged at the position, extending out of the outer shell, of the dish discharging conveying line, and can be closed when the dish feeding is stopped, so that the internal environment temperature is kept, and the sanitation of the goods shelf is guaranteed.

Furthermore, a show window is arranged on the outer shell, and dimming glass is arranged on the show window, so that the dimming glass is transparent and can also be atomized.

Furthermore, a plurality of display screens are arranged on the outer side of the outer shell and used for displaying menu information, inventory information, dish shelf life information, customer information and the like.

Furthermore, a refrigerating device is arranged in the outer shell, so that the automatic dish discharging machine has a refrigeration house function.

An intelligent dish discharging system comprises the automatic dish discharging machine, and the automatic dish discharging machine comprises an ordering module, a dish discharging module, a dish delivery module, a central control module and a database, wherein the automatic dish discharging machine is the dish discharging module, a customer selects required dishes through the ordering module, a menu is formed and sent to the central control module and the database, the central control module sends an instruction to the dish discharging module, the dish discharging module sorts, prepares and discharges dishes, and the dishes are received by the dish delivery module and are transferred to a place designated by the customer.

Furthermore, the dish discharging module comprises a goods shelf unit and a sorting unit, a plurality of goods channels are arranged on the goods shelf unit, a plurality of dishes are placed on each goods channel, each goods channel is responsible for a single variety of dishes, and the sorting unit moves to the corresponding goods channel and transfers the needed dishes out according to an instruction sent by the central control module.

Furthermore, the dish discharging module comprises a dish discharging sensing unit, when dishes in the dish discharging module are discharged, the dish discharging sensing unit sends dish information of the dishes to the database, and the dish discharging information includes information such as the type, weight, shelf life and the like of the dishes.

Furthermore, the dish delivery module comprises a scanning unit or a printing unit, the electronic tags are displayed when the dish delivery module receives dishes, the scanning unit scans and inputs information of the dish delivery module and sends the information to the database, the printing unit prints menu information or customer information, the dish delivery module can be a robot or a manual, each robot or manual has an independent electronic tag, and the dish taking information is input into the database to facilitate traceability and staff performance statistics.

Furthermore, the dish output module comprises a display unit, the display unit displays one or more of menu information, customer information, dish information in stock and meal delivery module information, and the display unit can be a display, so that customers and staff can conveniently and visually obtain information.

Furthermore, the goods shelf unit has two modes, namely a dish discharging mode and a dish supplementing mode, when the goods shelf unit is in the dish discharging mode or the dish supplementing mode, the goods shelf unit pushes the dishes on each goods channel to the front row of the goods channel, and the goods shelf unit is convenient to grab by the sorting unit or supplement goods at the other end of the goods channel.

Further, the shelf unit comprises an RFID reader-writer, and when the shelf unit is in a dish supplementing mode, the RFID reader-writer reads and writes dish information and quantity of dishes in a dish supplementing channel and sends the dish information and quantity of the dishes to the database.

Further, the shelf unit comprises an indicator light and a display, when the shelf unit is in a dish supplementing mode, the central control module sends an instruction to the indicator light and the display, when a variety of dishes are supplemented, the indicator light on the goods channel for storing the corresponding variety gives an external instruction, and the display of the goods channel displays the quantity of the dishes to be supplemented or the quantity of the dishes on the goods channel.

Furthermore, the shelf unit comprises an indicating lamp and a display, when the shelf unit is in a dish supplementing mode, the multiple channels for storing the same type of dishes correspond to a single electronic tag, and when an external reader reads and writes the electronic tag, the indicating lamp or the display on the multiple channels for storing the same type of dishes correspond to each other in a unified mode. For example, a box can be used for ordering one type of dishes, a two-dimensional code is pasted outside the box body, when the two-dimensional code is scanned by a code scanner, an indicator lamp or a display on a goods channel for storing the type of dishes gives an indication, and replenishment is facilitated.

Compared with the prior art, the invention has the following beneficial effects:

1. the intelligent dish distribution and automatic dish discharging are realized, the dish discharging efficiency is greatly improved, the labor intensity of workers can be reduced, the operation cost is reduced, and the catering sanitary conditions are improved.

2. The automatic dish discharging machine has wide application range, can be used in hot pot restaurants, hot spicy soup restaurants and other restaurants, can be used in the kitchen behind a restaurant, and can also be used as a food cold storage.

3. The dish distribution mode on a single dinner plate is adopted, so that a rear-end robot or a manual meal delivery is facilitated.

4. The automatic dish discharging machine is internally provided with a refrigerating device which can refrigerate safe dishes and has the function of a refrigeration house.

5. Data such as menu information, customer information, dish information in inventory, food delivery module information, dish supplementing information and the like are input into the database, so that dish statistics, shelf life monitoring and information tracing are facilitated.

6. The automatic dish discharging machine occupies small area, and the structure is easy to disassemble and transport.

7. The invention can be used as a part of an intelligent kitchen or a catering conveying line.

Drawings

FIG. 1 is a perspective view of an automatic dish dispenser;

FIG. 2 is a perspective view of the internal structure of the automatic dish dispenser;

FIG. 3 is a perspective view of the dish delivery line;

FIG. 4 is a front view of the robot and first jack mechanism at the end of section A of the conveyor line;

FIG. 5 is a perspective view of the robot and first jack mechanism at the end of section A of the conveyor line;

FIG. 6 is a perspective view of a first jack mechanism;

FIG. 7 is a perspective view of the robot;

FIG. 8 is a perspective view of a second jack mechanism and a drop port;

FIG. 9 is a perspective view of a second jack mechanism;

fig. 10 is a perspective view of the outer transport belt;

fig. 11 is a perspective view of the carrying door.

FIG. 12 is a perspective view of the dish distribution mechanism;

FIG. 13 is a perspective view of a three-dimensional robotic arm;

FIG. 14 is a perspective view of a mechanical jaw;

FIG. 15 is an exploded view of the telescoping arm;

FIG. 16 is a perspective view of the telescoping arm;

FIG. 17 is a perspective view of the clamp;

FIG. 18 is a perspective view of the shelf;

FIG. 19 is a perspective view of the high and low retention members;

FIG. 20 is a perspective view of the slide;

fig. 21 is a perspective view of the dish box.

The reference numerals are explained below: a-section of A-conveying line

A1-mechanical arm; a 11-actuator; a111-sucker; a112-sucker seat; a113 — first sensor; a12-lifting module; a121-a first slider; a122-first rail beam; a123-first connecting member; a13-translation module; a131-a second slider; a132-a second rail beam; a133 — second connecting member; a 14-linear guide rail assembly; A141-A guide rail; a142-a third slider; a143-third connecting member; a2-a first jacking mechanism; a21-first jacking device; a211 — first cylinder; a212-auxiliary rod; a22-jacking the conveyer belt; a 221-a second sensor; a222-a pallet member; a223-conveyor belt body; A3-Portable door; a31-door panel; a32-guide bar; a33-guide sleeve; a 34-rack; a 35-gear; a 5-separator; a51 — third sensor; a 7-storage area; a8-throwing port; b-conveying line section B; b1-a second jacking mechanism; b11 — second cylinder; b12-a holder base; B13-B guide rail; B14-B slider; B15-B connector; B16-B pallet; b2-outer conveyor belt; b21 — synchronizing wheel; b22-connecting shaft; b3-inner conveyor belt; c-conveying line section C; c1-shelf; c2-scanner and printer components; e-a three-dimensional mechanical arm; e1-clamp; e11-finger; e111-snap groove; e12-slipway cylinder; e121-cylinder slide block; e13-finger connectors; e14-clamp sensor; e2-telescopic arm; e21-fixed section; e211-a fixed seat; e212-fixed segment slide block; e22-middle section; e221-middle section beam body; e222-upper guide rail; e223-lower guide rail; e224 — first rack face; e225-middle slide block; e23-active segment; e231-movable section beam body; e232-second rack face; e233-a third rack face; e234-moving section rail; e31 — first drive; e32 — second drive; e33-third drive; e4-clamp connection; e5-x direction straight line module; e51-bottom straight line module; e52-head rail assembly; e6-y direction straight line module; f-a goods shelf; f1-frame; f11-high beam; f12-lower beam; f13-high position holding piece; f131-indicator light; f132-display; f14-low position holding piece; f15-buffer; f16-plug; f2-slide; f21-convex rail; f5-upper cover; f6-lower box; f61-recess; g-an outer shell; g1-shop window; an H-door body; i-display screen.

Detailed Description

In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is described in further detail below with reference to the accompanying drawings and embodiments. In the description of the present invention, it is to be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc. indicate orientations and positional relationships based on those shown in the drawings, and are used merely for convenience in describing the present invention and for simplicity in description, and do not indicate or imply that the devices or elements so referred to must have a particular orientation, be constructed and operated in a particular orientation, and that the particular embodiments described herein are illustrative only and not limiting.

Referring to fig. 1 and 2, an automatic dish discharging machine according to a preferred embodiment of the present invention includes a dish distribution mechanism and a dish discharging line, wherein the dish distribution mechanism distributes dishes to the dish discharging line and conveys the dishes from the dish discharging line to a rear end, the dish discharging line includes a dish conveying line, dishes are placed from a bottom layer and conveyed to an upper layer, and when passing through the dish distribution mechanism, a three-dimensional robot arm E places the dishes on the dishes and conveys the dishes along with the dishes to the rear end.

As shown in fig. 12, the dish distribution mechanism includes a plurality of units of shelves F and a three-dimensional mechanical arm E, which are respectively shown in fig. 13 and fig. 18, the front end of each unit of shelf F is used for replenishing the dishes, the rear end of each unit of shelf F is provided with the three-dimensional mechanical arm E, the three-dimensional mechanical arm E can move in the three-dimensional direction (shown by a coordinate system in the drawing) to take the dishes on the shelf F, a plurality of channels are arranged on the shelf F, the dishes are suitable for packing the dishes and are placed on the corresponding channels according to categories, each channel can be used for placing a plurality of dishes, the shelf F automatically pushes the dishes to one side of the channel close to the three-dimensional mechanical arm E, the three-dimensional mechanical arm E can move in three dimensions, and move to the channel of the required dish category to take out the nearest dish box and transmit the dish to the outside, thereby realizing automatic dish distribution. The shelf of each unit is provided with a corresponding three-dimensional mechanical arm, and the number ratio of the three-dimensional mechanical arms to the shelf of each unit is not 1: 1, a single three-dimensional mechanical arm is responsible for a plurality of shelf units or a plurality of three-dimensional mechanical arms are responsible for a single shelf unit, but the arrangement is low in efficiency or the working area of the three-dimensional mechanical arm is divided disorderly.

As shown in fig. 13, the three-dimensional robot arm E includes a mechanical gripper, an x-direction linear module E5, and a y-direction linear module E6, the mechanical gripper includes a connected clamp E1 and a telescopic arm E2, the telescopic arm E2 drives the clamp E1 to move linearly in the y-axis direction, and the x-direction linear module E5 and the y-direction linear module E6 respectively control the mechanical gripper to move linearly in the x-axis direction and the y-axis direction. Namely, the mechanical clamping jaw is installed on a two-dimensional linear module and moves in a stator-rotor mode, the two-dimensional linear module comprises an x-direction linear module E5 and a y-direction linear module E6, the embodiment adopts a synchronous belt linear module and can also be replaced by other linear motion mechanisms, the telescopic direction of the mechanical clamping jaw is the z-axis direction of a coordinate system, the mechanical clamping jaw is vertically and slidably connected to the y-direction linear module E6, and the y-direction linear module E6 is vertically and slidably connected to the x-direction linear module E5 to form the Cartesian robot. The x is to sharp module E5 including bottom straight line module E51 and top guide rail module E52, and the motion of the control y of the sharp module E6 of bottom straight line module E51, top guide rail module 52 carry out the top spacing, make the motion of three-dimensional arm more stable.

As shown in fig. 14, the mechanical clamping jaw includes a clamp E1 and a telescopic arm E2, the telescopic arm E2 is a three-section structure, and includes a fixed section E21, a middle section E22 and a movable section E23, which are mutually overlapped and slid, slidably unfolded, and two-by-two spacing connection, and spacing is achieved by a baffle or a high-strength rubber, or spacing is achieved by a U-shaped photoelectric switch and a hook-shaped sensing piece assembly, so as to prevent derailment.

Referring to fig. 14, 15 and 16, the linear motion of the middle segment E22 is controlled by the first driving device E31, the linear motion of the movable segment E23 is controlled by the second driving device E32, and the sliding motion of the clamp E1 on the movable segment E23 is controlled by the third driving device E33. The driving device can adopt a stepping motor or a servo motor and the like.

Referring to fig. 14, 15 and 16, the fixing section E21 includes a fixing seat E211 and a fixing section sliding block E212, the fixing seat E211 is an L-shaped metal plate, and the fixing section sliding block E212 is fixedly mounted on the fixing seat E211.

The middle section E22 comprises a middle section beam body E221, a lower guide rail E223 and a first rack face E224, the lower guide rail E223 is arranged at the bottom of the middle section beam body E221, the lower guide rail E223 is connected with a fixed section sliding block E212 in a sliding mode, the first rack face E224 is arranged on the middle section beam body E221, the extending direction of the first rack face E224 is the same as that of the lower guide rail E223, a first driving device E31 is installed on the fixed section E21, rotation of a gear is controlled, and the gear is meshed with the first rack face E224, so that sliding of the middle section E22 is controlled.

The middle section E22 further comprises an upper guide rail E222 and a middle section slide block E225, the upper guide rail E222 is arranged on the top surface of the middle section beam body E221, the middle section slide block E225 is connected with the upper guide rail E222 in a sliding mode, and the middle section slide block E225 is fixedly connected with the movable section E23; the second driving device E32 is arranged on the middle section E22 and moves along with the middle section E22; the moving section E23 includes a moving section beam body E231 and a second rack face E232, the second rack face E232 is disposed on the moving section beam body E231, and the second driving device E32 controls a gear to rotate, the gear is engaged with the second rack face E232, thereby controlling the sliding of the moving section E23.

Referring to fig. 16 and 17, the third driving device E33 and the clamp connector E4, the third driving device E33 is connected to the clamp E1 through the clamp connector E4, and the third driving device E33 controls the clamp E1 to move linearly on the movable section E23. The movable section E23 comprises a third rack face E233 and a movable section guide rail E234 which are both arranged on the movable section beam body E231, the movable section guide rail E234 is connected with a slide block in a sliding manner, and the slide block is fixedly connected with a clamp connecting piece E4; the third driving means E33 controls a gear to rotate, and the gear is engaged with the third rack face E233, thereby controlling the slide of the jig E1 on the movable section E23.

The clamp E1 comprises a finger E11, a sliding table air cylinder E12, a finger connecting piece E13 and a clamp sensor E14, the finger E11 is a parallel pneumatic finger, the sliding table air cylinder E12 comprises a guide rail and two air cylinder sliding blocks 1E21 in sliding connection with the guide rail, and the air cylinder sliding blocks E121 are connected with the finger E11 through the finger connecting piece E13, so that the distance between the two fingers E11 is controlled. The clamping part of the finger E11 is in a strip shape, and a clamping groove E111 is concavely arranged above the clamping part, so that the object to be transferred can be stably clamped or supported. Besides the sliding table cylinder, other structures can be used for controlling finger clamping, and the structures including a worm gear, a propelling mechanism, a cam or a sliding groove, a lead screw and the like can be realized. A clamp sensor E14 is mounted on the finger connector E13 for sensing whether the clamp E1 has gripped the item.

As shown in fig. 18, the shelf F includes a frame F1 and a slide F2 obliquely erected in rows on the frame F1, a row of high beams F11 is transversely installed on one side of the frame F1, a row of low beams F12 is installed on the opposite side, a single high beam F11 and low beam F12 form a group, the frame F1 is provided with a plurality of groups of high beams F11 and low beams F12 in the vertical direction, a plurality of slides F2 are arranged above each group, and the slide F2 is detachably installed on the frame F1.

The high-level cross beam F11 is provided with high-level clamping pieces F13, the high-level clamping pieces F13 are square blocks as shown in figure 13, two side edges are higher for preventing deviation, an RFID reader-writer is embedded for reading and writing electronic tags on the dish box, the front side face of the high-level clamping pieces is provided with an indicator lamp F131 and a display F132, the indicator lamp F131 is controlled by a background system, different working states of the slide way are represented by different numbers or dimming states or light colors, the display F132 can display numbers and can be used for representing the number of dishes on the slide way or data such as replenishment and replenishment, and a long-strip block-shaped plug F16 is arranged on the high-level cross beam F11 and used for clamping the slide way.

As shown in fig. 19, a long block-shaped plug F16 is also mounted on the low-position retaining member F14, and a soft buffer member F15 such as a foot pad is mounted on the front side surface of the low-position retaining member 14 for buffering the sliding dish box. The slide way F2 is clamped between the high-position clamping piece F13 and the low-position clamping piece F14, and the inclined angle of the slide way F2 and the horizontal plane is optimally 3.8 degrees.

Referring to fig. 20 and 21, the middle of the slideway F2 is provided with a protruded rail F21 for clamping end caps F16 at both ends and better limiting the sliding track of the dish box above the slideway, the dish box comprises an upper cover 5 and a lower box F6, the bottom of the lower box F6 is provided with a concave part F61 adapted to the rail F21, and the lower box F6 can be embedded with RFID electronic tags such as chips and the like, can be identified by a reader-writer in the high-position clamping piece F13, and is actually applied to identifying the type of dishes and counting the quantity of delivered and replenished goods. The rack F1 is not provided with a plurality of slide ways F2 in horizontal rows, only one row is arranged for the readability in figure 18, a plurality of rows and a plurality of columns can be actually arranged according to the requirement, a plurality of shelves can be arranged for free assembly, and the flexibility is high. The frame F1 is provided with a vibrator, which can make the shelf vibrate integrally and prevent the vegetable box from stopping on the slideway and affecting the vegetable outlet.

As shown in fig. 3, the dish delivery conveyor line body is conveyed by a conveyor belt, the outside of the dish delivery conveyor line body is supported by a steel frame, the conveyor belt is integrally divided into an upper layer and a lower layer, and the conveyor line flow is as follows by taking the conveying of stacked dinner plates as an example: the dinner plate that becomes the pile is placed and is got into from the mouth A8 of puting in of lower floor, the conveyer belt along transfer chain A section A gets into and deposits district A7, manipulator A1 uses the sucking disc to suck up single dinner plate, the rear end translation, and place on first climbing mechanism A2 (first climbing mechanism A2 is in the low level this moment), first climbing mechanism A2 is with the jacking of dinner plate to the upper strata, the conveyer belt along transfer chain B section B is conveyed to the corner, can supply external side dish mechanism to put the dish on the dinner plate in transfer chain B section B's the transportation process, the corner is provided with second climbing mechanism B1, second climbing mechanism B1 rises to carry out the conveying into transfer chain C section with dinner plate and dish jacking and switching-over 90 degrees, transfer chain C section sets up to get the dish department, can get the dish by manual work or robot scanning.

As shown in fig. 3, the dish delivery line is arranged in sections, and is divided into a plurality of sections of units, so that the dish delivery line is convenient to transport and assemble.

Referring to fig. 4 and 5, in order to show the unit where the robot a1 and the first lifting mechanism a2 are located, a partition a5 is installed at one side of the storage area a7, and a plurality of third sensors a51 with different heights are installed on the partition a5 and are disposed on the partition a5, and can be used to detect the number or height of objects to be transferred in the storage area a7, such as the number or height of stacked dinner trays.

As shown in fig. 6, the first jacking mechanism a22 is a first jacking mechanism a22, which includes a first jacking device a21 and a jacking conveyor belt a22, the jacking conveyor belt a22 can horizontally convey articles, and the first jacking device a21 is installed below the jacking conveyor belt a22 to control the lifting of the whole. In this embodiment, the first jacking device a21 adopts the first cylinder a211 and the auxiliary rod a212 with double rods, the structure is simple, the cost is low, and the first jacking device a21 can be replaced by other linear motion devices. The bottom of the conveyor belt body A223 of the jacking conveyor belt A22 is provided with a supporting plate A222, the telescopic end of the first jacking device A21 and the auxiliary rod A212 are fixed with the supporting plate A222, the other end of the auxiliary rod A212 is limited by a through hole to move, so that the auxiliary rod A212 can only move in a lifting mode, and the lifting stability can be improved due to the arrangement of the auxiliary rod A212. Preferably, a hydraulic buffer 213 is installed below the lift-up conveyor a22 on the side of the first cylinder a 211. The jacking conveyer belt A22 is provided with a second sensor A221 for judging whether the conveyer belt receives the object to be transferred.

As shown in fig. 7, a robot a1 is capable of two-dimensional article transfer, and the robot a1 includes an actuator a11, a lift module a12, a translation module a13, and a linear guide assembly a 14. Translation module A13, linear guide subassembly A14 realize its horizontal migration function, as shown in FIG. 4, translation module A13 installs the one side in outside steelframe bottom, and linear guide subassembly A14 installs the top at same vertical face, the entablature department of outside steelframe, so set up, reserve sufficient space for depositing district A7, make whole device space utilization high.

The translation module a13 in this embodiment adopts the hold-in range straight line module, also can put into practice other linear modules or linear drive mechanism, for example lead screw module, electric cylinder module, cylinder etc. all can realize technological effect. The translation module A13 includes second slider A131, second rail roof beam A132, second connecting piece A133, and second slider A131 all installs locating part and gasket on second rail roof beam A132 last linear motion, second rail roof beam A132 head and the tail department, and the gasket can adopt shock-absorbing material such as dominant force glue.

Translation module A13 and linear guide subassembly A14 are parallel to each other and install on vertical face, and the vertical lift module A12 that has erect between the two, and the same reason, lift module A12 adopts hold-in range straight line module in this embodiment, and other linear modules of practicality also, for example lead screw module, electric jar module etc. all can realize technological effect. Lifting module A12 includes first slider A121, first rail roof beam A122 and first connecting piece A123, third connecting piece A143 is installed on the top of first rail roof beam A122, for the U type connecting plate, and with two third slider A142 fixed connection of linear guide subassembly A14, the bottom of first rail roof beam A122 is fixed with second connecting piece A133, for L type connecting plate, and with second slider A131 fixed connection, second slider A131 drives the whole horizontal motion of lifting module A12, linear guide subassembly A14's installation can make its motion more stable.

The first slider A121 of the lifting module A12 is fixed with a sucker seat A112 through a first connecting piece A123, the sucker seat A112 is provided with an opening, a plurality of suckers A111 are installed through sucker hardware fittings, preferably, the embodiment adopts an organ-shaped vacuum sucker and a matched vacuum generator, an air pipe, a vacuum breaking valve and the like, the vacuum sucker is clean and clean, the requirements of the food industry are met, the organ-shaped sucker is adopted, a certain buffering function is realized, and the installation of a buffering device is avoided. The actuator a11 may also be a magnetic chuck or a mechanical gripper with pneumatic fingers, etc., with a vacuum chuck being preferred. The bottom surface of the vacuum chuck seat A112 is provided with a plurality of first sensors A113 which can be used for detecting whether the objects to be transferred are sucked or not or detecting the stacking height of the objects to be transferred. In this embodiment, the lifting module a12 and the translation module a13 are driven by servo motors, and the servo motors can be replaced by other driving mechanisms such as a stepping motor.

As shown in fig. 8, the unit is a unit including a second lifting mechanism B1 and a hand-held door A3, the second lifting mechanism B1 is arranged at the middle upper part of the unit to lift dishes and dinner plates and convey the dishes and dinner plates in a turning manner, the lower layer of the unit is a feeding opening a8, and the hand-held door A3 is installed at the feeding opening a 8.

Referring to fig. 8, 9 and 10, the second lift mechanism B1 includes a second lift device, an outer conveyor belt B2 and an inner conveyor belt B3, wherein the outer conveyor belt B2 has two belts respectively installed on two sides of the inner conveyor belt B3.

As shown in fig. 10, the outer conveyance belt B2 is frame-shaped, and the inner conveyance belt B3 is lifted and lowered at a hollow portion thereof. The outer conveying belt B2 is provided with synchronizing wheels B21, a connecting shaft B22 and a driving device, the connecting shaft B22 is installed between the synchronizing wheels B21 of the two outer conveying belts B2 through a coupler, and the driving device controls the synchronizing wheels B21 to rotate so that the two outer conveying belts B2 are conveyed synchronously.

As shown in FIG. 9, the second jacking device is fixed at the bottom of the inner conveyer belt B3, and the inner conveyer belt B3 can carry out horizontal transmission. The second jacking device controls the inner conveying belt B3 to perform lifting motion relative to the outer conveying belt B2. The second jacking device comprises a second air cylinder B11, a bearing seat B12, a B guide rail B13, a B sliding block B14, a B connecting piece B15 and a B supporting plate B16.

Bearing seat B12 sets up at the bottommost, and bearing seat B12 becomes the L type, and the both ends of bearing seat B12 upper surface are vertical respectively and are installed second cylinder B11 and B guide rail B13, and second cylinder B11's piston rod upwards stretches out and draws back, and B guide rail B13 direction is vertical direction, is provided with a plurality of B sliders B14 that can follow its gliding from top to bottom on the B guide rail B13. The B slider B14, the B layer board B16 and the guide rod of the second cylinder B11 are fixedly connected through a B connecting piece B15, the B connecting piece B15 is two inverted L-shaped metal plates fixedly connected in size, the B layer board B16 is fixed at the large top, the slider is fixed at the side face, and the piston rod of the second cylinder B11 is fixed at the small side, so that when the piston rod of the second cylinder B11 moves, the B connecting piece B15, the B slider B14 and the B layer board B16 are driven to vertically move, and the B layer board B16 is installed at the bottom of the inner conveying belt B3, so that the lifting of the inner conveying belt B3 is controlled.

The second jacking device is preferably arranged and can be replaced by other linear lifting mechanisms.

Referring to fig. 8 and 11, the door A3 includes a door panel a31, a guide bar a32, a guide sleeve a33, a rack a34, and a gear a 35; guide arm A32 is provided with 2, vertical installation is on an outside steelframe side, it is parallel to each other, the cover is equipped with a plurality of uide bushing A33 on guide arm A32, uide bushing A33 can slide along guide arm A32, uide bushing A33 and door plant A31 fixed connection, drive door plant A31 and slide from top to bottom, door plant A31 fixes a vertical rack A34, a rotatable gear A35 of corresponding position installation on the outside steelframe, rack A34 meshes with gear A35, when door plant A31 lifts up, rack A34 shifts up and drives gear A35 and rolls, door plant A31's front is provided with the handle, can supply the user to pull up.

As shown in fig. 3, a dish taking place is arranged on the section C of the conveying line, a plurality of I-shaped shelves C1 are arranged above the conveying belt for temporarily placing dishes, lids and the like during taking dishes, a plurality of RFID readers are arranged in the conveying belt for reading and writing radio frequency tags such as chips and the like preset in the dish outer box and recording dish conveying information. A plurality of scanners and printer components are installed on one side of the steel frame outside the vegetable taking position, so that information of a vegetable taking person can be scanned and recorded when a person or a robot takes vegetables, source tracing and performance statistics are facilitated, and the printer is used for printing bill information, vegetable information and the like.

The utility model provides an intelligence system of sending out dishes, includes the module of ordering, the module of sending a meal, food delivery module, central control module, database, wherein, automatic machine of sending out dishes is the module of sending out dishes promptly, and customer selects required dish through the module of ordering, forms the menu and sends central control module and database, and central control module sends the instruction to the module of sending out dishes, and the module of sending out dishes sorts the side dish and sends out the dish, and the dish is received and is transferred to customer's appointed place by food delivery module.

The dish discharging module comprises a goods shelf unit and a sorting unit, the goods shelf unit and the sorting unit can be substituted into a goods shelf and a three-dimensional mechanical arm of the dish discharging machine, a plurality of goods channels are arranged on the goods shelf unit, a plurality of dishes are placed on each goods channel, each goods channel is responsible for the dishes of a single variety, and the sorting unit moves to the corresponding goods channel and transfers the dishes to be required according to an instruction sent by the central control module.

The dish discharging module comprises a dish discharging sensing unit, when dishes in the dish discharging module are delivered out, the dish discharging sensing unit sends dish information of the dishes to the database, and the dish discharging information comprises information such as the type, weight, quality guarantee period and the like of the dishes. When the stock is insufficient or the shelf life is due, an alarm can be given and dish supplementing or dish changing can be carried out.

The dish delivery module includes scanning unit or printing unit, the electronic tags that shows when food delivery module receives the dish, by scanning unit scanning and type food delivery module information, send the database, printing unit prints menu information or customer information, the food delivery module can be robot or manual work, each robot or manual work all have solitary electronic tags, the dish that can inquire this customer is which manual work or which robot has a meal, it is convenient for trace to source and staff's performance statistics in the dish information input database to get, the effect of tracing to the source is for example: when the customer is out of order for a period of time, the restaurant can inquire the dining information, the dining time, the type of dishes, the channel for putting the dishes, the shelf life of the dishes and the like of the customer.

The dish delivery module comprises a display unit, the display unit displays one or more of menu information, customer information, dish information in stock and meal delivery module information, and the display unit can be a display, so that customers and staff can conveniently and visually obtain information.

The goods shelf unit has two modes, is the mode of going out the dish and mends the dish mode respectively, and when being in the mode of going out the dish or mend the dish mode, the goods shelf unit pushes away the dish on each goods way to goods way front row, and the letter sorting unit of being convenient for snatchs or goods are mended to the goods way other end.

The shelf unit comprises an RFID reader-writer, and when the shelf unit is in a dish supplementing mode in the high-position clamping piece F13, the RFID reader-writer reads and writes dish information and quantity of the dish supplementing channel and sends the dish information and quantity to the database.

The shelf unit comprises an indicator light and a display, when the shelf unit is in a dish supplementing mode, the central control module sends an instruction to the indicator light and the display, when a variety of dishes are supplemented, the indicator light on the goods channel for storing the corresponding variety gives an external instruction, and the display of the goods channel displays the quantity of the dishes to be supplemented or the quantity of the dishes on the goods channel.

The shelf unit comprises indicating lamps and a display, when the shelf unit is in a dish supplementing mode, a plurality of channels for storing the same type of dishes correspond to a single electronic tag, and when an external reader reads and writes the electronic tag, the indicating lamps or the display on the plurality of channels for storing the same type of dishes correspond to each other in a unified mode. For example, a box can be used for ordering one type of dishes, a two-dimensional code is pasted outside the box body, when the two-dimensional code is scanned by a code scanner, an indicator lamp or a display on a goods channel for storing the type of dishes gives an indication, and replenishment is facilitated.

In conclusion, the intelligent dish distribution system can realize intelligent dish distribution and automatic dish distribution, greatly improves the dish distribution efficiency, can reduce the labor intensity of workers, reduces the operation cost and improves the sanitary conditions of catering; the automatic dish discharging machine has wide application range, can be used in hot pot restaurants, hot spicy soup restaurants and other restaurants, can be used in the kitchen behind a restaurant, and can also be used as a food cold storage; the dish distribution form on a single dinner plate is adopted, so that a rear-end robot or manual meal delivery is facilitated; the automatic dish discharging machine is internally provided with a refrigerating device which can refrigerate safe dishes and has the function of a refrigeration house; data such as menu information, customer information, dish information in stock, food delivery module information, dish supplementing information and the like are input into a database, so that dish statistics, shelf life monitoring and information tracing are facilitated; the automatic dish discharging machine occupies small area, and the structure is easy to disassemble and transport; the invention can be used as a part of an intelligent kitchen or a catering conveying line.

The above description is only for the preferred embodiment of the present invention and is not intended to limit the scope of the present invention, and all equivalent structural changes made by using the contents of the present specification and the drawings, or any other related technical fields, are equally encompassed.

Claims

1. The utility model provides an automatic dish discharging machine, includes side dish mechanism and a dish delivery chain, and side dish mechanism distributes the dish to a dish delivery chain to by a dish delivery chain toward rear end conveying, its characterized in that: the dish discharging conveying line comprises a dish conveying line, the dish is conveyed to the dish distribution mechanism, the dish distribution mechanism comprises a shelf (F) and a distribution device, the distribution device distributes a plurality of goods above the shelf (F) to the dish, and the goods are conveyed out along with the dish to the rear end.

2. The automatic dish dispenser of claim 1, wherein: the distribution device is three-dimensional arm (E), goods shelves (F) one side sets up three-dimensional arm (E), three-dimensional arm (E) move get the goods on goods shelves (F), set up a plurality of goods way on goods shelves (F), the goods is put on corresponding goods way according to the classification, goods shelves (F) are automatic to be pushed to the goods way and are close to one side of three-dimensional arm (E), but three-dimensional arm (E) three-dimensional moving, it takes out and past a dish transfer chain transmission to the goods that will be closest to move to the goods way of required goods kind.

3. The automatic dish dispenser of claim 2, wherein: three-dimensional arm (E) includes mechanical clamping jaw, x to sharp module (E5) and y to sharp module (E6), and mechanical clamping jaw includes anchor clamps (E1) and flexible arm (E2), and flexible arm (E2) drive anchor clamps (E1) at y axle direction linear motion, and x is to sharp module (E5) and y to sharp module (E6) control mechanical clamping jaw at x axle, y axle direction linear motion respectively.

4. The automatic dish dispenser of claim 3, wherein: the telescopic arm (E2) is of a three-section structure and comprises a fixed section (E21), a middle section (E22) and a movable section (E23), the fixed section (E21) is used as a reference system of relative movement, and the middle section (E22) and the movable section (E23) can be slidably extended.

5. The automatic dish dispenser of claim 3, wherein: anchor clamps (E1) include slip table cylinder (E12) and finger connector (E13), and slip table cylinder (E12) include two cylinder slider (E121) of sliding connection on guide rail and the guide rail, and cylinder slider (E121) are connected with finger (E11) through finger connector (E13) to the interval of two fingers (E11) of control.

6. The automatic dish dispenser of claim 1, wherein: the dish delivery conveying line comprises a conveying line A section (A), a conveying line B section (B) and a conveying line C section (C), the initiating terminal of the conveying line A section (A) is provided with a throwing opening (A8), a mechanical arm (A1) and a first jacking mechanism (A2) are installed at the rear end of the conveying line A section (A), the mechanical arm (A1) transfers a dinner plate on the conveying line to the first jacking mechanism (A2), the dinner plate is jacked to the conveying line B section (B) by the first jacking mechanism (A2), and is conveyed to a second jacking mechanism (B1) installed at the rear end, and the dinner plate is jacked by the second jacking mechanism (B1) and conveyed to the conveying line C section (C).

7. The automatic dish dispenser of claim 6, wherein: manipulator (A1) includes actuating mechanism (A11), lift module (A12) and translation module (A13), translation module (A13) is the sharp module with lift module (A12), lift module (A12) is established perpendicularly and is carried out horizontal migration on translation module (A13), actuating mechanism (A11) is including sucking disc (A111) and sucking disc seat (A112), a plurality of sucking discs (A111) are installed to sucking disc seat (A112) bottom, sucking disc seat (A112) is connected with lift module (A12), lift module (A12) control sucking disc seat (A112) vertical migration.

8. The automatic dish dispenser of claim 7, wherein: a storage area (A7) of the dinner plate is arranged below the executing mechanism (A11), and a partition plate (A5) is vertically arranged on one side of the storage area (A7).

9. The automatic dish dispenser of claim 6, wherein: first climbing mechanism (A2) include first jacking device (A21) and jacking conveyer belt (A22), and horizontal transport is carried out in jacking conveyer belt (A22), and first jacking device (A21) drive jacking conveyer belt (A22) and carry out vertical lift.

10. The automatic dish dispenser of claim 6, wherein: the second jacking mechanism (B1) comprises a second jacking device, two outer conveying belts (B2) and an inner conveying belt (B3), the number of the outer conveying belts (B2) is two, the two outer conveying belts are respectively arranged on two sides of the inner conveying belt (B3), a synchronizing wheel (B21) is arranged on each outer conveying belt (B2), a connecting shaft (B22) and a driving device are arranged between synchronizing wheels (B21) of the two outer conveying belts (B2), the driving device controls the synchronizing wheels (B21) to rotate, the two outer conveying belts (B2) are synchronously conveyed, the second jacking device is fixed at the bottom of the inner conveying belt (B3), and the second jacking device controls the inner conveying belt (B3) to perform lifting motion relative to the outer conveying belt (B2).

11. The automatic dish dispenser of claim 6, wherein: the conveying line C section (C) is provided with a vegetable taking position, and a plurality of placement racks (C1) are arranged above the vegetable taking position.

12. The automatic dish dispenser of claim 6, wherein: and an RFID reader-writer is arranged on the conveying belt of the section C of the conveying line.

13. The automatic dish dispenser of claim 6, wherein: the conveyor line C section (C) is provided with a scanner and a printer assembly (C2).

14. The automatic dish dispenser of claim 1, wherein: goods shelves (F) include frame (F1) and slide (F2), frame (F1) are provided with a plurality of slides (F2) on the slope, the height of slide (F2), low both ends erect respectively on high-order crossbeam (F11) and low-order crossbeam (F12), single high-order crossbeam (F11) and low-order crossbeam (F12) are a set of, frame (F1) are provided with a plurality of groups high-order crossbeam (F11) and low-order crossbeam (F12) on vertical direction, a plurality of slides (F2) are arranged to every group top.

15. The automatic dish dispenser of claim 14, wherein: the high-position cross beam (F11) is provided with a plurality of high-position clamping pieces (F13), the low-position cross beam (F12) is provided with a plurality of low-position clamping pieces (F14), and the slide way (F2) is clamped between the high-position clamping pieces (F13) and the low-position clamping pieces (F14).

16. The automatic dish dispenser of claim 14, wherein: and a plurality of RFID readers are arranged on the goods shelf (F).

17. The automatic dish dispenser of claim 15, wherein: a plurality of indicator lamps (F131) or displays (F132) are arranged on the side surface of the high-position clamping piece (F13).

18. The automatic dish dispenser of claim 15, wherein: and a soft buffer piece (F15) is arranged on the side surface of the low-position clamping piece (F14) close to the slide way (F2).

19. The automatic dish dispenser of claim 14, wherein: the frame (F1) is provided with a vibrator.

20. The automatic dish discharging machine according to any one of claims 1 to 19, wherein: the vegetable distribution and conveying line comprises an outer shell (G) which covers the vegetable distribution mechanism and the vegetable outlet conveying line, and one part of the vegetable outlet conveying line extends out of the outer shell (G) and is exposed outside.

21. The automatic dish dispenser of claim 20, wherein: a door body is arranged at the position where the dish outlet conveying line extends out of the outer shell (G).

22. The automatic dish dispenser of claim 20, wherein: the outer shell (G) is provided with a show window (G2), and the show window (G2) is provided with dimming glass.

23. The automatic dish dispenser of claim 20, wherein: the outer side of the outer shell (G) is provided with a plurality of display screens (I).

24. The automatic dish dispenser of claim 20, wherein: and a refrigerating device is arranged inside the outer shell (G).

25. An intelligent dish serving system, comprising the automatic dish serving machine as claimed in any one of claims 1 to 24, wherein: the automatic dish ordering system comprises an ordering module, a dish outlet module, a dish delivery module, a central control module and a database, wherein the dish outlet module is an automatic dish outlet machine, a customer selects required dishes through the ordering module to form a menu to be sent to the central control module and the database, the central control module sends an instruction to the dish outlet module, the dish outlet module sorts and dispenses dishes, and the dishes are received by the dish delivery module and are transferred to a place appointed by the customer.

26. The intelligent dish serving system according to claim 25, wherein: the dish discharging module comprises a goods shelf unit and a sorting unit, a plurality of goods channels are arranged on the goods shelf unit, a plurality of dishes are placed on each goods channel, each goods channel is responsible for a single variety of dishes, and the sorting unit moves to the corresponding goods channel and transfers out the needed dishes according to an instruction sent by the central control module.

27. The intelligent dish serving system according to claim 25, wherein: the dish discharging module comprises a dish discharging sensing unit, and when dishes in the dish discharging module are discharged, the dish discharging sensing unit sends the information of the dishes to the database.

28. The intelligent dish serving system according to claim 25, wherein: the dish delivery module comprises a scanning unit or a printing unit, an electronic tag is displayed when dishes are picked up by the dish delivery module, the scanning unit scans and inputs information of the dish delivery module, the information is sent to the database, and the printing unit prints menu information or customer information.

29. The intelligent dish serving system according to claim 25, wherein: the dish delivery module comprises a display unit, and the display unit displays one or more of menu information, customer information, dish information in stock and meal delivery module information.

30. The intelligent dish serving system according to claim 26, wherein: the shelf unit has two modes, namely a dish discharging mode and a dish supplementing mode, and pushes dishes on each goods channel to the front row of the goods channel when the shelf unit is in the dish discharging mode or the dish supplementing mode.

31. The intelligent dish serving system according to claim 30, wherein: the shelf unit comprises an RFID reader-writer, and when the shelf unit is in a dish supplementing mode, the RFID reader-writer reads and writes dish information and quantity of dishes in a dish supplementing channel and sends the dish information and quantity to the database.

32. The intelligent dish serving system according to claim 30, wherein: the shelf unit comprises an indicating lamp and a display, when the shelf unit is in a dish supplementing mode, the central control module sends an instruction to the indicating lamp and the display, when a variety of dishes are supplemented, the indicating lamp on the goods channel for storing the corresponding variety gives an external instruction, and the display of the goods channel displays the quantity of the dishes to be supplemented or the quantity of the dishes on the goods channel.

33. The intelligent dish serving system according to claim 30, wherein: the shelf unit comprises indicating lamps and a display, when the shelf unit is in a dish supplementing mode, a plurality of channels for storing the same type of dishes correspond to a single electronic tag, and when an external reader reads and writes the electronic tag, the indicating lamps or the display on the plurality of channels for storing the same type of dishes correspond to each other in a unified mode.