CN213010798U

CN213010798U - Automatic plate loading and meal discharging machine

Info

Publication number: CN213010798U
Application number: CN202021675454.6U
Authority: CN
Inventors: 陈龙; 莫惟高; 陈泽庭; 朱钊圣; 李海然
Original assignee: Guangdong Zhiyuan Robot Technology Co Ltd
Current assignee: Guangdong Zhiyuan Robot Technology Co Ltd
Priority date: 2020-08-12
Filing date: 2020-08-12
Publication date: 2021-04-20
Anticipated expiration: 2030-08-12

Abstract

The utility model discloses an automatic hanging wall meal delivery machine, include: a frame; the lifting assembly is arranged on the rack and comprises a placing table and a first driving module, and the first driving module drives the placing table to reciprocate in a first preset direction; the picking assembly comprises a second driving module and at least one sucker, the sucker is arranged towards the placing table, and the second driving module drives the sucker to reciprocate in a first preset direction; the clamping assembly comprises a third driving module and at least two clamping parts which are arranged separately, the two clamping parts are positioned on two sides of a reciprocating path of the sucker in a first preset direction, and the third driving module drives the clamping parts to relatively approach or move away in a second preset direction; and the fourth driving module drives the clamping assembly to reciprocate in a third preset direction. The automatic plate loading and meal discharging machine is compact in structure, reasonable in whole space utilization and small in size. And meanwhile, the picking assembly is added, so that the effective work of the clamping assembly can be ensured, and the applicability is strong.

Description

Automatic plate loading and meal discharging machine

Technical Field

The utility model relates to a meal equipment field, in particular to automatic hanging wall meal delivery machine.

Background

The plate loading machine in the existing market has two types, the first type of plate loading machine separates from the plate delivery mechanism, so that the plate loading machine comprises the two mechanisms, the whole size is larger, and the plate delivery needs to be moved far, so that the plate delivery efficiency is not high. The second type of plate loading machine only has the plate loading function and does not have the function of meal delivery, and the functions are simplified; and its upper plate clamping part adopts the cylinder to push and press from both sides tightly, and after tray and tray stack together, if the space between two trays is not enough, then lead to the cylinder to push clamping mechanism work inefficacy easily.

SUMMERY OF THE UTILITY MODEL

An object of the utility model is to provide an automatic hanging wall meal delivery machine can realize hanging wall function and the set of meal delivery function, increases simultaneously and picks up the subassembly to ensure clamping component's effective work.

The utility model adopts the technical proposal that:

an automatic plate loading meal delivery machine, comprising:

a frame;

the lifting assembly is arranged on the rack and comprises a placing table and a first driving module, and the first driving module drives the placing table to reciprocate in a first preset direction;

the picking assembly is arranged on the rack and comprises a second driving module and at least one sucker, the sucker is positioned above the lifting assembly and arranged towards the placing table, and the second driving module drives the sucker to move in a reciprocating mode in a first preset direction;

the clamping assembly is arranged on the rack and comprises a third driving module and at least two clamping parts which are arranged separately, the two clamping parts are positioned on two sides of a reciprocating movement path of the sucker in a first preset direction, and the third driving module drives the clamping parts to relatively approach or move away in a second preset direction; and

and the fourth driving module drives the clamping assembly to reciprocate in a third preset direction.

In some embodiments, the pickup assembly further includes a rotating arm, one end of the rotating arm is connected to the suction cup, and the other end of the rotating arm is rotatably disposed on the second driving module.

In some embodiments, the number of the sucking discs is at least two, and the rotating arm drives one of the sucking discs to move above the placing table so as to adjust the interval between the sucking discs and the adjacent sucking disc.

In some embodiments, a sliding block and a pushing block are arranged between the clamping assembly and the fourth driving module, the clamping assembly includes clamping portions respectively located at two sides of the placing table, the clamping portions are fixedly connected with the sliding block, the sliding block is slidably arranged on the pushing block, and the fourth driving module drives the pushing block to move in a third preset direction in a reciprocating manner.

In some embodiments, the clamping portion includes a slide rail, the slide rail includes a fixing portion and a sliding portion, the slide block is fixedly connected to the sliding portion, the third driving module is connected to the fixing portion, and the third driving module drives the slide rail to move closer to or away from the second preset direction.

In some embodiments, the clamping portion further includes clamping blocks, the clamping blocks are respectively disposed on opposite side surfaces of the two sliding portions, the number of the clamping blocks on each sliding portion is two, and the clamping blocks are respectively distributed at two ends of the sliding portion along a third preset direction.

In some embodiments, the fourth driving module is a belt transmission connecting mechanism, the transmission direction of the belt transmission connecting mechanism is consistent with the sliding direction of the sliding rail, and the pushing block is fixedly connected with a transmission belt of the belt transmission connecting mechanism.

In some embodiments, the sliding block is an L-shaped member, one side of the sliding block is fixedly connected to the sliding portion, the other side of the sliding block is provided with at least one sliding slot along a second preset direction, the top of the pushing block is provided with a corresponding number of guide posts, and the guide posts are movably inserted into the sliding slots.

In some of these embodiments, the first drive module, the second drive module, and the third drive module are telescopic pneumatic cylinders or telescopic hydraulic cylinders.

In some embodiments, the automatic plate feeding meal delivering machine further comprises at least two limiting members which are vertically arranged around the periphery of the lifting assembly in a surrounding manner.

Has the advantages that: the lifting assembly drives the trays to ascend, the picking assembly absorbs the tray on the top, the lifting assembly drives the trays to descend, two adjacent trays on the top are separated at a large interval, and then the clamping assembly clamps the trays to ensure effective clamping of the trays; meanwhile, the fourth driving module can drive the clamping assembly to move forwards to realize meal delivery. The automatic plate feeding and meal delivering machine realizes the integration of plate feeding and meal delivering functions, and is compact in structure, reasonable in whole space utilization and small in size. And meanwhile, the picking assembly is additionally arranged, so that the effective work of the clamping assembly can be ensured, the problem of clamping failure caused by small interval between adjacent trays is solved, and the applicability is strong.

Drawings

The invention will be further described with reference to the following figures and examples:

fig. 1 is a schematic view of the overall structure of an automatic plate loading and meal delivering machine according to an embodiment of the present invention;

fig. 2 is a schematic structural diagram of a pickup assembly according to an embodiment of the present invention;

FIG. 3 is a schematic structural view of a clamping assembly according to an embodiment of the present invention;

fig. 4 is a schematic structural diagram of a fourth driving module according to an embodiment of the present invention.

Detailed Description

This section will describe in detail the embodiments of the present invention, preferred embodiments of the present invention are shown in the attached drawings, which are used to supplement the description of the text part of the specification with figures, so that one can intuitively and vividly understand each technical feature and the whole technical solution of the present invention, but they cannot be understood as the limitation of the protection scope of the present invention.

In the description of the present invention, it should be understood that the orientation or positional relationship indicated with respect to the orientation description, such as up, down, front, rear, left, right, etc., is based on the orientation or positional relationship shown in the drawings, and is only for convenience of description and simplification of description, and does not indicate or imply that the device or element 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.

In the description of the present invention, a plurality of means are one or more, a plurality of means are two or more, and the terms greater than, less than, exceeding, etc. are understood as not including the number, and the terms greater than, less than, within, etc. are understood as including the number. If the first and second are described for the purpose of distinguishing technical features, they are not to be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated or implicitly indicating the precedence of the technical features indicated.

In the description of the present invention, unless there is an explicit limitation, the words such as setting, installation, connection, etc. should be understood in a broad sense, and those skilled in the art can reasonably determine the specific meanings of the above words in combination with the specific contents of the technical solution.

The front, back, left, right, up and down directions of the automatic plate serving machine are defined in fig. 1 to assist the following directional descriptions. In this embodiment, the first preset direction corresponds to the up-down direction of the mark in the drawing, the second preset direction corresponds to the left-right direction of the mark in the drawing, and the third preset direction corresponds to the front-back direction of the mark in the drawing.

Referring to fig. 1 to 4, an automatic plate feeding and meal discharging machine according to an embodiment of the present invention includes a frame 100, a lifting assembly 110, a picking assembly 120, a clamping assembly 130, and a fourth driving module 140.

Wherein the lifting assembly 110 is mounted on the frame 100 for controlling the lifting and lowering of the tray 136. The lifting assembly 110 includes a placing table 112 and a first driving module, and the first driving module drives the placing table 112 to reciprocate up and down. The trays 136 are stacked on the placement table 112, and the number of stacked trays 136 depends on the height dimension of the lifting assembly 110. In some embodiments, the first drive module is a telescopic pneumatic cylinder or a telescopic hydraulic cylinder. In other embodiments, the first drive module is a lead screw mechanism or other common mechanical structure that can provide linear movement.

And the picking assembly 120 is arranged on the machine frame 100 and is positioned above the lifting assembly 110 and used for realizing the suction of the tray 136. The picking assembly 120 includes a second driving module and at least one suction cup 126, the suction cup 126 being disposed toward the placing stage 112, the second driving module driving the suction cup 126 to reciprocate up and down. When the lifting assembly 110 drives the tray 136 to rise to a designated height, the second driving module drives the suction cup 126 to move downward, so that the suction cup 126 sucks the tray 136; the lifting assembly 110 then moves the trays 136 downward so that the two uppermost trays 136 are separated by a large distance. It will be appreciated that the at least one suction cup 126, which may be one, two or more, may be selected with regard to practical needs and effects.

And a clamping assembly 130 mounted on the frame 100 for clamping the tray 136. The clamping assembly 130 includes a third driving module and at least two separately disposed clamping portions, the two clamping portions are located at two sides of the reciprocating path of the suction cup 126 in the first predetermined direction, and the third driving module drives the clamping portions to move closer to or away from each other. After the two topmost trays 136 are separated at a large interval, the third driving module drives the clamping parts to be relatively close to each other, so that the trays 136 are clamped, and the clamped trays 136 are separated from the trays 136 at the lower part at a large interval, so that accurate clamping of the clamping parts can be completely realized, and the possibility of interference of the trays 136 below is eliminated. It is understood that the at least two separately arranged clamping portions may be two or more. The principle of clamping the tray 136 is that under the driving of the third driving module, the tray 136 is stably clamped by at least two or more clamping parts respectively clamped at different directions of the tray 136.

And a fourth driving module 140 for driving the clamping assembly 130 to reciprocate in a preset direction to perform a meal delivery function. It should be understood that the preset direction is the direction for meal delivery, and the fourth driving module 140 drives the clamping assembly 130 to move back and forth in the meal delivery direction to complete the meal delivery. In this embodiment, the preset direction is the front-back direction of the automatic feeding and meal discharging machine, after the tray 136 is stably clamped by the clamping assembly 130, dishes can be manually or automatically placed on the tray 136, and after the feeding is completed, the clamping assembly 130 is driven to move forward by the fourth driving module 140, so that the meal feeding action is completed.

The lifting assembly 110 drives the trays 136 to ascend, the picking assembly 120 sucks the tray 136 at the top, then the lifting assembly 110 drives the trays 136 to descend, two adjacent trays 136 at the top are separated at a large interval, and then the clamping assembly 130 clamps the trays 136, so that the trays 136 are effectively clamped; meanwhile, the fourth driving module 140 can drive the clamping assembly 130 to move forward to deliver food. The automatic plate feeding and meal delivering machine realizes the integration of plate feeding and meal delivering functions, and is compact in structure, reasonable in whole space utilization and small in size. Meanwhile, the picking assembly 120 is added, so that the effective work of the clamping assembly 130 can be ensured, the problem of clamping failure caused by small interval between adjacent trays 136 is solved, and the applicability is strong.

In some embodiments, the picking assembly 120 further includes a rotating arm 125, one end of the rotating arm 125 is connected to the suction cup 126, and the other end of the rotating arm 125 is rotatably disposed on the second driving module. On one hand, the second driving module drives the rotating arm 125 to move up and down, and further drives the suction cup 126 to move up and down; on the other hand, the rotating arm 125 can rotate relative to the second driving module, in the using process, the position of the suction cup 126 above the tray 136 can be changed by adjusting the rotating arm 125, and when the size and the relative position of the tray 136 are changed, the suction cup 126 is located at a proper position by adjusting the rotating arm 125, so that the stable suction tray 136 of the suction cup 126 is facilitated. In some embodiments, the second drive module is a telescopic pneumatic cylinder or a telescopic hydraulic cylinder. In other embodiments, the second drive module is a lead screw mechanism or other common mechanical structure that can provide linear movement.

Further, the number of the suction cups 126 is two, and the rotating arm 125 drives the suction cups 126 to move above the placing table 112 to adjust the interval between the suction cups 126, by which the suction of the trays 136 of different sizes can be accommodated. Specifically, one ends of the two rotating arms 125 to which the suction cups 126 are connected are located inside directly above the placing table 112, and the rotation centers of the two rotating arms 125 are located outside directly above the placing table 112. The two suckers 126 are arranged, so that stable suction is met, and cost is saved. In order to expand the adjustment range of the suction cups 126 above the tray 136 as much as possible, the rotation centers of the two rotating arms 125 are both arranged outside the placing table 112 directly above, and the two suction cups 126 are substantially located at the left and right sides directly above the tray 136, so that the adjustment effect is good.

In other embodiments, the number of suction cups 126 may be 3 or more, and the number of suction cups 126 may be set in accordance with the need for a heavier tray 136.

In some embodiments, a sliding block 137 and a pushing block 146 are disposed between the clamping assembly 130 and the fourth driving module 140, the clamping assembly 130 includes two clamping portions respectively disposed at the left and right sides of the placing table 112, the clamping portions are fixedly connected to the sliding block 137, the sliding block 137 and the pushing block 146 are slidably connected in the left-right direction, and the fourth driving module 140 drives the pushing block 146 to reciprocate back and forth. In this embodiment, the clamping assembly 130 is provided with two clamping portions separated from each other left and right for clamping the tray 136, and the clamping and releasing of the tray 136 can be realized by the relative or deviating movement of the two clamping portions in the left and right directions. The slide block 137 is provided to slide left and right with respect to the push block 146, and guides the holding portion in the left-right direction, providing a degree of freedom for the movement of the holding portion in the left-right direction.

Further, the clamping portion includes slide rails, the slide rails include a fixing portion 133 and a sliding portion 134, the sliding block 137 is fixedly connected with the sliding portion 134, the third driving module is connected with the fixing portion 133, and the third driving module drives the two slide rails to slide in the left-right direction. The third driving module is connected with the fixing part 133 to drive the fixing part 133 to move left and right, and simultaneously, the sliding part 134 moves left and right to complete clamping or loosening. In some embodiments, the third drive module is a telescopic pneumatic cylinder or a telescopic hydraulic cylinder. In other embodiments, the third drive module is a lead screw mechanism or other common mechanical structure that can provide linear movement.

In some embodiments, the clamping portion further includes clamping blocks 135, the clamping blocks 135 are respectively disposed on opposite sides of the two sliding portions 134, and the number of the clamping blocks 135 on each sliding portion 134 is two, and the clamping blocks 135 are respectively distributed at front and rear ends of the sliding portion 134.

In order to fit a conventional square tray 136, the total number of the holding blocks 135 is set to four for holding four corners of the square tray 136. Further, in order to hold and hold the tray 136, the holding block 135 has an upper surface formed with an arc-shaped groove for fitting four rounded corners of the tray 136. The arc-shaped grooves of the four clamping blocks 135 are arranged oppositely, the arc-shaped side surfaces of the arc-shaped grooves are used for applying clamping force, and the bottom surfaces of the arc-shaped grooves are used for supporting the tray 136, so that the tray 136 is prevented from falling off due to too heavy bearing.

In some embodiments, the fourth driving module 140 is a belt driving connection mechanism, the driving direction of the belt driving connection mechanism is the same as the sliding direction of the slide rail, and the pushing block 146 is fixedly connected with the driving belt of the belt driving connection mechanism. When the transmission belt of the belt transmission connection mechanism moves back and forth, the pushing block 146 can move along with the transmission belt, and then the sliding part 134 of the sliding rail is driven to move in the front and back direction, so that the food delivery action is completed. In other embodiments, the fourth driving module 140 is a screw mechanism, the transmission direction of the screw mechanism is the same as the sliding direction of the slide rail, the pushing block 146 is fixedly connected to the sliding bearing of the screw mechanism, and the motor 141 drives the screw to rotate, so as to drive the pushing block 146 to reciprocate in the front-rear direction.

In some of these embodiments, the sliding block 137 is an L-shaped member that wraps around the sides and under the slide rails. One side of the sliding block 137 is fixedly connected with the sliding portion 134, the other side is located below the sliding portion 134, and at least one sliding slot 1371 is arranged along the left-right direction, the top of the pushing block 146 is provided with a corresponding number of guiding posts 1461, and the guiding posts 1461 are movably inserted into the sliding slots 1371. The guide posts 1461 can move left and right along the sliding slots 1371, and when the third driving mechanism drives the pushing block 146 to move back and forth, the guide posts 1461 abut against the side portions of the sliding slots 1371, so as to drive the sliding portion 134 to move back and forth.

In some embodiments, the automatic plate feeding and meal delivering machine further comprises two limiting members which are vertically arranged around the periphery of the lifting assembly in a surrounding manner. Specifically, the limiting members are blocking rods 151, the blocking rods 151 are vertically arranged on the rack 100, and two blocking rods 151 are respectively arranged on two sides of the placing table 112. After the tray 136 is placed on the placing table 112, the blocking rods 151 are respectively located at two sides of the tray 136 to limit the left and right displacement of the tray 136, so as to prevent the tray 136 from inclining or toppling.

In other embodiments, the number of stop members is 3 or more.

With continued reference to fig. 1, in some embodiments, the lift assembly 110 is fixedly mounted to the frame 100, particularly via a lift assembly mounting base 111. The bottom of the frame 100 is provided with a mounting base plate 152, and the stop rod 151 is fixedly mounted on the frame 100 through the mounting base plate 152.

With continued reference to fig. 2, in some embodiments, the picking assembly 120 is fixedly mounted to the frame 100, in particular, by a picking assembly mounting base plate 121, the picking assembly 120 further includes an oilless bushing 124 and a clamping cylinder mounting base plate 123, the second driving module is in particular a first telescopic pneumatic cylinder 122, the first telescopic pneumatic cylinder 122 is fixedly mounted below by the picking assembly mounting base plate 121, a telescopic rod of the first telescopic pneumatic cylinder 122 is assembled to the clamping cylinder mounting base plate 123 by the oilless bushing 124, and the telescopic rod is connected to the rotating arm 125 after passing through the clamping cylinder mounting base plate 123. The telescopic rod reciprocates up and down under the guidance of the oilless bushing 124.

With continued reference to fig. 1, 3, and 4, in some embodiments, the fourth driving module 140 includes a motor 141, a transmission shaft 142, a belt fixing block 143, a guide bar 144, a linear bearing 145, a pusher block 146, and a meal delivery module mounting base plate. The meal delivery module mounting substrate provides a mounting position for the fourth driving module 140, and the motor 141 drives the transmission shaft 142 to rotate, and drives the linear bearing 145 to move linearly in the direction of the guide rod 144 through the belt fixing block 143. The sliding block 137 is fixed on the sliding part 134 of the sliding rail, the sliding slot 1371 of the sliding block 137 is embedded and matched with the guiding column 1461 of the pushing block 146, and the movable sliding block 137 is pushed to move along the guiding rod 144 by the pushing block 146.

The clamp assembly 130 includes a second telescopic pneumatic cylinder 132, a slide rail, a clamp cylinder mounting block 131, a tray 136, and a clamp block 135. The telescopic rod of the second telescopic pneumatic cylinder 132 is connected with the fixing part 133 of the slide rail, the second telescopic pneumatic cylinder 132 is installed on the clamping cylinder installation base plate 123, and the tray 136 is supported or clamped by the clamping block 135, so that the package position can be conveniently placed on the tray 136 at will.

The lifting assembly 110 lifts the tray 136 to a designated position, the picking assembly 120 sucks the tray 136 through the suction cups 126, then the lifting assembly 110 descends, the clamping assembly 130 extends out, meanwhile, the suction cups 126 release the sucked tray 136, and then the tray 136 is clamped, so that various dishes can be placed on the tray 136 by other mechanisms or manually; after the dishes are placed, the fourth driving module 140 drives the clamping assembly 130 to move forward, so that the tray 136 is transported to the front of the customer for the customer to take the dishes; after the meal is taken, the fourth driving module 140 moves back to wait for the next meal delivery.

The embodiments of the present invention have been described in detail with reference to the accompanying drawings, but the present invention is not limited to the above embodiments, and various changes can be made without departing from the gist of the present invention within the scope of knowledge possessed by those skilled in the art.

Claims

1. The utility model provides an automatic hanging dish meal delivery machine which characterized in that includes:

a frame;

2. The automatic plate serving machine of claim 1, wherein: the picking assembly further comprises a rotating arm, one end of the rotating arm is connected with the sucking disc, and the other end of the rotating arm is rotatably arranged on the second driving module.

3. The automatic plate serving machine of claim 2, wherein: the number of the sucking discs is at least two, and the rotating arm drives one of the sucking discs to move above the placing table so as to adjust the interval between the sucking disc and the adjacent sucking disc.

4. The automatic plate serving machine as claimed in claim 1, 2 or 3, wherein: the clamping assembly and the fourth driving module are provided with a sliding block and a pushing block, the clamping assembly comprises clamping portions which are located on two sides of the placing table respectively, the clamping portions are fixedly connected with the sliding block, the sliding block is arranged on the pushing block in a sliding mode, and the fourth driving module drives the pushing block to move in a third preset direction in a reciprocating mode.

5. The automatic plate serving machine of claim 4, wherein: the clamping part comprises a slide rail, the slide rail comprises a fixed part and a sliding part, the slide block is fixedly connected with the sliding part, the third driving module is connected with the fixed part, and the third driving module drives the slide rail to relatively approach or keep away from sliding in the second preset direction.

6. The automatic plate serving machine of claim 5, wherein: the clamping part still includes the grip block, the grip block sets up respectively two on the relative side of sliding part, every the quantity of the grip block on the sliding part is two, and distributes respectively along the third direction of predetermineeing the both ends of sliding part.

7. The automatic plate serving machine of claim 5, wherein: the fourth driving module is a belt transmission connecting mechanism, the transmission direction of the belt transmission connecting mechanism is consistent with the sliding direction of the sliding rail, and the pushing block is fixedly connected with a transmission belt of the belt transmission connecting mechanism.

8. The automatic plate serving machine of claim 5, wherein: the sliding block is an L-shaped component, one side of the sliding block is fixedly connected with the sliding part, at least one sliding groove is formed in the other side of the sliding block along the second preset direction, the top of the pushing block is provided with a corresponding number of guide posts, and the guide posts are movably inserted into the sliding grooves.

9. The automatic plate serving machine of claim 1, wherein: the first driving module, the second driving module and the third driving module are telescopic pneumatic cylinders or telescopic hydraulic cylinders.

10. The automatic plate serving machine of claim 4, wherein: the automatic plate feeding and meal discharging machine further comprises at least two limiting members, and the limiting members are vertically arranged on the periphery of the lifting assembly in a surrounding mode.