WO2022213508A1

WO2022213508A1 - Ice cream machine, holding device, front door mechanism, feeding integrated device, vending machine, and unmanned vending apparatus

Info

Publication number: WO2022213508A1
Application number: PCT/CN2021/106799
Authority: WO
Inventors: 李文胜; 佘启鸿; 吴啟菡; 王广河; 郭世均; 邱咪
Original assignee: 广东智源机器人科技有限公司
Priority date: 2021-04-09
Filing date: 2021-07-16
Publication date: 2022-10-13

Abstract

The present application relates to an ice cream machine, a holding device, a front door mechanism, a feeding integrated device, a vending machine, and an unmanned vending device. The feeding integrated device comprises a rack, a first feeding module and a second feeding module, wherein the first feeding module is provided with a material box for storing a solid material and a discharging structure connected to the material box; and the second feeding module is provided with a liquid storage bottle and a conveying pump, and an outlet of the conveying pump is connected to the discharging structure. Thus, the function of outputting many kinds of materials from the same discharging structure is achieved, and a feeding process is simplified. Moreover, the conveying pump is arranged below the material box, and an idle space below the material box is utilized, such that the waste of space is reduced, the overall structure is more compact, and the utilization rate of space is increased.

Description

Ice cream machine, clamping device, front door mechanism, integrated feeding device, automatic vending machine and unmanned vending equipment

CROSS-REFERENCE TO RELATED APPLICATIONS

This application claims the priority of the Chinese patent application with the application number CN202120728359.6 and the application name "Integrated Feeding Device and Automatic Vending Machine" filed with the Chinese Patent Office on April 9, 2021, the entire contents of which are incorporated by reference in in this application;

This application claims the priority of the Chinese patent application with the application number CN202121080424.5 and the application name "An ice cream maker" submitted to the Chinese Patent Office on May 19, 2021, the entire contents of which are incorporated into this application by reference;

This application claims the priority of the Chinese patent application with the application number CN202121081324.4 and the application name "Clamping Device" filed with the Chinese Patent Office on May 19, 2021, the entire contents of which are incorporated into this application by reference;

This application claims the priority of the Chinese patent application with the application number CN202121081321.0 and the application name "Unmanned Sales Equipment and Front Door Mechanism" filed with the Chinese Patent Office on May 19, 2021, the entire contents of which are incorporated herein by reference Applying.

technical field

The present application relates to the field of food processing equipment, in particular to an ice cream maker, a clamping device, a front door mechanism, an integrated feeding device, an automatic vending machine and an unmanned vending device.

Background technique

At present, the automatic ice cream vending machines on the market have at least the following problems:

(1). Most of the feeding mechanisms or unloading devices configured in the automatic ice cream vending machine only support the addition of a single ingredient; and there are few feeding mechanisms that can support the addition of multiple ingredients, and their space is relatively large. , and the structure is more complex, so the internal space utilization rate is low.

(2). Automatic ice cream vending machines all have a gripper mechanism to realize the problem of grasping and moving materials. However, the structures of these gripping jaw mechanisms are usually complex, and cannot realize the function of gripping or releasing in a small space area, thus increasing the occupied space of the equipment and making the internal space utilization rate low.

(3) In order to ensure the hygiene and safety of products such as milk tea or ice cream during the production process, it is usually necessary to separate the internal area of unmanned vending equipment such as automatic ice cream vending machines from the external area. Therefore, unmanned vending devices are often equipped with a front door mechanism that can automatically open or close. However, when customers pick up the goods, the front door mechanism of the unmanned vending equipment needs to be opened, so that the internal contamination of the equipment caused by the customers bringing their hands or other foreign objects into the equipment cannot be avoided.

SUMMARY OF THE INVENTION

The present application aims to solve one of the technical problems in the related art at least to a certain extent. To this end, the present application provides an ice cream maker, a clamping device, a front door mechanism, an integrated feeding device, an automatic vending machine, and an unmanned vending device.

The above objects are achieved by the features of the independent claims. Further implementations are embodied in the dependent claims, the description and the drawings.

An embodiment of the first aspect of the present application provides an ice cream maker. The ice cream maker includes:

frame;

a cake-making mechanism, installed on the rack, and the cake-making mechanism is used for preparing ice cream;

A feeding mechanism is installed on the frame, and the feeding mechanism includes:

a first feeding module, the first feeding module is provided with a material box and a discharging structure connected to the material box, and the material box is used for storing solid materials;

The second feeding module includes a liquid storage bottle and a transfer pump connected to the liquid storage bottle, the outlet of the transfer pump is connected to the discharge structure, the transfer pump is installed on the frame, and the transfer pump arranged below the material box;

A transport mechanism is installed on the rack, and the transport mechanism is used for transporting the ice cream cups so as to receive ice cream and add materials.

The embodiment of the second aspect of the present application provides an integrated device for feeding. The feeding integrated device includes:

frame;

a first feeding module, fixed on the frame, the first feeding module is provided with a material box and a discharging structure connected to the material box, and the material box is used for storing solid materials;

The second feeding module includes a liquid storage bottle and a transfer pump connected to the liquid storage bottle, the outlet of the transfer pump is connected to the discharge structure, the transfer pump is installed on the frame, and the transfer pump located below the material box.

An embodiment of a third aspect of the present application provides an automatic vending machine. The automatic vending machine includes a feeding integrated device.

An embodiment of the fourth aspect of the present application provides a clamping device. The clamping device includes:

mount;

a first clamping piece, the first end of the first clamping piece is rotatably arranged on the mounting seat;

a second clamping piece, the first end of the second clamping piece is rotatably arranged on the mounting seat;

A pusher, the pusher is arranged between the first clamp and the second clamp, the pusher can reciprocate and drive the first end of the first clamp and the second clamp respectively. the first end of the second clamping member is rotated; and

an elastic piece, the elastic piece is arranged on the mounting seat, the elastic piece is in contact with or connected with the push piece, wherein the push piece is used to squeeze or stretch the elastic piece and drive the first The second end of a clamping member and the second end of the second clamping member are far away from each other, and the elastic member is used to return and drive the pushing member to move, so that the second end of the first clamping member is The end and the second end of the second clamping member are close to each other and form a clamping space.

Embodiments of the fifth aspect of the present application provide a front door mechanism. The front door mechanism includes:

a front panel, the front panel is provided with a meal taking port;

A meal-out module, the meal-out module is connected to the front panel, and the meal-out module is provided with a accommodating cavity for accommodating commodities, the accommodating cavity has an opposite first opening and a second opening, the first opening communicated with the meal taking port, and the meal serving module is further provided with a first limiting groove penetrating the bottom of the meal serving module and a second limiting groove on the side of the meal serving module;

a first door body, the first door body is slidably inserted in the first limiting groove;

a first lifting module, the first lifting module is connected with the first door body, and the first lifting module is used for driving the first door body to open or close the first opening;

a second door body, the second door body slidingly fits with the second limiting groove; and,

A second lifting module, the second lifting module is connected with the second door body, and the second lifting module is used to drive the second door body to open or close the second opening.

The embodiment of the sixth aspect of the present application provides an unmanned vending device. The unmanned vending device includes a front door mechanism.

Description of drawings

Fig. 1 is the overall appearance schematic diagram of the ice cream machine of the embodiment of the first aspect of the present application;

Fig. 2 is the internal structure schematic diagram of the ice cream maker shown in Fig. 1;

Fig. 3 is the structural representation of the feeding mechanism in the ice cream machine shown in Fig. 1;

Fig. 4 is the structural representation of the first feeding module in the ice cream machine shown in Fig. 1;

Fig. 5 is the partial enlarged schematic diagram of A place in Fig. 4;

Fig. 6 is the structural representation of the conveying mechanism in the ice cream maker shown in Fig. 1;

Fig. 7 is the structural representation of the clamping device in the ice cream maker shown in Fig. 1;

Fig. 8 is the connection schematic diagram of the clamping member, the pushing member and the elastic member in the ice cream maker shown in Fig. 1;

9 is a cross-sectional view of a refrigerator and a load-bearing assembly in the ice cream maker shown in FIG. 1;

Figure 10 is an axial view of the meal delivery mechanism in the ice cream maker shown in Figure 1;

FIG. 11 is an axial view from another direction of the meal delivery mechanism in the ice cream maker shown in FIG. 1;

Fig. 12 is the back schematic diagram of the meal delivery mechanism in the ice cream maker shown in Fig. 1;

Fig. 13 is the exploded structure schematic diagram of the meal delivery mechanism in the ice cream machine shown in Fig. 1;

Fig. 14 is a partial enlarged schematic diagram at B in Fig. 13;

Fig. 15 is a partial enlarged schematic diagram at C in Fig. 10;

Fig. 16 is the exploded structure schematic diagram of the weighing assembly in the ice cream maker shown in Fig. 1;

Fig. 17 is the assembly structure schematic diagram of the weighing assembly in the ice cream maker shown in Fig. 1;

18 is an overall assembly diagram of the feeding integrated device according to the embodiment of the second aspect of the application;

19 is a schematic diagram of a cup drop module in the feeding integrated device according to the embodiment of the second aspect of the application;

Fig. 20 is a partial enlarged schematic diagram at D in Fig. 19;

FIG. 21 is a schematic assembly diagram of a first feeding module and a second feeding module in the feeding integrated device according to the embodiment of the second aspect of the application;

FIG. 22 is a front view of the frame in the feeding integrated device according to the embodiment of the second aspect of the application;

FIG. 23 is a first structural schematic diagram of the clamping device according to the embodiment of the fourth aspect of the application after removing the casing;

24 is a partial structural schematic diagram of the elastic member in the clamping device according to the embodiment of the fourth aspect of the present application after returning;

Figure 25 is a cross-sectional view of Figure 24;

FIG. 26 is a partial structural schematic diagram of the pushing member in the clamping device according to the fourth aspect of the application when the elastic member is squeezed or stretched;

Figure 27 is a cross-sectional view of Figure 26;

Fig. 28 is a partial enlarged schematic diagram at G in Fig. 25;

FIG. 29 is a second structural schematic diagram of the clamping device according to the embodiment of the fourth aspect of the application after removing the casing;

FIG. 30 is a perspective view of a clamping device according to an embodiment of the fourth aspect of the application;

31 is a front view of the front door mechanism according to the embodiment of the fifth aspect of the application;

Figure 32 is an axial view one of the front door mechanism shown in Figure 31;

Figure 33 is a rear view of the front door mechanism shown in Figure 31;

Figure 34 is a second axial view of the front door mechanism shown in Figure 31;

Figure 35 is a partial exploded view of the front door mechanism shown in Figure 31;

Fig. 36 is the partial enlarged schematic diagram of K shown in Fig. 35;

FIG. 37 is a partially enlarged schematic view of H shown in FIG. 34 .

Detailed ways

This section will describe the specific embodiments of the present application in detail, and the preferred embodiments of the present application are shown in the accompanying drawings. Each technical feature and overall technical solution of the application should not be construed as a limitation on the protection scope of the application.

The terms used in the embodiments of the present application are only for the purpose of describing specific embodiments, and are not intended to limit the present application. As used in the embodiments of this application and the appended claims, the singular forms "a," "the," and "the" are intended to include the plural forms as well, unless the context clearly dictates otherwise.

It should be noted that the directional words such as "up", "down", "left", and "right" described in the embodiments of the present application are described from the angles shown in the drawings, and should not be construed as implementing the present application. Example limitation. Also, in this context, it should also be understood that when an element is referred to as being "on" or "under" another element, it can not only be directly connected "on" or "under" the other element, but also Indirectly connected "on" or "under" another element through intervening elements.

In the description of this application, unless otherwise clearly defined, terms such as setting, installation and connection should be understood in a broad sense, and those skilled in the art can reasonably determine the specific meanings of the above terms in this application in combination with the specific content of the technical solution.

1 to 17 , the ice cream maker according to the embodiment of the first aspect of the present application is described.

As shown in FIG. 1 to FIG. 3 , an embodiment of the first aspect of the present application provides an ice cream maker. The ice cream maker includes a rack 1 , a cake making mechanism 2 , a feeding mechanism 3 and a conveying mechanism 5 . The cake-making mechanism 2 is installed on the rack 1, and the cake-making mechanism 2 is used for preparing ice cream; the transport mechanism 5 is mounted on the rack 1, and the transport mechanism 5 is used for transporting the ice cream cup 37 to receive the ice cream and then add it. The feeding mechanism 3 is installed on the rack 1 , and the prepared ice cream can be fed through the feeding mechanism 3 . The feeding mechanism 3 includes a first feeding module and a second feeding module. The first feeding module is used for storing and conveying solid materials, such as crushed materials; the second feeding module is used for storing and conveying liquid materials, such as jam and so on.

Specifically, the first feeding module includes a material box 31 and a discharging structure 32 connected to the material box 31, and the material box 31 is used for storing solid materials. The second feeding module includes a liquid storage bottle 33 and a transfer pump 34 connected to the liquid storage bottle 33 , the outlet of the transfer pump 34 is connected to the discharge structure 32 , the transfer pump is installed on the frame 1 , and the transfer pump is arranged below the material box 31 .

The feeding mechanism 3 in the ice cream machine includes a first feeding module and a second feeding module. The first feeding module includes a feeding box 31 and a discharging structure 32 connected to the feeding box 31. The second feeding module includes a liquid storage bottle 33 and communicates with the The transfer pump 34 of the liquid storage bottle 33, the outlet of the transfer pump 34 is connected to the discharge structure 32, thereby realizing the function of outputting various materials from the same discharge structure 32, and simplifying the feeding process; at the same time, the transfer pump 34 is installed in the material box. Below 31, the idle space below the material box 31 is utilized, which reduces the waste of space, makes the overall structure more compact, and improves the space utilization rate.

In some embodiments, referring to FIGS. 2 to 5 , the first feeding module includes a plurality of material boxes 31 , and different types of solid materials can be loaded in different material boxes 31 to meet the dietary needs of different customers. Both sides of each material box 31 are provided with box-to-shoot sensors 311 , and the material-to-box-to-shoot sensors 311 on both sides of the material box 31 are used to detect the remaining amount of solid materials in the material box 31 . When the solid material in the material box 31 is lower than a certain alarm value, the corresponding material box opposite-shooting sensor 311 will send a material shortage alarm to the system. Wherein, a second limit seat 312 is provided between two adjacent material boxes 31 and on the outer sides of the first and last two material boxes 31, and the box-to-shoot sensor 311 is correspondingly installed on the second limit seat 312 to meet the requirements of the material box. Installation requirements of the through-beam sensor 311. It can be understood that the second limiting seat 312 can also limit the discharge end of the material box 31 to enhance the stability of the material box 31 when conveying solid materials.

In some embodiments, referring to FIG. 2 and FIG. 9 , the ice cream maker further includes a refrigerator 41 mounted on the rack 1 and a weighing assembly 42 provided in the refrigerator 41 , and the liquid storage bottle 33 is placed on the weighing assembly 42 , namely It can preserve the freshness of liquid materials and improve the safety of food consumption. At the same time, the weighing component 42 can monitor the weight of the liquid material in the liquid storage bottle 33 . It can be understood that the weighing component 42 can use a pressure sensor for monitoring and feedback of material shortage, so as to improve the intelligence of the device.

In some embodiments, referring to FIGS. 16 and 17 , the weighing assembly 42 includes a bottom plate 421 , a pressure sensor 423 and a first limit seat 422 , the bottom plate 421 is provided in the refrigerator 41 , and the pressure sensor 423 is installed on the bottom plate 421 . The first limiting seat 422 is provided with a guide hole 424 , the top of the pressure sensor 423 is provided with a pad 425 , and the pad 425 extends into the guide hole 424 . The first limit seat 422 has a limit slot 426 for placing the liquid storage bottle 33 . When the limit slot 426 carries liquid storage bottles 33 of different weights, the first limit seat 422 can move up and down along the cushion block 425 , to act on the pressure sensor 423 to achieve the purpose of weighing.

In some embodiments, as shown in FIG. 3 and FIG. 4 , the discharge structure 32 includes a hopper, and a discharge port 321 is formed at the bottom of the discharge structure 32 ; the No. 1 discharge channel and No. 2 discharge channel are independent of each other in the hopper. Channel, the No. 1 discharge channel and the No. 2 discharge channel are respectively connected with the discharge port 321, wherein the material box 31 is communicated with the No. The end of the No. 2 feeding pipe extends into the No. 2 discharge channel from the back of the hopper and is fixed above the discharge port 321. It can be understood that the setting of the No. 1 discharge channel and the No. 2 discharge channel can prevent the solid material and the liquid material from mixing and interfering with each other after entering the hopper, and improve the accuracy of the discharge. More specifically, the No. 1 discharge channel and the No. 2 discharge channel can be separated by a partition plate, the partition plate is vertically arranged inside the hopper, and the lower end of the partition plate is flush with the discharge port 321 Or stick out the discharge port 321 .

3 and 4 , in some embodiments, the discharge structure 32 is located below the material box 31 , the transfer pump 34 is located on the back side of the discharge structure 32 , and the height of the discharge port 321 is lower than that of the transfer pump 34 Height, the end of the No. 2 feeding pipe extends from the back of the hopper into the No. 2 discharging channel. In this way, the discharge structure 32 shields the conveying pump 34, so that the No. 2 feeding pipe can also be hidden, reducing the external environment. Effects on transfer pump 34 (eg contamination, etc.). Specifically, in this embodiment, the delivery pump 34 is a peristaltic pump, and the delivery pump 34 is fixed on the frame 1 by screws.

Referring to FIG. 3 , in some embodiments, the feeding mechanism 3 further includes a cup dropper 35 and a cup barrel 36 mounted on the cup dropper 35 . The cup dropper 35 is fixed to the frame 1, specifically, the cup dropper 35 is installed on a connecting seat 351, the connecting seat 351 and the frame 1 are welded or fixed by screws, and the connecting seat 351 extends below the material box , so that the feeding mechanism 3 is miniaturized and the structure is more compact. In order to avoid the difficulty of filling the cup due to the high top of the cup tube 36, referring to FIG. 3, in this embodiment, the top of the cup tube 36 is provided with a cup loading mouth 361, and the cup loading mouth 361 is an oblique mouth, and its outer profile is It is like an oval shape. It can be understood that one end of the outer contour of the cup filling mouth 361 is higher than the other end, and the staff can perform the cup filling operation at the lower end of the cup filling mouth 361, which obviously improves the convenience of the cup filling process.

Furthermore, in order to realize detection and early warning of the stock of ice cream cups 37 in the cup barrel 36 and improve the automation degree of the ice cream machine, the bottom end of the cup barrel 36 is provided with a surplus detection component 38 . In this embodiment, the lower end of the cup barrel 36 is connected to the cup dropper 35 through the fixing seat 352 , and the residual detection component 38 is installed on the fixing seat 352 . The cup barrel 36 is made of a transparent material, so as to ensure that the remaining amount detection component 38 can sense the change of the remaining amount of the cup in the cup barrel 36 . It can be understood that the remaining amount detection component 38 can be composed of one or more sensors, and can provide feedback on the lack of material by detecting whether the ice cream cup 37 at the bottom of the cup tube 36 can be detected, and also by reading the ice cream in the cup tube 36. Feedback of material shortage is carried out by means of the weight of the cup 37 and so on.

The pick-up of the ice cream cup 37 and the pick-up of materials are all performed by automated processes. Referring to FIGS. 2 , 6 and 7 , in some embodiments, the conveying mechanism 5 includes a first driving assembly 51 , a second driving assembly 52 and a clamping device 53 , and the clamping device 53 is used for clamping the ice cream cup 37 . The first drive assembly 51 is used to drive the clamping device 53 to rotate around the Z axis, ensuring that the clamping device 53 can switch between the position for taking the ice cream cup 37 , the position for taking ice cream, the feeding position and the meal serving position. The second driving assembly 52 is used for driving the clamping device 53 to move along the Z direction, so as to adapt to the height changes of different working positions, improve the automation degree of the ice cream maker, and meet the requirements of intelligence.

It can be understood that, the first driving assembly 51 can drive the clamping device 53 to rotate by means of direct driving by a rotating motor, driving and cooperation between the motor and the conveyor belt, or driving the gear by the motor for transmission. In addition, the second drive assembly 52 can be driven by a ball screw pair, directly driven by a linear motor, or used a guide rail slider to realize the reciprocating motion of the clamping device 53 in the Z direction.

In some embodiments, referring to FIGS. 7 and 8 , the clamping device 53 includes a mounting seat 531 , a first clamping member 532 , a second clamping member 533 , a pushing member 535 and an elastic member 536 . The first end of the first clamping member 532 is rotatably disposed on the mounting seat 531, the first end of the second clamping member 533 is rotatably disposed on the mounting seat 531, and the pushing member 535 is disposed between the first clamping member 532 and the mounting seat 531. Between the second clamping members 533, the pushing member 535 can reciprocate and is disposed on the mounting seat 531. The pushing member 535 cooperates with the first clamping member 532 and the second clamping member 533 to form a rack and pinion transmission structure, and the elastic The elastic member 536 is arranged on the mounting seat 531, and the elastic member 536 is in contact with or connected with the pushing member 535, wherein the pushing member 535 is used to squeeze or stretch the elastic member 536 and drive the second end, the second end of the first clamping member 532, the second The second ends of the clamping members 533 are away from each other, and the elastic member 536 is used to return and drive the pushing member 535 to move, so that the second end of the first clamping member 532 and the second end of the second clamping member 533 are close to each other and Form a holding space.

In the above-mentioned clamping device, the clamping space can be used to clamp the ice cream cup 37, because the first end of the first clamping member 532 and the first end of the second clamping member 533 can be rotatably arranged on the mounting seat 531, and push The member 535 and the first clamping member 532 and the pushing member 535 and the second clamping member 533 are both rack and pinion transmission structures. Therefore, the pushing member 535 can drive the second end of the first clamping member 532 and the second end of the second clamping member 533 to move away from each other. At this time, the pushing member 535 squeezes or stretches the elastic member 536, and the first clamping member The second end of the holding member 532 and the second end of the second holding member 533 can release the ice cream cup 37 clamped in the holding space, so that the ice cream cup 37 falls, and when the pushing member 535 does not actively exert force When the elastic member 536 returns to drive the pushing member 535 to move, the first clamping member 532 and the second clamping member 533 are close to each other and form a clamping space again. In the above clamping device, the pushing member 535 and the first clamping member 535 The clamping member 532 and the second clamping member 533 constitute a rack and pinion transmission structure, and cooperate with the elastic member 536, so that the reciprocating movement of the pushing member 535 within a small range can drive the first clamping member 532 and the second clamping member. 533 are close to each other or away from each other to realize the gripping and releasing of the ice cream cup 37, so the space is small, the miniaturization can be better achieved, and the force that drives the first clamping member 532 and the second clamping member 533 to approach each other It is mainly provided by the elastic member 536. Even if the size of the ice cream cup 37 is larger than the size of the clamping space, the elastic member 536 can be adjusted accordingly to ensure the gripping effect on the ice cream cup 37, and the adaptability is better.

In this specific embodiment, when the pushing member 535 moves to move the first clamping member 532 and the second clamping member 533 away from each other, the pushing member 535 squeezes the elastic member 536 so that the elastic member 536 is in a compressed state. In other embodiments, when the pushing member 535 moves to move the first clamping member 532 and the second clamping member 533 away from each other, the pushing member 535 can also stretch the elastic member 536 so that the elastic member 536 is in a tensioned state.

The push member 535 moves on the mounting base 531 and has an initial position and a release position, and the elastic member 536 is used to exert force on the push member 535 to move the push member 535 from the release position to the initial position. In the initial position, the above-mentioned clamping space is formed between the second end of the first clamping member 532 and the second end of the second clamping member 533. When the pushing member 535 moves from the initial position to the releasing position, the pushing member 535 The elastic member 536 is squeezed or stretched to drive the second end of the first clamping member 532 and the second end of the second clamping member 533 away from each other.

Specifically, the pushing member 535, the first clamping member 532, and the second clamping member 533 are all rack and pinion transmission structures, and rack portions are provided on both sides of the pushing member 535. The first clamping member 532, the second clamping member 533, The two clamping members 533 are provided with gear teeth 537 engaged with the rack portion on one side close to the pushing member 535 . The pushing member 535 moves, and the rack portion on the pushing member 535 drives the first clamping through the engagement with the gear teeth 537 . The component 532 and the second clamping component 533 rotate.

When a clamping space is formed between the first clamping member 532 and the second clamping member 533, the cup dropper 35 is used to put the ice cream cup 37 into the clamping space, and the cup edge of the ice cream cup 37 is set against the first clamp. Then, the pushing member 535 can be actively applied to the holding member 532 and the second clamping member 533, and the pushing member 535 can move and squeeze or stretch the elastic member 536, so that the first clamping member 532 and the second clamping member 533 The ice cream cups 37 can be released from each other, and the ice cream cups 37 can be dropped from the holding space.

In other embodiments, the above-mentioned clamping device can also realize the active clamping of the ice cream cup 37 through the mutual approaching or mutual separation of the first clamping member 532 and the second clamping member 533. A clamping member 532 and the second clamping member 533 are separated from each other, and the ice cream cup 37 is placed between the first clamping member 532 and the second clamping member 533, and then the pushing member 535 is no longer applied, and the elastic member The 536 is reset from the squeezed state, so that the pushing member 535 also moves accordingly. At this time, the first clamping member 532 and the second clamping member 533 approach each other and clamp the ice cream cup 37 .

In one embodiment, as shown in FIG. 8 , the mounting seat 531 is provided with a front baffle 541 , the front baffle 541 is provided with a guide rod 542 , the guide rod 542 is spaced from the mounting seat 531 , and the elastic member 536 is sleeved Outside the guide rod 542, the pusher 535 is slidably engaged with the guide rod 542, and the two ends of the elastic member 536 are respectively abutted with the front baffle 541 and the pusher 535. The front baffle 541 is provided on the first clamping member 532 and the second between the clamps 533 . At this time, both the elastic member 536 and the pushing member 535 can move along the guide rod 542, and the movement is more stable. At the same time, the front baffle 541 can prevent the first clamping member 532 and the second clamping member 533 from getting too close, so that the clamping space can be kept constant. It is convenient to put the ice cream cup 37 into the holding space.

Wherein, when the pushing member 535 is in the initial position, the first clamping member 532 and the second clamping member 533 are respectively in contact with both ends of the front baffle 541 .

The front baffle 541 , the elastic member 536 and the push member 535 are arranged in sequence along the direction from the release position to the initial position, and the push member 535 moves in the direction close to the front baffle 541 , that is, the push member 535 moves from the initial position to the release position , the elastic member 536 is squeezed, and the first clamping member 532 and the second clamping member 533 are separated from each other.

Optionally, the first clamping member 532 includes a first functional portion, a first connecting portion and a first adapter portion which are connected in sequence, the first adapter portion is rotatably connected to the mounting seat 531, and the second clamping member 533 includes The second functional part, the second connecting part and the second connecting part are connected in sequence, the second connecting part is rotatably connected with the mounting seat 531, and the pusher 535 is formed by cooperating with the first connecting part and the second connecting part respectively. Rack and pinion transmission structure. When the pusher 535 is at the initial position, the above-mentioned clamping space is formed between the first functional part and the second functional part, the first functional part and the second functional part are arranged in parallel or approximately parallel, and the first connecting part is opposite to the first functional part The second connecting part is inclined in the direction close to the second clamping part 533, and the second connecting part is inclined in the direction close to the first clamping part 532 relative to the second functional part. The space occupied by the matched part of the clamping member 533 is smaller, which facilitates miniaturization.

In one embodiment, as shown in FIG. 8 , the mounting seat 531 is provided with a first side stop 543 and a second side stop 544 , and the first clamping member 532 and the second clamping member 533 are arranged on the first side Between the baffle 543 and the second side baffle 544 , the first side baffle 543 is disposed on the side of the first clamping member 532 away from the second clamping member 533 . The first side baffle 543 and the second side baffle 544 can limit the maximum angle formed by the distance between the first clamping member 532 and the second clamping member 533, and can cooperate with the front baffle 541 to jointly clamp the first clamping member 532 and the second clamping member 533. The moving range of the member 532 and the second clamping member 533 is limited, and the gripping and releasing control of the ice cream cup 37 is more precise.

Wherein, when the pushing member 535 is in the release position, the first clamping member 532 is in contact with the first side baffle 543 , and the second clamping member 533 is in contact with the second side baffle 544 .

In one embodiment, as shown in FIG. 8 , the mounting seat 531 is provided with a rear baffle 545 , the rear baffle 545 is spaced from the front baffle 541 , and the pushing member 535 includes a transmission part 546 and a sliding part 547 connected to each other. , the guide rod 542, the elastic member 536 and the transmission part 546 are arranged between the front baffle 541 and the rear baffle 545, the transmission part 546 is sleeved outside the guide rod 542, and the transmission part 546 is respectively connected with the first clamping part 532, the second The two clamping members 533 cooperate to form a rack and pinion transmission structure, and the sliding portion 547 slides through the rear baffle 545 . The rear baffle 545 can limit the position of the push member 535 and limit the travel of the push member 535 , and the sliding portion 547 is slidably matched with the rear baffle 545 to guide the movement of the push member 535 .

Optionally, when the pushing member 535 is in the initial position, the transmission part 546 abuts against the tailgate 545 .

Optionally, as shown in FIG. 7 and FIG. 8 , the mounting seat 531 includes an upper cover plate 548 and a lower cover plate, and the front baffle 541 , the rear baffle 545 , the first side baffle 543 and the second side baffle 544 are all provided. between the upper cover plate 548 and the lower cover plate. At this time, the part of the pushing member 535, the elastic member 536, the first clamping member 532 and the second clamping member 533 are located inside the mounting seat 531, which can protect the internal structure of the mounting seat 531, and at the same time, the appearance is better and more beautiful. .

In one embodiment, as shown in FIG. 7 , the above-mentioned clamping device further includes a driving member 534 and a bracket 55 , the bracket 55 is connected to the mounting seat 531 , the driving member 534 is arranged on the bracket 55 , and the driving member 534 is used for driving and pushing 535, so that the first clamping part 532 and the second clamping part 533 are close to each other. The driving member 534 is used to drive the pushing member 535 to move, and the elastic member 536 is used to force the pushing member 535 to move the pushing member 535 in the opposite direction, thereby realizing the reciprocating movement of the pushing member 535 .

In one embodiment, the driving member 534 is an electric push rod, and the electric push rod is used for contacting an end of the pushing member 535 away from the elastic member 536 . When the electric push rod is extended, the push member 535 can be pushed and the elastic member 536 can be squeezed or stretched. When the electric push rod is retracted, the elastic member 536 returns to the original position, and the elastic member 536 drives the push member 535 to move in the opposite direction.

Optionally, the electric push rod is used to contact one end of the sliding portion 547 passing through the rear baffle 545 , and the electric push rod can push the sliding portion 547 to move the transmission portion 546 and drive the first clamping member 532 and the second clamping member. 533 are rotated away from each other.

In other embodiments, the driving member 534 may include a motor and a gear, the gear is sleeved on the motor shaft, the upper part of the outer circumference of the gear is a circular arc surface, and the other part is provided with transmission teeth, the transmission teeth mesh with the push member 535, and the gear The rotation drives the pusher 535 to translate, and when the transmission tooth meshes with the pusher 535, the motor drives the gear to rotate, so that the transmission tooth drives the pusher 535 to move and squeezes or stretches the elastic member 536, and the motor drives the gear to continue to rotate, so that the arc surface and the pusher 536 are rotated. At this time, the pusher 535 is not in contact with the gear, and the elastic member 536 can rebound and drive the pusher 535 to move in the opposite direction. At this time, the first clamping member 532 and the second clamping member 533 can be realized by the rotation of the gear. close to or away from each other.

In one embodiment, as shown in FIG. 6 , the mounting base 531 is provided with a sensing sensor 56 , and the sensing sensor 56 is used for sensing the ice cream cup 37 between the first clamping member 532 and the second clamping member 533 , and sensing The sensor 56 is electrically connected to the driving member 534. When the inductive sensor 56 senses that the space between the first clamping member 532 and the second clamping member 533 is in an empty state, the inductive sensor 56 outputs a reset signal to the driving member 534, so that the driving member 534 is reset, and the elastic member 536 drives the pushing member 535 to move, so that the first clamping member 532 and the second clamping member 533 are separated from each other. When there is no ice cream cup 37 between the first clamping member 532 and the second clamping member 533, the inductive sensor 56 can sense and output a reset signal, and control the driving member 534 to reset, so that the pushing member 535 is not stressed, and the elastic The return of the member 536 drives the push member 535 to move, so that the first clamping member 532 and the second clamping member 533 are brought close to each other and form a clamping space again for grasping the ice cream cup 37 again.

Alternatively, the inductive sensor 56 may be a diffuse reflection sensor, an infrared sensor, an ultrasonic sensor, a radar sensor, an image sensor, or the like. The diffuse reflection sensor, infrared sensor, ultrasonic sensor and radar sensor all judge whether there is an ice cream cup 37 between the first holding member 532 and the second holding member 533 through the reflection of light, sound waves or electromagnetic waves by the ice cream cup 37 . The sensor takes a picture of the area between the first holding member 532 and the second holding member 533 , and compares the image obtained by taking the photograph with the ice cream cup 37 between the first holding member 532 and the second holding member 533 . The images are compared to determine whether there is an ice cream cup 37 between the first holding member 532 and the second holding member 533 .

In one embodiment, as shown in FIG. 6 and FIG. 7 , the above-mentioned clamping device further includes a base 571 , and the bracket 55 includes a pressing member 551 , a vertical branch member 552 and two lateral branch members 553 , the vertical branch member 553 . 552 is connected to the base 571, the lateral branch 553 is connected to the vertical branch 552 in an L-shape, the mounting seat 531 is connected to the end of the lateral branch 553 away from the vertical branch 552, and the driving member 534 is arranged on the vertical branch 552 It is located between the two lateral branches 553 , the pressing member 551 is disposed on the side of the driving member 534 away from the vertical branch 552 , and the two ends of the pressing member 551 are respectively connected to the two lateral branches 553 . At this time, the mounting seat 531 and the base 571 are spaced apart, so that there is a certain distance between the mounting seat 531 and the plane where the base 571 is installed, so that the ice cream cup 37 can be limited in the clamping space, and the installation of the driving member 534 is more stable at this time. , so that the driving member 534 pushes the pushing member 535 more stably. The pressing member 551 , the vertical branch member 552 and the two horizontal branch members can all limit the position of the branch member, so that the branch member can be kept stable during operation.

Optionally, the first clamping member 532, the second clamping member 533 and the lateral branch member 553 are arranged in parallel or flush, and the rotation shafts of the first clamping member 532 and the second clamping member 533 are arranged with the vertical branch member 552 The setting direction of the setting is parallel to the setting.

In one embodiment, as shown in FIG. 6 , the above-mentioned clamping device further includes a casing 572 , the bracket 55 is disposed in the casing 572 , and the first clamping member 532 and the second clamping member 533 are at least partially disposed outside the casing 572 . , the bracket 55 or the driving member 534 is provided with a fixing portion 573 , and the fixing portion 573 is detachably connected with the housing 572 . The casing 572 can play a beautiful and protective role, and the fixing part 573 is connected with the casing 572 to further stabilize the bracket 55 .

Optionally, the fixing part 573 is provided with a first assembly hole, and the casing 572 is provided with a second assembly hole, and screws or bolts can pass through the second assembly hole and threadedly fit with the first assembly hole to realize the casing 572 and the fixing part. Detachable connection for 573.

Optionally, the housing 572 is connected to the base 571 . At this time, the installation of the housing 572 is more stable.

In one embodiment, as shown in FIG. 8 , arc-shaped notches 530 are provided on opposite sides of the first clamping member 532 and the second clamping member 533 . The arc-shaped notch 530 can better grip the circular structure, such as the ice cream cup 37 , and will not cause damage to the ice cream cup 37 and the like.

Referring to FIGS. 10 to 12 , in some embodiments, the ice cream maker further includes a housing 6 and a meal delivery mechanism 7 , the housing 6 is covered outside the rack 1 , the housing 6 has a front panel 61 , and the front panel 61 is provided with a front panel 61 . There are 62 food outlets. The meal delivery mechanism 7 includes a meal delivery module 71 , a first door body 721 , a first lift module 722 , a second door body 723 and a second lift module 724 . Wherein, the meal serving module 71 is connected to the front panel 61, and the meal serving module 71 is provided with a accommodating cavity 711 for accommodating the ice cream cup. The accommodating cavity 711 has a first opening and a second opening opposite to each other, the first opening communicates with the meal taking port 62 , and consumers can extend into the first opening through the meal taking port 62 to take out the ice cream food from the accommodating cavity 711 . The first door body 721 is movably connected with the meal delivery module 71 . The first lift module 722 is connected to the first door body 721 , and the first lift module 722 is used to drive the first door body 721 to open or close the first opening. The second door body 723 is movably connected with the meal delivery module 71 , and the second door body 723 is disposed opposite to the first door body 721 . The second lift module 724 is connected to the second door body 723 , and the second lift module 724 is used to drive the second door body 723 to open or close the second opening.

Specifically, the work flow of the above-mentioned meal delivery mechanism is: in the initial state, the first door body 721 is in a closed state, and the second door body 723 is in an open state. At this time, the interior of the ice cream maker is isolated from the outside world through the first door body 721 . After making the ice cream, the ice cream maker puts the ice cream cup 37 filled with the ice cream into the accommodating cavity 21 of the meal taking module through the second opening, and then the second lifting module 724 drives the second door 723 to lift up to close the second opening, Then, the first lift module 722 drives the first door body 721 to descend to open the first opening and make the first opening communicate with the meal taking port 11 . At this time, the customer can take out the ice cream in the accommodating cavity 21 through the meal taking port 11 . During the process of customers taking meals, the second door body 723 is in a closed state. At this time, the inside of the ice cream maker is isolated from the outside world through the second door body 723, which prevents customers from entering the inside of the device through the second opening. , to ensure the sanitation and cleanliness of the inside of the equipment. When the customer has finished taking the meal and the hand completely pulls out the first opening, the first lift module 722 drives the first door body 721 to rise to close the first opening again, and then the second lift module 724 drives the second door body 723 to descend to open again. The second opening and waiting for the next round of meal process.

Referring to FIG. 2 , in some embodiments, the meal delivery mechanism 7 and the cake making mechanism 2 are arranged opposite to each other, and the transport mechanism 5 is installed between the meal delivery mechanism 7 and the cake making mechanism 2 , which is conducive to optimizing the space layout and making the ice cream maker The structure is more compact and miniaturization is realized.

The above-mentioned meal-out mechanism is provided with a first door body 721 that cooperates with the first opening and a second door body 723 that cooperates with the second opening on the meal-out module 71, so that the first door body 721 closes the first door body 721. The ice cream cup 37 can be placed in the dining module 71 through the second opening, and the second door 723 is opened, and the ice cream cup 37 can be placed in the meal module 71 through the second opening. During this process, the first door 721 is kept closed to isolate the ice cream. The inside and outside of the machine avoid foreign objects entering the inside of the equipment and ensure the sanitation and cleanliness of the inside of the equipment. Then, the second opening is closed through the second door 723 , and the first door 721 is opened to make the first opening communicate with the meal taking port 11 . ice cream. And in the process of customer taking meal, the second door body 723 is in a closed state, at this time, the inside of the ice cream maker is isolated from the outside world through the second door body 723, which prevents customers from entering through the second opening with their hands or other foreign objects during the meal taking process. The inside of the equipment further ensures the sanitation and cleanliness of the inside of the equipment.

In some embodiments, referring to FIG. 13 , the serving module 71 includes a bottom wall 712 for carrying the ice cream cup 37 loaded with ice cream, and the bottom wall 712 is provided with a first guide groove 713 , specifically, the first guide groove 713 penetrates through The bottom wall 712 and the first door body 721 are slidably penetrated in the first guide groove 713, so that through the limiting and guiding function of the first guide groove 713, the lifting and lowering stability of the first door body 721 is improved, and the Therefore, the first door body 721 is separated from the meal delivery module 71 during the lifting and lowering process. Preferably, the first door body 721 is a straight body structure, so that the first guide groove 713 is easier to open.

In some embodiments, referring to FIGS. 13 to 15 , the meal serving module 71 includes two side walls 714 for defining the accommodating cavity 711 , the two side walls 714 are both provided with second guide grooves 715 , and the second door body 723 There are protruding parts 720 on both sides of the device, and the protruding parts 720 are slidably embedded in the second guide grooves 715 . Therefore, through the limiting and guiding functions of the second guide grooves 715 , the lifting stability of the second door body 723 is improved, and the second door body 723 is prevented from being separated from the meal delivery module 71 during the lifting and lowering process. Preferably, the second door body 723 is a semi-circular arc body structure, so that after the second door body 723 is closed, there is a larger space in the accommodating cavity 711 to accommodate the commodity, ie, ice cream.

Specifically, referring to FIG. 13 , the meal delivery mechanism further includes a first fixing member 81 and a second fixing member 82 . The first fixing member 81 is connected to the front panel 61 , and the first lifting module 722 is arranged on the first fixing member 81 . The two fixing members 82 are connected to the first fixing member 81 , and a space for accommodating the first lifting module 722 is formed between the second fixing member 82 and the first fixing member 81 , and the second lifting module 724 is arranged on the second fixing member 82 on. Preferably, the second fixing member 82 is provided with a bending portion bent in a direction away from the first fixing member 81 , so that an escape space is formed between the bending portion and the first fixing member 81 . The first lifting module 722 is fixed to the front panel 61 through the first fixing member 81 , the second lifting module 724 is fixed to the first fixing member 81 through the second fixing member 82 , and the second fixing member 82 is connected to the first fixing member 82 at the same time. An escape space for accommodating the first lifting module 722 is formed between the fixing members 81 , so that the installation and fixing structure of the first lifting module 722 and the second lifting module 724 is more reasonable and compact, and the overall space occupied by the meal delivery mechanism is reduced. Preferably, at least two first fixing members 81 are provided, and at least two first fixing members 81 are arranged at intervals. For example, in this embodiment, two first fixing members 81 are provided, and two first fixing members 81 are provided. They are respectively used to fix both ends of the first lifting module 722 . Correspondingly, there are at least two second fixing members 82 , and at least two second fixing members 82 are arranged at intervals. For example, in this embodiment, there are two second fixing members 82 , and the two second fixing members 82 are different from each other. The two first fixing members 81 are connected in one-to-one correspondence.

In some embodiments, the meal delivery mechanism further includes a connecting plate 83 , and the lower end of the second door body 723 is connected to the second lifting module 724 through the connecting plate 83 . Specifically, the first elevating module 722 and the second elevating module 724 may be elevating driving mechanisms such as linear modules, electric push rods, screw nut mechanisms, or gear-tooth 537 mechanisms, as long as they can drive the first door body 721 and the third The two-door body 723 only needs to perform a reciprocating lifting motion, which is not limited here.

In some embodiments, the meal delivery mechanism further includes a detection sensor 73 . The detection sensor 73 is disposed in the accommodating cavity 711 and is used to detect whether the ice cream cup 37 exists in the accommodating cavity 711 . When the detection sensor 73 detects that the ice cream cup exists in the accommodating cavity 711 At 37:00, the second lift module 724 can be triggered to drive the second door body 723 to close the second opening. Specifically, after the ice cream machine has made ice cream and put it into the accommodating cavity 711 of the meal taking module, the detection sensor 73 detects that there is ice cream in the accommodating cavity 711, and then the control module triggers the second lifting module 724 to drive the second door body 723 to rise, Thereby, the second opening is closed to prevent hands or other foreign objects from entering the inside of the device through the second opening during the process of customers taking meals.

In some embodiments, the meal delivery mechanism further includes a first pair of fire sensors 741 and a second pair of fire sensors 742. The first pair of fire sensors 741 and the second pair of fire sensors 742 are disposed in the accommodating cavity 711 opposite to each other. A detection space for detecting foreign objects is formed between the radiation sensor 741 and the second radiation sensor 742. When the first radiation sensor 741 and the second radiation sensor 742 detect foreign objects in the detection space, the first lifting module can be triggered. 722 stops driving the first door body 721 . Among them, the foreign object refers to the customer's hand or other foreign objects. Specifically, when the customer takes out the ice cream, the first lift module 722 drives the first door 721 to rise to close the first opening. During the process of closing the first opening, the first pair of shot sensors 741 and the second pair of shot sensors 742 monitor and detect in real time whether there is any foreign object in the space. , when there is a foreign object in the detection space, the first pair of shot sensor 741 and the second pair of shot sensor 742 trigger the first lift module 722 to stop driving the first door body 721 to rise through the control module, so as to prevent the customer's hand from being hit by the first door body 721 clamps or prevents foreign objects from remaining in the accommodating cavity 711 . It should be noted that the detection space is staggered from the position of the ice cream cup 37 in the accommodating cavity 711 , so as to prevent the first pair of shot sensor 741 and the second pair of shot sensor 742 from erroneously determining that the ice cream is a foreign object.

In some embodiments, at least part of the front panel 61 is made of a transparent material, so that customers can observe the working conditions inside the device through the transparent material of the front panel 61, which has a strong ornamental effect and also plays a certain role in the protection of the device. customer effect.

The front panel 61 is also provided with a radar module 63 and a sounding module 64. The radar module 63 is used to detect walking. When the radar module 63 detects that a pedestrian passes through the dining mechanism, the sounding module 64 can be triggered to send out a greeting voice, thereby ensuring that the ice cream is in the room. The sounding module 64 will only issue a greeting voice when there are people passing by near the machine. When there are no people nearby, the playing frequency of the sound module 64 is reduced, so as to reduce noise pollution and energy waste in low-peak hours, and to more reasonably realize the function of automatically picking up customers by voice.

In some embodiments, referring to FIG. 1 and FIG. 11 , a human-computer interaction module 65 is further provided on the front panel 61, and the human-computer interaction module 65 is used to obtain the customer's order information. It can be a key module, a card swiping module or a face recognition module. The customer submits order information through the human-machine interaction module, and the ice cream machine makes corresponding ice cream according to the order information, and then delivers it to the meal delivery module 71 . When the human-computer interaction module 65 is a touch screen, when the radar module 63 detects a pedestrian passing by, the human-computer interaction module 65 can be triggered to display a video of welcoming passengers.

In some embodiments, the front panel 61 is further provided with a code scanning module 66, and the scanning code module 66 is used for scanning the customer's payment code. The payment code may be a two-dimensional code, a barcode or other digital labels.

The workflow of some ice cream machines in the embodiments of the first aspect of the present application is as follows: after the user confirms the purchase of ice cream, the clamping device 53 switches to the position of the cup dropper 35 to take the cup, and the ice cream cup 37 in the cup tube 36 falls into the clamping space, the cup removal action is completed. The clamping device 53 drives the ice cream cup 37 to receive the ice cream and then moves to the discharge structure 32 for feeding (whether to add material according to the user's needs). After the feeding is completed, the clamping device 53 can place the ice cream cup 37 in the accommodating cavity 711 , and leave the accommodating cavity 711 . Then, the second door 723 is driven to close the second opening, and the first door 721 is opened to open the first opening, so that the user can take meals. After the meal retrieval is completed, the first opening is closed. The ice cream maker of the technical solution has a more compact overall structure, greatly improves the space utilization rate, can realize modular installation, is convenient for mass production in factories, and has a high degree of automation.

18 to 22 , the integrated feeding device according to the embodiment of the second aspect of the present application and the automatic vending machine according to the embodiment of the third aspect of the present application are described.

Referring to FIGS. 18 to 22 , the integrated feeding device according to the second aspect of the present application includes a rack 100 ′, a cup drop module 200 ′, a first feeding module 300 ′ and a second feeding mounted on the rack 100 ′ Module 400', wherein the first feeding module 300' is used for storing and conveying solid materials, and the second feeding module 400' is used for storing and conveying liquid materials.

Specifically, the first feeding module 300' is provided with a feeding box 310' and a discharging structure 320' connected to the feeding box 310'. The feeding box 310' is used for storing solid materials, and the second feeding module 400' includes a liquid storage bottle and a discharge structure 320'. The transfer pump 410' is connected to the liquid storage bottle, and the outlet of the transfer pump 410' is connected to the discharge structure 320'.

The integrated feeding device according to the embodiment of the present application includes a rack 100', a cup drop module 200', a first feeding module 300', and a second feeding module 400'. A material box 310' and a discharge structure 320' connected to the material box 310', the second feeding module 400' has a liquid storage bottle and a transfer pump 410', and the outlet of the transfer pump 410' is connected to the discharge structure 320', thereby realizing The function of outputting a variety of materials from the same discharge structure 320' is realized, which simplifies the feeding process; at the same time, the transfer pump 410' is arranged below the material box 310' to utilize the idle space under the material box 310', reducing the The space is wasted, the overall structure is more compact, and the space utilization rate is improved.

In some embodiments, as shown in FIG. 18, the discharge structure 320' is a hopper; the No. 1 discharge channel and the No. 2 discharge channel are formed in the hopper, and the No. 1 discharge channel and the No. 2 discharge channel are respectively It is communicated with the discharge port 321', wherein the material box 310' is communicated with the No. 1 discharge channel through the No. 1 feeding pipe 330', and the outlet of the transmission pump 410' is connected with the No. 2 feeding pipe 420', and the No. 2 feeding The end of the pipe 420' extends from the back of the hopper into the No. 2 discharge channel and is fixed above the discharge port 321'. It can be understood that the setting of the No. 1 discharge channel and the No. 2 discharge channel can prevent the solid material and the liquid material from mixing and interfering with each other after entering the hopper, and improve the accuracy of the discharge. More specifically, the No. 1 discharge channel and the No. 2 discharge channel can be separated by a partition plate, the partition plate is vertically arranged inside the hopper, and the lower end of the partition plate is flat with the discharge port 321 ′. align or extend out of the discharge port 321'.

18 and 21, in some embodiments, the discharge structure 320' is located below the material box 310', and the transfer pump 410' is located on the back side of the discharge structure 320', wherein the bottom of the discharge structure 320' is formed The discharge port 321', and the height of the discharge port 321' is lower than the height of the conveying pump 410', the end of the No. 2 feeding pipe 420' protrudes from the back of the hopper into the No. 2 discharge channel, so as to discharge the material The structure 320 ′ shields the transfer pump 410 ′, so that the No. 2 feeding pipe 420 ′ can also be hidden, thereby reducing the external influence (such as pollution, etc.) on the transfer pump. Specifically, the delivery pump 410' in this embodiment adopts a peristaltic pump, and the delivery pump 410' is fixed on the frame 100' by screws.

In some embodiments, as shown in FIG. 19 and FIG. 20 , the cup drop module 200 ′ includes a cup dropper 210 ′ and a cup barrel 220 ′ installed on the cup dropper 210 ′, wherein the cup dropper 210 ′ is connected to the cup dropper 210 ′. The frame 100' is fixed, specifically, the cup dropper 210' is mounted on a base, and the base and the frame 100' are welded or fixed by screws. In order to avoid the difficulty of filling the cup due to the high top of the cup tube 220 ′, referring to FIG. 19 , in this embodiment, a cup loading mouth 221 ′ is opened at the top of the cup tube 220 ′, and the cup loading mouth 221 ′ is inclined The outer contour of the mouth is oval-like. It can be understood that one end of the outer contour of the cup loading mouth 221' is higher than the other end, and the staff can add cups at the lower end of the cup loading mouth 221', which significantly improves the efficiency of adding cups. The simplicity of the cup process. In some embodiments, in order to realize the detection and early warning of the cup stock in the cup cylinder 220' and improve the automation degree of the whole mechanism, the bottom of the cup cylinder 220' is provided with a residual quantity detection component 230'; The lower end of the 220' is connected to the cup dropper 210' through the fixing base 240', and the residual quantity detection component 230' is installed on the fixed base 240'. 'It is able to sense the change of the remaining amount of the cup in the cup barrel 220'.

More specifically, referring to FIG. 20 , the margin detection assembly 230 ′ includes a pair of sensors, and the two sensors are symmetrically distributed on the top of the fixing seat 240 ′, that is, the included angle between the two sensors is 180 degrees; 'When the cups in the cup are in the state of the cup bottom facing up, when the cup bottom height of the cup located on the top is lower than the height of the sensor, the sensor will feed back the lack of material information to the alarm system connected to its signal, and send an alarm through the alarm system. Remind staff to refill. It should be emphasized that, in other embodiments, the margin detection component 230' may be composed of one or more than two sensors. In some embodiments, the fixing base 240' is made of metal, and the fixing base 240' is formed by a sheet metal process.

As shown in FIG. 22 , the rack 100 ′ in this embodiment includes a base frame formed by splicing a plurality of vertical tubes 110 ′ and horizontal tubes 120 ′. A side fixing plate 130 ′ is installed above the base frame. The feeding module 300' and the transfer pump 410' are connected and fixed respectively, and a mounting plate 111' is provided on one of the vertical pipes, and the base on which the cup dropper 210' is fixed is connected to the mounting plate.

The automatic vending machine according to the embodiment of the third aspect of the present application includes a feeding integrated device. By configuring the integrated feeding device of the embodiment of the second aspect of the present application, the volume of the overall equipment of the automatic vending machine can be reduced.

23 to 30 , the clamping device according to the embodiment of the fourth aspect of the present application is described.

23 to 27 , a fourth aspect of the present application shows a clamping device. The clamping device includes a mounting base 100a, a first clamping member 200a, a second clamping member 300a, a pushing member 400a and an elastic member 500a. The first end of the first clamping member 200a is rotatably disposed on the mounting base 100a, the first end of the second clamping member 300a is rotatably disposed on the mounting base 100a, and the pushing member 400a is disposed between the first clamping member 200a and the mounting base 100a. Between the second clamping members 300a, the pushing member 400a can reciprocate and drive the first end of the first clamping member 200a and the first end of the second clamping member 300a to rotate respectively. The elastic member 500a is disposed on the mounting base 100a , the elastic member 500a contacts or connects with the pushing member 400a. The pushing member 400a is used to squeeze or stretch the elastic member 500a and drive the second end of the first clamping member 200a and the second end of the second clamping member 300a away from each other, and the elastic member 500a is used to return and drive the pushing member 400a moves to make the second end of the first clamping member 200a and the second end of the second clamping member 300a approach each other and form a clamping space.

The holding space provided by the above-mentioned holding device can be used for holding objects. The pushing member 400a can move the second end of the first clamping member 200a and the second end of the second clamping member 300a away from each other. At this time, the pushing member 400a squeezes or stretches the elastic member 500a, and the first clamping member The second end of the second holding member 200a and the second end of the second holding member 300a can release the article 10a held in the holding space, so that the article 10a is dropped. When the pushing member 400a does not actively exert force, the elastic member 500a will return and drive the pushing member 400a to move, making the first clamping member 200a and the second clamping member 300a approach each other and form a clamping space again. The pushing member 400a, the first clamping member 200a, the second clamping member 300a cooperate with the elastic member 500a, so that the reciprocating movement of the pushing member 400a within a small range can drive the first clamping member 200a and the second clamping member 300a to mutually Approaching or moving away from each other, the gripping and releasing of the article 10a is realized. Therefore, the clamping device in the embodiment of the present application occupies a small space, can better achieve miniaturization, and the force for driving the first clamping member 200a and the second clamping member 300a to approach each other is mainly provided by the elastic member 500a. Even if the size of the article 10a is larger than the size of the holding space, the elastic member 500a can be adjusted accordingly, so that the adaptability of the gripping effect of the article 10a is better.

In some embodiments, when the pushing member 400a moves to make the first clamping member 200a and the second clamping member 300a move away from each other, the pushing member 400a presses the elastic member 500a, so that the elastic member 500a is in a compressed state. In other embodiments, when the pushing member 400a moves to move the first clamping member 200a and the second clamping member 300a away from each other, the pushing member 400a can also stretch the elastic member 500a, so that the elastic member 500a is in a tensioned state.

The push member 400a moves on the mounting base 100a and has an initial position and a release position. The elastic member 500a is used to exert force on the push member 400a to move the push member 400a from the release position to the initial position. When the push member 400a is in the initial position When the above-mentioned clamping space is formed between the second end of the first clamping member 200a and the second end of the second clamping member 300a, when the pushing member 400a moves from the initial position to the release position, the pushing member 400a squeezes Or stretch the elastic member 500a and drive the second end of the first clamping member 200a and the second end of the second clamping member 300a away from each other.

Specifically, the pushing member 400a, the first clamping member 200a and the second clamping member 300a are both rack and pinion transmission structures, and rack portions are provided on both sides of the pushing member 400a. The first clamping member 200a, the second clamping member 300a, The sides of the two clamping members 300a close to the pushing member 400a are provided with gear teeth engaged with the rack portion, the pushing member 400a moves, and the rack portion on the pushing member 400a drives the first clamping member 200a through the meshing with the gear teeth , the second clamping member 300a rotates.

In some embodiments, the above-described clamping device is used on an unmanned vending device. The unmanned vending equipment includes a paper cup placing mechanism and the above-mentioned clamping device. When a holding space is formed between the first holding member 200a and the second holding member 300a, the paper cup placing mechanism is used to put the paper cup into the holding space, and the cup edge of the paper cup is set against the first holding member 200a and the first holding member 200a and the second holding member 300a. On the two clamping members 300a, the pushing member 400a can then be actively exerted force, the pushing member 400a moves and squeezes or stretches the elastic member 500a, so that the first clamping member 200a and the second clamping member 300a are separated from each other, so that the Release the paper cup and let the paper cup fall from the holding space.

In other embodiments, the above-mentioned clamping device can also realize the active clamping of the article 10a by the first clamping member 200a and the second clamping member 300a approaching each other or moving away from each other. A clamping member 200a and the second clamping member 300a are separated from each other, and the article 10a is placed between the first clamping member 200a and the second clamping member 300a; then the pushing member 400a is no longer applied, and the elastic member 500a The pushing member 400a is also moved after being reset from the squeezed state. At this time, the first clamping member 200a and the second clamping member 300a approach each other and clamp the article 10a.

In some embodiments, as shown in FIG. 25 , FIG. 27 and FIG. 28 , the mounting base 100a is provided with a front baffle 110a, the front baffle 110a is provided with a guide rod 111a, and the guide rod 111a is spaced from the mounting base 100a, The elastic member 500a is sleeved outside the guide rod 111a, the push member 400a is slidingly matched with the guide rod 111a, the two ends of the elastic member 500a are respectively abutted with the front baffle 110a and the push member 400a, and the front baffle 110a is arranged on the first clamp between the member 200a and the second clamping member 300a. At this time, both the elastic member 500a and the pushing member 400a can move along the guide rod 111a, and the movement is more stable, and the front baffle 110a can prevent the first clamping member 200a and the second clamping member 300a from being too close to keep the clamping space constant The size is convenient to put the article 10a into the holding space.

When the pushing member 400a is in the initial position, the first clamping member 200a and the second clamping member 300a are respectively in contact with both ends of the front baffle 110a.

The front baffle 110a, the elastic member 500a, and the push member 400a are sequentially arranged in the direction from the release position to the initial position, and the push member 400a moves in the direction close to the front baffle 110a, that is, the push member 400a moves from the initial position to the release position, and the elastic The member 500a is squeezed, and the first clamping member 200a and the second clamping member 300a move away from each other.

Optionally, the first clamping member 200a includes a first functional portion, a first connecting portion and a first adapter portion which are connected in sequence, the first adapter portion is rotatably connected to the mounting base 100a, and the second clamping member 300a includes The second functional part, the second connecting part and the second connecting part are connected in sequence, the second connecting part is rotatably connected with the mounting seat 100a, and the pusher 400a is formed by cooperating with the first connecting part and the second connecting part respectively. Rack and pinion transmission structure. When the pusher 400a is at the initial position, the above-mentioned clamping space is formed between the first functional part and the second functional part, the first functional part and the second functional part are arranged in parallel or approximately parallel, and the first connecting part is opposite to the first functional part The second connecting part is inclined in the direction close to the second clamping part 300a, and the second connecting part is inclined in the direction close to the first clamping part 200a relative to the second functional part. The space occupied by the fitting part of the clip 300a is smaller, and miniaturization can be achieved.

In some embodiments, as shown in FIG. 25 , FIG. 27 and FIG. 28 , the mounting base 100 a is provided with a first side baffle 120 a and a second side baffle 130 a , and a first clamping member 200 a and a second clamping member 300a is disposed between the first side baffle 120a and the second side baffle 130a, and the first side baffle 120a is disposed on the side of the first clamping member 200a away from the second clamping member 300a. The maximum angle formed by the distance between the first clamping member 200a and the second clamping member 300a can be limited by the first side baffle 120a and the second side baffle 130a, and can cooperate with the front baffle 110a to jointly hold the first clamping member 200a and the second clamping member 300a away from each other. The moving range of the holding member 200a and the second clamping member 300a is limited, and the gripping and releasing control of the article 10a is more precise.

When the pushing member 400a is in the release position, the first clamping member 200a is in contact with the first side fence 120a, and the second clamping member 300a is in contact with the second side fence 130a.

In some embodiments, as shown in FIGS. 25 , 27 and 28 , the mounting base 100 a is provided with a rear baffle 140 a , the rear baffle 140 a and the front baffle 110 a are spaced apart, and the pusher 400 a includes an interconnected transmission part 410a, the sliding part 420a, the guide rod 111a, the elastic member 500a and the transmission part 410a are arranged between the front baffle 110a and the rear baffle 140a, the transmission part 410a is sleeved outside the guide rod 111a, and the transmission part 410a is respectively connected with the first clamp The holding member 200a and the second clamping member 300a cooperate to form a rack and pinion transmission structure, and the sliding portion 420a slides through the rear baffle 140a. The rear baffle 140a can limit the position of the push member 400a and limit the travel of the push member 400a, and the sliding portion 420a slides with the rear baffle 140a to guide the movement of the push member 400a.

Optionally, when the pusher 400a is in the initial position, the transmission part 410a abuts against the tailgate 140a.

Optionally, as shown in FIGS. 23 to 25 , the mounting base 100a includes an upper cover plate 150a and a lower cover plate 160a, a front baffle 110a, a rear baffle 140a, a first side baffle 120a and a second side baffle 130a It is arranged between the upper cover plate 150a and the lower cover plate 160a. At this time, the part of the pushing member 400a, the elastic member 500a, the first clamping member 200a and the second clamping member 300a are located inside the mounting seat 100a, which can protect the internal structure of the mounting seat 100a, and at the same time, the appearance is better and more beautiful .

In some embodiments, as shown in FIG. 23 and FIG. 29 , the above-mentioned clamping device further includes a driving member 600a and a bracket 710a, the bracket 710a is connected to the mounting base 100a, the driving member 600a is arranged on the bracket 710a, and the driving member 600a is used for The pushing member 400a is driven to make the first clamping member 200a and the second clamping member 300a approach each other. The driving member 600a is used to drive the pushing member 400a to move, and the elastic member 500a is used to force the pushing member 400a to move the pushing member 400a in the opposite direction, thereby realizing the reciprocating movement of the pushing member 400a.

In some embodiments, the driving member 600a is an electric push rod, and the electric push rod is used for contacting an end of the pushing member 400a away from the elastic member 500a. When the electric push rod is extended, the push member 400a can be pushed and the elastic member 500a can be squeezed or stretched. When the electric push rod is retracted, the elastic member 500a returns to the original position, and the elastic member 500a drives the push member 400a to move in the opposite direction.

Optionally, the electric push rod is used to contact one end of the sliding part 420a passing through the rear baffle 140a, and the electric push rod can push the sliding part 420a to move the transmission part 410a and drive the first clamping member 200a and the second clamping member 300a are rotated in a direction away from each other.

In other embodiments, the driving member 600a may include a motor and a gear, the gear is sleeved on the motor shaft, the upper part of the outer circumference of the gear is a circular arc surface, and the other part is provided with transmission teeth, and the transmission teeth are engaged with the pushing member 400a, The rotation of the gear drives the pusher 400a to translate, and when the transmission teeth mesh with the pusher 400a, the motor drives the gear to rotate so that the transmission teeth drive the pusher 400a to move and squeeze or stretch the elastic member 500a, and the motor drives the gear to continue to rotate, so that the arc surface and the The pusher 400a is opposite to each other. At this time, the pusher 400a is not in contact with the gear. The elastic member 500a can rebound and drive the pusher 400a to move in the opposite direction. At this time, the first clamping member 200a and the second clamping member can be realized by the rotation of the gear. 300a are close to each other or far away from each other.

In some embodiments, as shown in FIG. 29 , the mounting base 100a is provided with a sensor 800a, the sensor 800a is used to sense the object 10a between the first clamping member 200a and the second clamping member 300a, and the sensor 800a and the driving member 600a electrical connection. When the sensor 800a senses that the space between the first clamping member 200a and the second clamping member 300a is in an empty state, the sensor 800a outputs a reset signal to the driving member 600a to reset the driving member 600a, and the elastic member 500a drives the pushing member 400a to move, The first clamping member 200a and the second clamping member 300a are separated from each other. When there is no article 10a between the first clamping member 200a and the second clamping member 300a, the sensor 800a can sense and output a reset signal, and control the driving member 600a to reset, so that the pushing member 400a is not stressed, at this time the elastic member 500a The return position drives the pushing member 400a to move, so that the first clamping member 200a and the second clamping member 300a approach each other and form a clamping space again, so as to re-grip the article 10a.

Optionally, the sensor 800a may be a diffuse reflection sensor, an infrared sensor, an ultrasonic sensor, a radar sensor, an image sensor, or the like. The diffuse reflection sensor, infrared sensor, ultrasonic sensor and radar sensor all judge whether there is an item 10a between the first clamping member 200a and the second clamping member 300a through the reflection of light, sound wave or electromagnetic wave by the item 10a, and the image sensor passes the Photograph the area between the first holder 200a and the second holder 300a, and compare the image obtained by taking the photograph with the image when the article 10a exists between the first holder 200a and the second holder 300a , so as to determine whether there is an article 10a between the first clamping member 200a and the second clamping member 300a.

In some embodiments, as shown in FIG. 23 and FIG. 29 , the above-mentioned clamping device further includes a base 720a. The bracket 710a includes a pressing member 711a, a vertical branch member 712a and two lateral branch members 713a. The vertical branch member 712a is connected to the base 720a, the lateral branch member 713a is connected to the vertical branch member 712a in an L shape, and the mounting seat 100a is connected to the base 712a. The lateral branch member 713a is connected to one end away from the vertical branch member 712a, the driving member 600a is disposed on the vertical branch member 712a and is located between the two lateral branch members 713a, and the pressing member 711a is provided on the driving member 600a away from the vertical branch member On one side of 712a, both ends of the pressing member 711a are respectively connected with two lateral branch members 713a. At this time, the mounting seat 100a and the base 720a are spaced apart, so that there is a certain distance between the mounting seat 100a and the plane where the base 720a is installed, so that the article 10a can be limited in the clamping space, and the installation of the driving member 600a is more stable at this time. The pushing of the pushing member 400a by the driving member 600a is made more stable. The pressing member 711a, the vertical branch member 712a and the two horizontal branch members can limit the position of the branch member, so that the branch member can be kept stable during operation.

Optionally, the first clamping member 200a, the second clamping member 300a and the lateral branch member 713a are arranged in parallel or flush, and the rotation axis of the first clamping member 200a, the second clamping member 300a and the vertical branch member 712a The setting direction of the setting is parallel to the setting.

In some embodiments, as shown in FIG. 23 , FIG. 29 and FIG. 30 , the above-mentioned clamping device further includes a housing 730 a , the bracket 710 a is disposed in the housing 730 a , the first clamping member 200 a and the second clamping member 300 a at least partially Located outside the casing 730a, the bracket 710a or the driving member 600a is provided with a fixing portion 714a, and the fixing portion 714a is detachably connected to the casing 730a. The outer shell 730a can play an aesthetic and protective function, and the fixing portion 714a is connected with the outer shell 730a, which can further stabilize the bracket 710a.

Optionally, the fixing portion 714a is provided with a first assembling hole, and the housing 730a is provided with a second assembling hole, and screws or bolts can pass through the second assembling hole and threadedly cooperate with the first assembling hole, so as to realize the housing 730a and the fixing portion. Removable connection for 714a.

Optionally, the housing 730a is connected to the base 720a. At this time, the installation of the housing is more stable.

In some embodiments, as shown in FIG. 26 , arc-shaped notches 201a are provided on opposite sides of the first clamping member and the second clamping member. The arc-shaped notch 201a can better grip a circular structure, such as a paper cup, without causing damage to the paper cup or the like. Optionally, the above-mentioned arc-shaped notches 201a are provided on the opposite sides of the first functional part and the second functional part.

31 to 37 , the front door mechanism of the fifth aspect of the present application and the unmanned vending device of the sixth aspect of the present application are described.

The embodiment of the fifth aspect of the present application provides a front door mechanism, which is used to complete a meal delivery operation in an unmanned vending device. 31 to 35 , in some embodiments, the front door mechanism includes a front panel 10b, a meal delivery module 20b, a first door body 31b, a first lift module 32b, a second door body 41b, and a second lift module 42b, wherein , the front panel 10b is provided with a meal taking port 11b. The meal serving module 20b is connected to the front panel 10b, and is provided with a accommodating cavity 21b for accommodating commodities. The accommodating cavity 21b has opposite first and second openings, and the first opening communicates with the meal taking port 11b. The first door body 31b is movably connected with the meal delivery module 20b. The first lift module 32b is connected to the first door body 31b, and the first lift module 32b is used to drive the first door body 31b to open or close the first opening. The second door body 41b is movably connected with the meal delivery module 20b, and the second door body 41b is disposed opposite to the first door body 31b. The second lift module 42b is connected to the second door body 41b, and the second lift module 42b is used to drive the second door body 41b to open or close the second opening.

The work flow of the above-mentioned front door mechanism is: in the initial state, the first door body 31b is in a closed state, and the second door body 41b is in an open state. After the unmanned vending equipment completes the production of the product, the product is put into the accommodating cavity 21b of the meal-taking module through the second opening. The second lifting module 42b drives the second door 41b to lift up to close the second opening. The first lifting module 32b The first door body 31b is driven to descend to open the first opening and make the first opening communicate with the meal taking port 11b. At this time, the customer can take out the commodities in the accommodating cavity 21b through the meal taking port 11b. During the process of customers taking meals, the second door body 41b is in a closed state. At this time, the interior of the unmanned vending device is isolated from the outside world through the second door body 41b, so as to avoid the entry of hands or other foreign objects through the second opening during the process of customers taking meals. The inside of the equipment ensures the sanitation and cleanliness of the inside of the equipment. After the customer has finished taking the meal and the customer's hand is completely drawn out of the first opening, the first lifting module 32b drives the first door body 31b to rise to close the first opening again, and then the second lifting module 42b drives the second door body 41b to descend, thereby Open the second opening again and wait for the next round of meal flow.

The above-mentioned front door mechanism closes the first opening through the first door body 31b by arranging the first door body 31b for opening and closing with the first opening and the second door body 41b for opening and closing with the second opening on the meal module 20b. , and make the second door 41b open the second opening, the commodities can be placed in the meal module 20b through the second opening, and during this process, the first door 31b is kept closed to isolate the unmanned vending equipment The inside and outside of the equipment are separated to prevent foreign objects from entering the inside of the equipment and ensure the sanitation and cleanliness of the inside of the equipment. Then, the second opening is closed by the second door 41b, and the first door 31b is opened to make the first opening communicate with the meal taking port 11b. At this time, the customer can take out the food in the accommodating cavity 21b through the meal taking port 11b. commodity. And in the process of customer taking meal, the second door body 41b is in a closed state, at this time, the interior of the unmanned vending device is isolated from the outside world through the second door body 41b, so as to avoid customers' hands or other foreign objects passing through the second door body during the meal taking process. The opening enters the interior of the device, which further ensures the sanitation and cleanliness of the interior of the device.

In some embodiments, the meal serving module 20b is further provided with a first limiting groove 24b penetrating the bottom of the meal serving module 20b and a second limiting groove 25b located on the side of the meal serving module 20b. The first door body 31b is slidably inserted into the first limiting groove 24b. The second door body 41b is slidably engaged with the second limiting groove 25b.

By opening the first limiting groove 24b at the bottom of the meal delivery module 20b, and inserting the first door body 31b into the first limiting groove 24b, the first door body 31b is effectively limited and the number of screws and the like is reduced. When the fastening parts are used, the stability of the first door body 31b is ensured, so that the first door body 31b has a strong protective ability, and also prevents the first door body 31b from shaking left and right during the lifting process, which improves the first door body 31b. The smoothness of movement of the body 31b. Similarly, by opening the second limiting groove 25b on the side of the meal delivery module 20b, and making the second door body 41b slidably cooperate with the second limiting groove 25b, the second door body 41b can be effectively limited, reducing the need for The use of screws and other fastening components also ensures the stability of the second door body 41b, so that the second door body 41b has a strong protective ability, and also prevents the second door body 41b from shaking left and right during the lifting process, which improves the stability of the second door body 41b. Movement stability of the two-door body 41b.

In some embodiments, referring to FIGS. 35 and 36 , the meal delivery module 20b includes a bottom wall 22b for carrying commodities and two side walls 23b disposed on the bottom wall 22b and opposite to each other, and the first limiting groove 24b is opened On and through the bottom wall 22b. The side of the meal-out module 20b is the side of the meal-out module 20b close to the side wall 23b. Specifically, two second limit grooves 25b are provided, and the two second limit grooves 25b are respectively opened on opposite sides of the meal-out module 20b. on both sides. Specifically, the two second limiting grooves 25b are respectively provided on the two side walls 23b; or, the two second limiting grooves 25b are provided on opposite sides of the bottom wall 22b. Correspondingly, referring to FIG. 37, both sides of the second door body 41b are provided with protruding parts 411b, and the protruding parts 411b are slidably embedded in the second limiting groove 25b, thereby improving the connection between the second door body 41b and the first door body 41b. Matching stability of the two limiting grooves 25b. Preferably, the first door body 31b is a straight body structure, and the first limiting slot 24b is a straight slot, so that the first limiting slot 24b is easier to open. Preferably, the second door body 41b is a semi-circular arc body structure, so that after the second door body 41b is closed, there is a larger space in the accommodating cavity 21b to accommodate commodities.

In some embodiments, referring to FIGS. 35 and 36 , the front door mechanism further includes a first fixing member 51b and a second fixing member 52b, the first fixing member 51b is connected to the front panel 10b, and the first lifting module 32b is disposed on the first fixing member 51b. On the part 51b, the second fixing part 52b is connected with the first fixing part 51b, and a space for accommodating the first lifting module 32b is formed between the second fixing part 52b and the first fixing part 51b, and the second lifting module 42b is provided with on the second fixing member 52b. Preferably, the second fixing member 52b is provided with a bending portion that is bent in a direction away from the first fixing member 51b, so that an escape space is formed between the bending portion and the first fixing member 51b. The first lifting module 32b is fixed on the front panel 10b by the first fixing member 51b, the second lifting module 42b is fixed on the first fixing member 51b by the second fixing member 52b, and the second fixing member 52b is connected with the first fixing member 52b at the same time. An escape space for accommodating the first lifting module 32b is formed between the fixing members 51b, so that the installation and fixing structure of the first lifting module 32b and the second lifting module 42b is more reasonable and compact, and the overall occupied space of the front door mechanism is reduced. Preferably, at least two first fixing members 51b are provided, and at least two first fixing members 51b are arranged at intervals. For example, in this embodiment, there are two first fixing members 51b and two first fixing members 51b. They are respectively used to fix both ends of the first lifting module 32b. Correspondingly, at least two second fixing members 52b are provided, and at least two second fixing members 52b are arranged at intervals. For example, in some embodiments, two second fixing members 52b are provided, and the two second fixing members 52b are connected to the two first fixing members 51b in a one-to-one correspondence.

In some embodiments, the front door mechanism further includes a connecting plate 43b, and the lower end of the second door body 41b is connected to the second lifting module 42b through the connecting plate 43b. Specifically, the first lifting module 32b and the second lifting module 42b may be lifting driving mechanisms such as a linear module, an electric push rod, a lead screw nut mechanism or a rack and pinion mechanism. The first lifting module 32b and the second lifting module 42b can drive the first door body 31b and the second door body 41b to perform a reciprocating lifting motion, which is not limited herein.

In some embodiments, the front door mechanism further includes a detection sensor 71b. The detection sensor 71b is disposed in the accommodating cavity 21b and used to detect whether there is a commodity in the accommodating cavity 21b. When the detection sensor 71b detects that there is a commodity in the accommodating cavity 21b, the detection sensor 71b can be triggered The second lift module 42b drives the second door body 41b to close the second opening. Specifically, after the unmanned vending equipment has finished making the product and put it into the accommodating cavity 21b of the meal picking module, the detection sensor 71b detects that there is a commodity in the accommodating cavity 21b, and then the control module triggers the second lifting module 42b to drive the second door body 41b It rises, thereby closing the second opening, preventing the hand or other foreign objects from entering the inside of the device through the second opening during the process of customer taking the meal.

In some embodiments, the front door mechanism further includes a first pass-through sensor 72b and a second pass-through sensor 73b. The first pass-through sensor 72b and the second pass-through sensor 73b are disposed in the accommodating cavity 21b opposite to each other. A detection space for detecting foreign matter is formed between the sensor 72b and the second through-beam sensor 73b. When the first through-radiation sensor 72b and the second through-radiation sensor 73b detect that there is a foreign object in the detection space, the first lifting module 32b can be triggered to stop driving the first door body 31b. The "foreign object" in the embodiments of the present application refers to the customer's hand or other external objects. Specifically, when the customer takes out the product, the first lift module 32b drives the first door body 31b to rise to close the first opening. When there is a foreign object in the detection space, the first pair of shot sensor 72b and the second pair of shot sensor 73b trigger the first lift module 32b to stop driving the first door body 31b to rise through the control module, so as to prevent the customer's hand from being caught by the first door body 31b Clamp or prevent foreign objects from remaining in the accommodating cavity 21b. It is worth noting that the detection space is staggered from the position of the commodity in the accommodating cavity 21b, so as to prevent the first pair of radiation sensor 72b and the second pair of radiation sensor 73b from erroneously determining that the commodity is a foreign object.

In some embodiments, at least part of the front panel 10b is made of a transparent material, so that customers can observe the working conditions inside the device through the transparent material of the front panel 10b, which has a strong ornamental effect and also plays a certain role in attracting customers. customer effect.

31 to 32, the front panel 10b is further provided with a radar module 62b and a sound module 61b, the radar module 62b is used to detect walking, and the sound module 61b is used to send out a greeting voice, in some embodiments, the radar module 62b and The sounding modules 61b are all electrically connected to the control system of the unmanned vending device. When the radar module 62b detects that a pedestrian passes through the front door mechanism, the control system can trigger the sound module 61b to send out a welcome voice. In some embodiments, the control system can adjust the frequency at which the generation module 61 sends out the greeting speech according to the number of pedestrians detected by the radar module 62b. Specifically, when the radar module 62b detects that there are many pedestrians passing through the front door mechanism, the control system controls the sounding module 61b to increase the frequency of the sound of greeting customers. When the radar module 62b detects that there are fewer pedestrians passing through the front door mechanism, the control system controls the sounding module 61b to reduce the frequency of sending out the voice of welcoming passengers. The user can preset a threshold for the number of pedestrians in the control system, for example, 5 people. When the radar module 62b detects that the number of pedestrians passing through the front door mechanism is greater than or equal to 5 people, the control system controls and controls the sound module 61b to increase the frequency of the greeting voice. , for example, at this time, the sound module sends out a greeting voice every 10 seconds. When the radar module 62b detects that the number of pedestrians passing through the front door mechanism is less than 5, the control system controls the sound module 61b to reduce the frequency of the greeting voice. The sound module 61b will only issue a greeting voice when there are people passing by near the sales equipment, and when there are many people nearby, the playback frequency of the sound module 61b will increase, and when there are fewer people, the sound module 61b will play a lower frequency, thereby reducing the low-peak period. The noise pollution and energy waste can be more reasonable, and the function of automatic voice pickup can be realized more reasonably. It is worth noting that the preset threshold for the number of pedestrians and the corresponding frequency of voice broadcast for soliciting guests are not limited to the above-mentioned embodiment, and can be set as needed, which is not limited here.

In other embodiments, the control system control can also control the sounding module 61b to adjust the volume of the greeting voice according to the number of pedestrians detected by the radar module 62b. For example, when the radar module 62b detects that there are many pedestrians passing through the front door mechanism, the control system controls the sound module 61b to increase the volume of the greeting voice. When the radar module 62b detects that there are fewer pedestrians passing through the front door mechanism, the control system controls the sound module 61b to reduce the volume of the greeting voice, which can also reduce noise pollution and energy waste in low-peak hours. Repeat.

In some embodiments, the radar module 62b is disposed below the meal taking opening 11b, so that short pedestrians can also be detected. Preferably, the position of the radar module 62b is less than or equal to 1 m from the ground, so as to ensure that short children can also be detected.

In some embodiments, the front panel 10b is further provided with a human-computer interaction module 63b, and the human-computer interaction module 63b is used to obtain customer order information. Specifically, the human-computer interaction module 63b may be a touch screen or a button module, or It is a card swiping module or a face recognition module. The customer submits order information through the human-machine interaction module, and the unmanned vending device makes corresponding products according to the order information, and then delivers them to the meal delivery module 20b. In some embodiments, the front panel 10b is further provided with a code scanning module 64b, and the scanning code module 64b is used for scanning the customer's payment code, which can be a two-dimensional code, a barcode or other digital labels.

The embodiment of the sixth aspect of the present application provides an unmanned vending device. The unmanned vending device includes the front door mechanism in the embodiment of the fifth aspect of the present application. Specifically, taking a self-service ice cream machine as an example, the self-service ice cream machine includes a container supply mechanism, an ice cream machine making mechanism, a nut jam supply mechanism, an execution robot arm, and the above-mentioned front door mechanism. The executive robotic arm first obtains the container from the container supply mechanism, then transports the container to the ice cream machine making mechanism to receive the ice cream, and then transports the container to the nut jam supply mechanism to receive the nut jam, and finally delivers the prepared ice cream to the front door mechanism. In module 20b, the front door mechanism executes the meal delivery process.

The above-mentioned unmanned vending equipment adopts the aforementioned front door mechanism. The front door mechanism is provided on the meal module 20b with a first door body 31b that cooperates with the first opening and a second door body 41b that cooperates with the second opening. Thus, the first door body 31b closes the first opening, and the second door body 41b opens the second opening, so that commodities can be placed in the meal-out module 20b through the second opening, and during this process, the first door body 31b is kept closed to isolate the inside and outside of the unmanned vending equipment, preventing foreign objects from entering the inside of the equipment, and ensuring the sanitation and cleanliness of the inside of the equipment. Then, the second opening is closed by the second door 41b, and the first door 31b is opened to make the first opening communicate with the meal taking port 11b. At this time, the customer can take out the food in the accommodating cavity 21b through the meal taking port 11b. commodity. And in the process of customer taking meal, the second door body 41b is in a closed state, at this time, the interior of the unmanned vending device is isolated from the outside world through the second door body 41b, so as to avoid customers' hands or other foreign objects passing through the second door body during the meal taking process. The opening enters the interior of the device, which further ensures the sanitation and cleanliness of the interior of the device.

In the description of this specification, reference to the terms "one embodiment," "some embodiments," "exemplary embodiment," "example," "specific example," or "some examples", etc., is meant to incorporate the embodiments A particular feature, structure, material, or characteristic described by an example or example is included in at least one embodiment or example of the present application. In this specification, schematic representations of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the particular features, structures, materials or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.

Although the embodiments of the present application have been shown and described, it will be understood by those of ordinary skill in the art that various changes, modifications, substitutions and alterations can be made in these embodiments without departing from the principles and spirit of the present application, The scope of the application is defined by the claims and their equivalents.

Claims

An ice cream maker, comprising:

frame;

a cake-making mechanism, installed on the rack, and the cake-making mechanism is used for preparing ice cream;

A feeding mechanism is installed on the frame, and the feeding mechanism includes:

a first feeding module, the first feeding module is provided with a material box and a discharging structure connected to the material box, and the material box is used for storing solid materials;

The second feeding module includes a liquid storage bottle and a transfer pump connected to the liquid storage bottle, the outlet of the transfer pump is connected to the discharge structure, the transfer pump is installed on the frame, and the transfer pump arranged below the material box;

A transport mechanism is installed on the rack, and the transport mechanism is used for transporting the ice cream cups so as to receive ice cream and add materials.
The ice cream maker according to claim 1, wherein the feeding mechanism further comprises a cup dropper and a cup cylinder mounted on the cup dropper, and the cup dropper is fixed to the rack through a connecting seat , the connecting seat extends into the lower part of the material box.
The ice cream maker according to claim 1, wherein a weighing assembly is further provided on the frame, and the liquid storage bottle is placed on the weighing assembly.
The ice cream maker according to claim 3, wherein a refrigerator is further provided on the rack, and the weighing assembly is provided in the refrigerator.
The ice cream maker according to claim 4, wherein the weighing assembly comprises a bottom plate, a pressure sensor and a first limit seat, the bottom plate is provided in the refrigerator, and the pressure sensor is mounted on the bottom plate , the first limit seat is provided with a guide hole, the top of the pressure sensor is provided with a pad, the pad extends into the guide hole, the first limit seat has a space for placing the storage Limit groove for liquid bottle.
The ice cream maker according to claim 1, wherein the ice cream maker further comprises a meal delivery mechanism, the meal delivery mechanism is arranged opposite to the cake making mechanism, and the transport mechanism is movably arranged on the outlet. between the meal mechanism and the cake-making mechanism.
The ice cream maker according to claim 6, wherein the ice cream maker further comprises a casing, the casing is provided on the outside of the rack, the casing has a front panel, and the front panel is provided with There is a meal taking port, and the meal delivery mechanism includes:

A meal serving module is connected to the front panel, the meal serving module is provided with an accommodating cavity for accommodating the ice cream cup, the accommodating cavity has a first opening and a second opening oppositely arranged, and the first opening communicates the meal taking port;

The first door body is movably connected with the meal delivery module;

a first lift module, connected to the first door body, the first lift module is used to drive the first door body to open or close the first opening;

The second door body is movably connected with the meal delivery module, and is arranged opposite to the first door body;

The second lifting module is connected with the second door body and is used for driving the second door body to open or close the second opening.
The ice cream maker according to claim 7, wherein the front panel is provided with a radar module, a sounding module and a human-computer interaction module, and the human-computer interaction module is used to obtain customer order information. When the module detects that a pedestrian passes through the meal delivery mechanism, the sounding module can be triggered to issue a voice for welcoming customers.
The ice cream maker according to any one of claims 1 to 8, wherein the conveying mechanism comprises a first drive assembly, a second drive assembly and a clamping device, and the first drive assembly is used to drive the The clamping device rotates around the Z axis, the second driving component is used for driving the clamping device to move along the Z direction, and the clamping device is used for clamping or releasing the ice cream cup.
The ice cream maker according to claim 1, wherein the first feeding module comprises a plurality of the material boxes, and the two sides of each of the material boxes are provided with material box shooting sensors, and two of the material boxes are provided with a material box shooting sensor. The box-to-shoot sensor on the side is used to detect the remaining amount of solid materials in the material box. There are second limit seats on both sides of each of the material boxes, and the box-to-shoot sensor is installed correspondingly. on the second limit seat.
A clamping device, characterized in that it includes:

mount;

a first clamping piece, the first end of the first clamping piece is rotatably arranged on the mounting seat;

a second clamping piece, the first end of the second clamping piece is rotatably arranged on the mounting seat;

A pusher, the pusher is arranged between the first clamp and the second clamp, the pusher can reciprocate and drive the first end of the first clamp and the second clamp respectively. the first end of the second clamping member is rotated; and

an elastic piece, the elastic piece is arranged on the mounting seat, the elastic piece is in contact with or connected with the push piece, wherein the push piece is used to squeeze or stretch the elastic piece and drive the first The second end of a clamping member and the second end of the second clamping member are far away from each other, and the elastic member is used to return and drive the pushing member to move, so that the second end of the first clamping member is The end and the second end of the second clamping member are close to each other and form a clamping space.
The clamping device according to claim 11, wherein a front baffle is provided on the mounting seat, a guide rod is provided on the front baffle, and the guide rod is spaced from the mounting seat, so that the The elastic piece is sleeved outside the guide rod, the push piece is slidably matched with the guide rod, the two ends of the elastic piece are respectively abutted with the front baffle and the push piece, and the front stop The plate is arranged between the first clamping piece and the second clamping piece.
The clamping device according to claim 12, wherein a first side baffle and a second side baffle are provided on the mounting base, and the first clamping member and the second clamping member are provided with Between the first side baffle and the second side baffle, the first side baffle is disposed on a side of the first clamping member away from the second clamping member.
The clamping device according to claim 12, wherein a rear baffle is provided on the mounting seat, the rear baffle is spaced from the front baffle, and the pushing member comprises a transmission part connected to each other. and a sliding part, the guide rod, the elastic piece and the transmission part are arranged between the front baffle and the rear baffle, the transmission part is sleeved outside the guide rod, the transmission part is The sliding part cooperates with the first clamping piece and the second clamping piece respectively to form a rack-and-pinion transmission structure, and the sliding part slides through the rear baffle.
The clamping device according to any one of claims 11 to 14, wherein the clamping device further comprises a driving member and a bracket, the bracket is connected to the mounting seat, and the driving member is provided on the On the bracket, the driving member is used to drive the pushing member to move, so that the first clamping member and the second clamping member approach each other.
The clamping device according to claim 15, wherein the driving member is an electric push rod, and the electric push rod is used for contacting an end of the pushing member away from the elastic member.
The clamping device according to claim 15, wherein a sensor is provided on the mounting base, and the sensor is used for sensing the article between the first clamping member and the second clamping member, The sensor is electrically connected to the driving member, and when the sensor senses that the space between the first clamping member and the second clamping member is in an empty state, the sensor outputs a reset signal to the driving member the driving member is reset, and the elastic member drives the pushing member to move, so that the first clamping member and the second clamping member are separated from each other.
The clamping device according to claim 15, characterized in that, the clamping device further comprises a base, the bracket comprises a pressing member, a vertical branch member and two lateral branch members, the vertical branch member and The base is connected, the horizontal branch is connected to the vertical branch in an L-shape, the mounting seat is connected to the end of the horizontal branch away from the vertical branch, and the driving member is arranged at the end of the vertical branch. The vertical branch member is located between the two lateral branch members, the pressing member is arranged on the side of the driving member away from the vertical branch member, and the two ends of the pressing member are respectively connected to the vertical branch member. The two lateral branches are connected.
The clamping device according to claim 15, wherein the clamping device further comprises a casing, the bracket is arranged in the casing, the first clamping member and the second clamping member at least The part is arranged outside the casing, and the bracket or the driving member is provided with a fixing part, and the fixing part is detachably connected with the casing.
The clamping device according to any one of claims 11 to 14, wherein arc-shaped notches are provided on opposite sides of the first clamping member and the second clamping member.
The feeding integrated device is characterized in that: comprising:

frame;

a first feeding module, fixed on the frame, the first feeding module is provided with a material box and a discharging structure connected to the material box, and the material box is used for storing solid materials;

The second feeding module includes a liquid storage bottle and a transfer pump connected to the liquid storage bottle, the outlet of the transfer pump is connected to the discharge structure, the transfer pump is installed on the frame, and the transfer pump located below the material box.
The integrated feeding device according to claim 21, wherein the discharge structure is located below the material box, the transfer pump is located at the back side of the discharge structure, and the bottom of the discharge structure is located at the bottom of the discharge structure. A discharge port is formed, and the height of the discharge port is lower than that of the transfer pump.
The integrated feeding device according to claim 22, characterized in that: the discharging structure is a hopper, and a No. 1 discharging channel and a No. 2 discharging channel which are independent of each other are formed in the hopper, and the No. 1 discharging channel is formed. The channel and the No. 2 discharge channel are respectively communicated with the discharge port.
The integrated feeding device according to claim 23, wherein the material box is communicated with the No. 1 discharge channel through a No. 1 feeding pipe, and a No. 2 feeding pipe is connected to the outlet of the transfer pump, The end of the No. 2 feeding pipe extends into the No. 2 discharging channel from the back of the hopper and is fixed above the discharging port.
The integrated feeding device according to claim 21, wherein the integrated feeding device further comprises a cup drop module, and the cup drop module is installed on the frame.
The integrated feeding device according to claim 25, wherein the cup drop module comprises a cup dropper and a cup barrel mounted on the cup dropper, and the cup dropper is fixed to the frame.
The integrated feeding device according to claim 26, wherein the top of the cup cylinder is provided with a cup-loading mouth, and the cup-loading mouth is an oblique mouth.
The integrated feeding device according to claim 26, wherein the bottom of the cup cylinder is provided with a surplus detection component.
The integrated feeding device according to claim 28, wherein: the cup barrel is made of a transparent material, the lower end of the cup barrel is connected to the cup dropper through a fixing seat, and the residual detection component installed on the fixed seat.
An automatic vending machine, characterized in that it includes the integrated feeding device according to any one of claims 21 to 29.
A front door mechanism, characterized in that it includes:

a front panel, the front panel is provided with a meal taking port;

A meal-out module, the meal-out module is connected to the front panel, and the meal-out module is provided with a accommodating cavity for accommodating commodities, the accommodating cavity has an opposite first opening and a second opening, the first opening communicated with the meal taking port, and the meal serving module is further provided with a first limiting groove penetrating the bottom of the meal serving module and a second limiting groove on the side of the meal serving module;

a first door body, the first door body is slidably inserted in the first limiting groove;

a first lifting module, the first lifting module is connected with the first door body, and the first lifting module is used for driving the first door body to open or close the first opening;

a second door body, the second door body slidingly fits with the second limiting groove; and,

A second lifting module, the second lifting module is connected with the second door body, and the second lifting module is used to drive the second door body to open or close the second opening.
The front door mechanism according to claim 31, wherein the front panel is further provided with a radar module and a sounding module, the radar module is used to detect pedestrians passing by the front door mechanism, and the sounding module is used to emit Pickup voice.
The front door mechanism according to claim 32, wherein the radar module is arranged below the meal taking port.
The front door mechanism according to claim 31, wherein the front door mechanism further comprises a first fixing member and a second fixing member, the first fixing member is connected with the front panel, and the first lifting module is provided with On the first fixing member, the second fixing member is connected with the first fixing member, and a space between the second fixing member and the first fixing member is formed for accommodating the first lifting module the avoidance space, the second lifting module is arranged on the second fixing member.
The front door mechanism according to claim 31, wherein the front door mechanism further comprises a detection sensor, the detection sensor is arranged in the accommodating cavity and is used to detect whether the commodity exists in the accommodating cavity, when the When the detection sensor detects that the commodity exists in the accommodating cavity, the second lifting module can be triggered to drive the second door to close the second opening.
The front door mechanism according to claim 31, wherein the front door mechanism further comprises a first through-beam sensor and a second through-beam sensor, the first through-beam sensor and the second through-beam sensor are disposed opposite to each other In the accommodating cavity, a detection space for detecting foreign objects is formed between the first through-beam sensor and the second through-beam sensor. When the first through-beam sensor and the second through-beam sensor detect When there is a foreign object in the detection space, the first lifting module can be triggered to stop driving the first door body.
The front door mechanism of claim 31, wherein at least a portion of the front panel is made of a transparent material.
The front door mechanism according to claim 31, wherein the meal delivery module comprises a bottom wall for carrying the commodities, the first limiting groove is defined on the bottom wall and penetrates the bottom wall, so There are two second limit grooves, the two second limit grooves are respectively opened on opposite sides of the meal-out module, and both sides of the second door body are provided with protruding parts. The protruding portion is slidably embedded in the second limiting groove.
The front door mechanism according to claim 31, wherein a human-computer interaction module is further provided on the front panel, and the human-computer interaction module is used to obtain customer order information; and/or, the front panel is further A code scanning module is provided, and the scanning code module is used to scan the customer's payment code.
An unmanned vending device, characterized in that it comprises the front door mechanism described in any one of the above claims 31 to 39 .