CN111067360A

CN111067360A - Intelligent catering preparation system

Info

Publication number: CN111067360A
Application number: CN201911419096.4A
Authority: CN
Inventors: 肖健; 张建威; 张倩; 宋小东; 杨烁
Original assignee: Beijing Orion Star Technology Co Ltd
Current assignee: Beijing Orion Star Technology Co Ltd
Priority date: 2019-12-31
Filing date: 2019-12-31
Publication date: 2020-04-28

Abstract

The invention discloses an intelligent catering preparation system, which comprises: the food and beverage storage device comprises a first storage area and a second storage area, wherein the first storage area and/or the second storage area are suitable for storing food and beverage materials and are separated from each other; the operation area is arranged between the first storage area and the second storage area, an operation platform is arranged in the operation area, and the operation platform is suitable for conveying the catering materials in the first storage area and/or the second storage area to the operation area and processing the catering materials. The intelligent catering preparation system is high in preparation efficiency and low in cost.

Description

Intelligent catering preparation system

Technical Field

The application relates to the field of intelligent equipment, in particular to an intelligent catering preparation system.

Background

In the related art, the beverage preparation system is not perfect in the arrangement of the material storage area and the operation platform, and the beverage preparation system in the related art has low working efficiency and cannot perform cooperative operation because the preparation methods of the beverage preparation system are different and the arrangement methods of the material storage area and the operation platform are also different.

Disclosure of Invention

The present application is directed to solving at least one of the problems in the prior art. Therefore, an object of the present application is to provide an intelligent catering preparation system, which has high preparation efficiency and low cost.

The food and beverage storage device comprises a first storage area and a second storage area, wherein the first storage area and/or the second storage area are suitable for storing food and beverage materials and are separated from each other; the operation area is arranged between the first storage area and the second storage area, an operation platform is arranged in the operation area, and the operation platform is suitable for conveying the catering materials in the first storage area and/or the second storage area to the operation area and processing the catering materials.

According to the intelligent catering preparation system, materials are stored in the first storage area and the second storage area, the operating platform in the operating area is suitable for making drinks, in the preparation process of the intelligent catering preparation system, the operating area is respectively adjacent to the first storage area and the second storage area, the operating area is close to the first storage area and the second storage area, the materials in the first storage area and the second storage area can be taken out quickly and conveniently to be placed in the operating area, the operating area is arranged between the first storage area and the second storage area, the circulation efficiency of the materials can be greatly improved, and the rhythm of drink preparation is accelerated.

According to an embodiment of the present invention, the first storage area, the operation area, and the second storage area are sequentially arranged in an up-down direction.

According to one embodiment of the invention, a high altitude feeding device is arranged in the first storage area, and comprises: a material rack; a parallel four-bar linkage mechanism comprising: the material rack comprises a fixed connecting rod, a driving connecting rod, a moving connecting rod and a driven connecting rod which are sequentially connected, wherein the fixed connecting rod is parallel to the moving connecting rod, the driving connecting rod is parallel to the driven connecting rod, and the moving connecting rod is provided with the material rack.

According to an embodiment of the invention, a beverage capsule receiving device for receiving beverage capsules is arranged on the material rack, and the beverage capsule receiving device comprises: the beverage container comprises a containing device body, wherein a capsule slide way for storing beverage capsules is arranged on the containing device body; the limiting part is formed at one end of the containing device body and has a locking state and an unlocking state, the limiting part is suitable for abutting against the beverage capsule when the limiting part is in the locking state, and the beverage capsule is suitable for being separated from the capsule slide way when the limiting part is in the unlocking state.

According to an embodiment of the present invention, the storage device body includes: the beverage capsule comprises a bottom plate and a guide plate which is opposite to and spaced from the bottom plate in the front-back direction, wherein a capsule slide way is defined between the bottom plate and the guide plate, and a flange of the beverage capsule is slidably arranged in the capsule slide way.

According to one embodiment of the invention, the operation platform comprises a first robot arm, the first robot arm comprising: a first arm body; the first actuator is connected with the first mechanical arm body to move under the driving of the first mechanical arm body, and the first actuator is suitable for grabbing beverage capsules and brewing the beverage capsules.

According to one embodiment of the invention, the first actuator comprises: an actuator body; the capsule accommodating part is mounted on the actuator body, an accommodating space for accommodating a beverage capsule is arranged in the capsule accommodating part, and the capsule accommodating part can selectively extend out of the actuator body to grab the beverage capsule and accommodate the beverage capsule; a brew head disposed within the actuator body, and adapted to provide pressurized water toward a beverage capsule positioned within the capsule receiving portion when the capsule receiving portion enters the actuator body.

According to one embodiment of the invention, the actuator body has a beverage processing space, and the capsule housing is slidably arranged on the actuator body to protrude or enter the beverage processing space.

According to one embodiment of the invention, the capsule receiving portion is provided with a slide rail, and the actuator body is provided with a slide groove which is matched with the slide rail.

According to one embodiment of the invention, the brew head comprises: a piercing needle movably disposed within the beverage processing space to pierce the beverage capsule.

According to an embodiment of the invention, the operation platform further comprises: the water supply device is provided with a water inlet end and a water outlet end, the water inlet end of the water supply device is connected with a water source, and the water outlet end of the water supply device is connected with the first actuator.

According to one embodiment of the invention, the water supply device is configured as a quick-connect coupling comprising: the joint male end and the joint female end are selectively matched, one of the joint male end and the joint female end serves as a water inlet end of the water supply device and is connected with a water source, and the other of the joint male end and the joint female end serves as a water outlet end of the water supply device and is connected with the first actuator.

According to an embodiment of the invention, the operation platform further comprises a compression mechanism adapted to compress the connector male end and the connector female end, the compression mechanism comprising: compress tightly the base, it is provided with main spout on the base to compress tightly, main spout includes: the device comprises a vertical section and an inclined section which is arranged at the top end of the vertical section and extends upwards in an inclined manner; a compression bar configured in an L-shape and comprising: the cooperation section with the section that pushes down that the cooperation section links to each other, the free end of cooperation section can be followed vertical section and/or the slope section slides, the stiff end of cooperation section with the section that pushes down links to each other and can follow vertical section and/or the slope section slides.

According to one embodiment of the invention, the pressing base comprises: the first limiting plate and the second limiting plate that the interval set up, the depression bar sets up first limiting plate with between the second limiting plate, be provided with on the first limiting plate main spout, be provided with on the second limiting plate and assist the spout, assist the spout along vertical direction extension and with vertical section is just right, one in the free end of cooperation end and the stiff end can be followed assist the spout and slide, another in the free end of cooperation end and the stiff end can be followed main spout slides.

According to an embodiment of the invention, the operation platform further comprises a second robot arm, the second robot arm comprising: a second mechanical arm body; the second actuator is connected with the second mechanical arm body to move under the driving of the second mechanical arm body, and the second actuator is suitable for packaging drinks.

According to one embodiment of the invention, the second actuator comprises: an integrated base; the functional module is a plurality of functional modules, the functional modules can be selectively fixed on the integrated seat, and each functional module is suitable for operating a container or a container cover of a beverage.

According to one embodiment of the invention, the integration seat is configured as a fixing plate, the periphery and/or the underside of which is adapted to fix the functional module.

According to one embodiment of the invention, the functional module comprises: at least one of a first fetching module, a transferring module and a bar code printing module; the first thing module of getting transport the module and bar code print module all sets up just follow on the fixed disk the interval sets up in the circumference of fixed disk.

According to one embodiment of the invention, the functional module comprises: a second fetching module; the second fetching module is arranged below the fixed disc.

According to an embodiment of the present invention, the operation platform further comprises a meal delivery device, and the meal delivery device comprises: a meal delivery base; the tray is arranged on the meal serving base and is suitable for storing drinks; the cover body is arranged above the tray, a meal outlet space is limited by the cover body and the tray, and the cover body moves towards or away from the tray to close or open the meal outlet space.

According to one embodiment of the invention, a heat preservation module or/and a refrigeration module are arranged in the tray, the heat preservation module is suitable for preserving heat of drinks on the tray, and the refrigeration module is suitable for refrigerating the drinks on the tray.

According to one embodiment of the invention, a storage area for storing drinks is arranged on the tray, and the heat preservation module or/and the refrigeration module are/is arranged between the storage area and the tray.

According to an embodiment of the invention, a gravity sensor is further arranged on the tray, the gravity sensor is adapted to sense weight changes on the tray, and the cover is adapted to move towards or away from the tray according to the weight changes on the tray.

According to one embodiment of the invention, the tray is rotatably arranged on the meal delivery base.

According to an embodiment of the present invention, the second storage area includes: water storage mechanism and waste material storage mechanism for accommodating rubbish.

According to one embodiment of the present invention, the operation area and the second storage area are provided with a waste deposit port opposed to the waste deposit mechanism.

Additional aspects and advantages of the present application will be set forth in part in the description which follows and, in part, will be obvious from the description, or may be learned by practice of the present application.

Drawings

The above and/or additional aspects and advantages of the present application will become apparent and readily appreciated from the following description of the embodiments, taken in conjunction with the accompanying drawings of which:

FIG. 1 is a schematic structural diagram of an intelligent catering preparation system according to an embodiment of the invention;

FIG. 2 is a schematic diagram of the high altitude feed supplement device according to the embodiment of the present invention ascending to the work place;

FIG. 3 is a schematic view of the structure of a high altitude feeding device descending to the feeding place according to an embodiment of the present invention;

FIG. 4 is a schematic view of a beverage capsule receiving device according to an embodiment of the present invention mated with a beverage capsule;

FIG. 5 is another schematic view of the beverage capsule receiving device according to the embodiment of the present invention mated with a beverage capsule;

FIG. 6 is a schematic structural diagram of a first mechanical arm and a beverage capsule receiving device according to an embodiment of the present invention;

figure 7 is a schematic view of a first actuator according to an embodiment of the present invention entering the beverage processing space at the capsule receiving portion;

fig. 8 is a schematic view of a first actuator according to an embodiment of the invention extending out of the beverage processing space in the capsule housing;

FIG. 9 is a schematic structural view of a hold-down mechanism according to an embodiment of the present invention;

FIG. 10 is a schematic view of the other side of the hold-down mechanism according to an embodiment of the invention;

FIG. 11 is a schematic perspective view of a second robotic arm according to an embodiment of the invention;

FIG. 12 is a schematic top view of a second robotic arm according to an embodiment of the invention;

FIG. 13 is a schematic structural view of a second actuator according to an embodiment of the present invention;

FIG. 14 is a cross-sectional schematic view of an integrated seat of a second actuator according to an embodiment of the present invention;

FIG. 15 is a schematic diagram of a barcode print module and cup mating of a second actuator according to an embodiment of the invention.

FIG. 16 is a schematic view of a meal delivery apparatus according to an embodiment of the present invention (oriented towards a dining area);

FIG. 17 is another schematic view of a meal delivery apparatus according to an embodiment of the present invention (oriented towards the meal retrieval area);

FIG. 18 is a schematic cross-sectional view of a dining apparatus according to an embodiment of the present invention;

FIG. 19 is a schematic diagram of an intelligent catering preparation system according to an embodiment of the invention;

fig. 20 is a schematic view of a first actuator of an embodiment of the present invention grasping a beverage capsule in a capsule receiving portion; .

Reference numerals:

an intelligent catering preparation system 1, a first storage area 1a, a second storage area 1b, an operation area 1c, beverage capsules 2,

a high-altitude material supplementing device 11, a material rack 111, a fixed connecting rod 112, a driving connecting rod 113, a first section 1131, a second section 1132, a moving connecting rod 114, a driven connecting rod 115, an electric push rod 116,

a beverage capsule receiving device 12, a receiving device body 121, a limiting member 122, a bottom plate 123, a guide plate 124, a mounting hole 124a, an avoiding hole 124b,

the brewing device 13 is provided with a brewing device,

the first actuator (131) is provided with a first actuator,

an actuator body 131a, a capsule housing 1311, a brewing head 1312, a beverage processing space 1313,

the first arm 132, the first arm body 1321,

pressing mechanism 133

A pressing base 1331, a first limit plate 1332, a main chute 1332a, a vertical section 1332b, an inclined section 1332c, a second limit plate 1333, an auxiliary chute 1333a,

a pressing lever 1334, an engaging section 13341, a first follower roller 13341a, a depressing section 13342, a second follower roller 13342a, a driving member 1335, a driving link 1336, an intermediate link 1337;

the second mechanical arm 14 is provided with a second mechanical arm,

the second robot arm body 141 is provided with,

the integrated base 142 is provided with a plurality of integrated seats,

a first fetching module 143, a first connecting bracket 1431, a first motor 1432, a grabbing bracket 1433, a bracket body 14331, a first clamping arm 14332, a first vacuum chuck 14333,

the number of the transfer modules 144 is such that,

a barcode printing module 145, a printing unit 1451, a second motor 1452, a second coupling bracket 1453,

a second picking module 146, a picking tray 1461, a flange 1462, a second vacuum chuck 1463,

the meal delivery device (15) is provided with a meal delivery device,

the meal delivery base 151 is provided with a meal delivery base,

a tray 152, a heat preservation module 1521a, a refrigeration module 1521b, a gravity sensor 1522, a storage area 1523, a light guide structure 1524, a light source 1525,

the cover (153) is provided with a cover,

the power source 154, the transmission assembly 155,

a meal preparation area 15a, a meal taking area 15b,

a connector male end 101, a connector female end 102 and a positioning block 103.

Detailed Description

Reference will now be made in detail to embodiments of the present application, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to the same or similar elements or elements having the same or similar function throughout. The embodiments described below with reference to the drawings are exemplary only for the purpose of explaining the present application and are not to be construed as limiting the present application.

The intelligent catering preparation system 1 of the present application is described below with reference to fig. 1-15.

As shown in fig. 1, the intelligent catering preparation system 1 according to the invention comprises a first storage area 1a, a second storage area 1b and an operation area 1c, wherein the first storage area 1a and/or the second storage area 1b are suitable for storing catering materials and are separated from each other; the operating area 1c is arranged between the first storage area 1a and the second storage area 1b, the operating area 1c is provided with an operating platform, and the operating platform is suitable for conveying the catering materials in the first storage area 1a and/or the second storage area 1b to the operating area 1c and processing the catering materials.

According to the intelligent catering preparation system 1, catering materials can be stored in the first storage area 1a and the second storage area 1b, an operation platform in the operation area 1c is suitable for catering, in the catering preparation process of the intelligent catering preparation system 1, the operation area 1c is respectively adjacent to the first storage area 1a and the second storage area 1b, the operation area 1c is close to the first storage area 1a and the second storage area 1b, the catering materials in the first storage area 1a and the second storage area 1b can be taken out quickly and conveniently to be placed in the operation area 1c, the operation area 1c is arranged between the first storage area 1a and the second storage area 1b, the circulation efficiency of the catering materials can be greatly improved, and the catering preparation speed is increased.

According to an embodiment of the present invention, the first storage area 1a, the operation area 1c, and the second storage area 1b may be arranged in order in the left-right direction.

According to another embodiment of the invention, the first storage area 1a, the operation area 1c and the second storage area 1b can be sequentially arranged along the vertical direction, and the first storage area 1a, the operation area 1c and the second storage area 1b are sequentially arranged along the vertical direction, so that the space occupied by the intelligent catering preparation system 1 in the horizontal space can be greatly reduced, the space in the vertical direction is fully utilized, the space occupation of the intelligent catering preparation system 1 is reduced, the leveling effect of the intelligent catering preparation system 1 is improved, and the operation cost of the intelligent catering preparation system 1 is greatly reduced.

The following takes the intelligent catering preparation system 1 for preparing drinks as an example, and the intelligent catering preparation system 1 of the embodiment of the invention is explained in detail.

According to an embodiment of the present invention, the first storage area 1a is a beverage capsule storage area, the second storage area 1b may be provided with a water storage mechanism, the water storage mechanism may be configured to store drinking water, the second storage area 1b is further provided with a garbage storage area, the operation platform is provided with a mechanical arm, and the mechanical arm moves through the mechanical arm to take the beverage capsule from the first storage area 1a, the mechanical arm performs beverage preparation in the operation area 1c, and pours the remaining beverage capsule shell into the second storage area 1b, and the second storage area 1b may be stored with a drinking water treatment device, so as to reduce objects disposed in the operation platform and improve the cleanliness of the operation platform.

The second storage area 1b is separated from the operation area 1c by an operation platform, a water supply host machine for providing high-temperature pressure water can be stored in the second storage area 1b, and the water supply host machine can provide high-temperature and high-pressure water for brewing beverage capsules. The operation platform can be tidier by placing the water supply host in the second storage area 1 b.

According to an embodiment of the present invention, the second storage area 1b specifically includes a waste storage mechanism for storing waste, and the operation area 1c and the second storage area 1b are provided with waste input ports facing the waste storage mechanism. The waste storage mechanism can be used for collecting the brewed beverage capsule shell, and the brewed beverage capsule shell can be stored in the waste storage mechanism, so that the garbage pollution is avoided, and meanwhile, the beverage capsule shell is convenient to recycle.

According to one embodiment of the present invention, a high altitude feeding device 11 is disposed in the first storage area 1 a.

The high altitude feed supplement device 11 according to the embodiment of the present invention, including the material rack 111 and the parallel four-bar linkage, is described below with reference to fig. 1 to 3.

Specifically, the parallel four-bar linkage includes: the material storage device comprises a fixed connecting rod 112, a driving connecting rod 113, a moving connecting rod 114 and a driven connecting rod 115 which are connected in sequence, wherein the fixed connecting rod 112 is parallel to the moving connecting rod 114, the driving connecting rod 113 is parallel to the driven connecting rod 115, and a material rack 111 is arranged on the moving connecting rod 114.

Since the hinge pitch of the fixed link 112 is equal in size to the hinge pitch of the moving link 114 and the hinge pitch of the driving link 113 is equal in size to the hinge pitch of the driven link 115 in the fixed link 112 and the moving link 114 and the driving link 113 and the driven link 115 which are opposite to each other; therefore, the fixed link 112, the driving link 113, the moving link 114 and the driven link 115 form a parallelogram link mechanism, which is called a parallelogram link mechanism for short, and the material rack 111 is arranged on the moving link 114, so that the bottom surface of the material rack can be kept in a horizontal state all the time without overturning.

According to the high-altitude material supplementing device 11, the material frame 111 is fixed on the motion connecting rod 114 of the parallel four-bar linkage by utilizing the characteristic that opposite rods of the parallel four-bar linkage are always parallel, the fixed connecting rod 112 opposite to the material frame is not moved, the driving connecting rod 113 and the driven connecting rod 115 adjacent to the material frame are driven to rotate, the material frame 111 is lifted or lowered by the rotation of the parallel four-bar linkage, an object right below the material frame 111 can be bypassed during lifting or lowering, and the material frame 111 is kept in a horizontal state all the time and is not turned over.

According to an embodiment of the present invention, a driving member is further included, and the driving member is connected to the driving link 113 to drive the driving link 113 to rotate relative to the fixed link 112. The fixed connecting rod 112 is fixed, the driving part drives the driving connecting rod 113 connected to the fixed connecting rod 112 to rotate clockwise or anticlockwise, one end of the driven connecting rod 115 is connected with the fixed connecting rod 112 and always keeps parallel rotation with the driving connecting rod 113, and therefore the material rack 111 is lowered or raised.

According to one embodiment of the present invention, the driving link 113 includes: the first section 1131 and the second section 1132 connected with the first section 1131, both ends of the first section 1131 are respectively hinged with the fixed link 112 and the moving link 114, and the free end of the second section 1132 is hinged with the output end of the driving member. Two ends of the first section 1131 of the driving connecting rod are respectively hinged with the fixed connecting rod 112 and the moving connecting rod 114, and the two ends are used as a part of a parallel four-bar linkage mechanism to realize the descending or ascending of the material rack 111; the both ends of the second section 1132 of drive connecting rod are articulated with the output of fixed connecting rod 112 and driving piece respectively, and the driving piece can drive the second section 1132 of drive connecting rod and drive the first section 1131 rotation of drive connecting rod, realizes that material frame 111 descends or rises.

According to one embodiment of the invention, the drive member comprises: the motor and the electric push rod 116 connected with the motor, and the free end of the electric push rod 116 is connected with the driving connecting rod 113. The motor works to drive the electric push rod 116 to rotate, the free end of the electric push rod 116 is connected with the second section 1132 of the driving connecting rod, the second section 1132 of the driving connecting rod is driven to rotate through the rotation of the electric push rod 116, the first section 1131 of the driving connecting rod rotates around the hinge, and the material frame 111 is lowered or raised.

Specifically, the electric push rod 116 can be replaced by other linear power source motion mechanisms such as an air cylinder, a hydraulic cylinder and the like; the mode that the motor works to drive the electric push rod 116 to rotate can be replaced by the mode that the motor works to rotate and the torque directly drives the driving connecting rod 113; the electric push rod 116 can also be replaced by a pneumatic spring to balance the material and the gravity of the material rack 111, and the material rack 111 can be lifted or lowered manually.

According to one embodiment of the present invention, the fixed link 112 and the moving link 114 each extend in an up-and-down direction. Since the fixed link 112 is fixed and the moving link 114 is always parallel to the fixed link 112, the moving link 114 performs vertical movement by the rotation of the driving link 113 and the driven link 115 in the parallel four-bar linkage.

According to an embodiment of the present invention, the parallel four-bar linkage structure is constructed in a plurality, and the moving links 114 of the plurality of parallel four-bar linkages are connected to the material shelf 111. Because the whole width of the material frame 111 is long, a plurality of parallel four-bar linkage mechanisms are arranged in parallel, synchronous motion of the plurality of parallel four-bar linkage mechanisms is guaranteed, and ascending or descending of the material frame 111 is achieved.

According to one embodiment of the present invention, a beverage capsule receiving device 12 for receiving the beverage capsule 2 is disposed on the material rack 111. The beverage capsule storage device 12 can contain the beverage capsules 2, and the staff puts the beverage capsules 2 into the beverage capsule storage device 12 and supplies the material to the material rack 111. A beverage capsule housing apparatus 12 according to an embodiment of the present invention is described below with reference to fig. 1 to 4.

The beverage capsule housing apparatus 12 according to an embodiment of the present invention includes: a receiving device body 121, wherein a capsule slide way for storing the beverage capsule 2 is arranged on the receiving device body 121; the limiting member 122, the limiting member 122 is formed at one end of the receiving device body 121, the limiting member 122 has a locked state and an unlocked state, the limiting member 122 is adapted to stop the beverage capsule 2 when the limiting member 122 is in the locked state, and the beverage capsule 2 is adapted to be separated from the capsule slide when the limiting member 122 is in the unlocked state.

Specifically, the beverage capsule 2 can be slidably placed in the beverage slide way, and the beverage device in the beverage slide way is limited by the limiting part 122 at one end of the containing device body 121, so that the beverage capsule 2 is prevented from being separated from the beverage slide way, and the limiting part 122 can be switched between a locking state and an unlocking state, so that the limiting part 122 is switched to the unlocking state in the grabbing process of the beverage capsule 2, so that the beverage capsule 2 can be separated more conveniently, and the use convenience of the beverage capsule containing device 12 is improved.

It should be noted that the unlocking state and the locking state are two working states of the limiting member 122, when the limiting member 122 is in the locking state, the beverage capsule 2 is limited by the limiting member 122, so that the beverage capsule 2 can be prevented from being separated from the capsule slide, and when the limiting member 122 is in the unlocking state, the limiting member 122 releases the limitation on the beverage capsule 2, so that the beverage capsule 2 can be separated from the capsule slide.

According to the beverage capsule housing device 12 of the embodiment of the invention, on one hand, the structure of the beverage capsule housing device 12 is simpler, and the production cost of the beverage capsule housing device 12 can be reduced; on the other hand, the setting of locating part 122 is more reasonable, not only can improve the stability of holding of beverage capsule 2 in beverage capsule storage device 12, makes the snatching of beverage capsule 2 in beverage capsule storage device 12 simpler, convenient moreover.

According to some embodiments of the present invention, the receiving device body 121 extends in an up-down direction, and the stopper 122 is disposed at a lower end of the receiving device body 121. That is, the beverage capsule 2 enters the receiving device body 121 from the upper end and is sequentially stacked in the capsule slide, and the limiting member 122 is disposed at the lower end of the receiving device body 121, so that the beverage capsule 2 can automatically move to abut against the limiting member 122 under the action of gravity. Like this, not only make snatching of beverage capsule 2 more convenient, simplified beverage capsule storage device 12's structure moreover, make beverage capsule storage device 12's structure simpler, the cost is lower.

As shown in fig. 2 to 4, the storage device body 121 includes: a bottom plate 123 and a guide plate 124 arranged opposite and spaced apart from the bottom plate 123 in the front-rear direction, the bottom plate 123 and the guide plate 124 defining a capsule chute therebetween, the flange of the beverage capsule 2 being slidably arranged within the capsule chute. Thus, by arranging the guide plate 124, the sliding of the beverage capsule 2 can be guided, so that the in-place accuracy of the beverage capsule 2 is higher, and the grabbing efficiency is improved; and can avoid beverage capsule 2 to deviate from the capsule slide, improve beverage capsule storage device 12's job stabilization nature.

It is understood that the guide plate 124 includes: a left guide plate disposed on the left side of the base plate 123 and a right guide plate disposed on the right side of the base plate 123, the left guide plate and the right guide plate being spaced apart. Thus, the two guide plates 124 arranged oppositely can improve the guiding effect of the guide plates 124, so that the working stability of the beverage capsule accommodating device 12 is higher.

In the specific embodiment shown in fig. 4, a mounting hole 124a is formed on the bottom plate 123, and the limiting member 122 is mounted in the mounting hole 124 a. This facilitates the installation of the stopper 122 on the base plate 123.

It is understood that the lower end of the guide plate 124 is located above the lower end of the mounting hole 124 a. Thus, when the limiting member 122 is acted by external force or peripheral components and switched from the locking state to the unlocking state, the guide plate 124 can be prevented from interfering with the peripheral components, the use convenience of the beverage capsule storage device 12 is further improved, and the beverage capsule 2 can be more easily and conveniently grabbed.

In the present embodiment, the bottom plate 123 extends in the vertical direction, the upper end of the limiting member 122 and the upper end of the bottom plate 123 are at the same side, and the lower end of the limiting member 122 and the lower end of the bottom plate 12 are at the same side.

Preferably, the lower end of the limiting member 122 is connected to the bottom plate 123, and the upper end of the limiting member 122 is provided with a stop portion selectively stopping against the beverage capsule 2.

Specifically, the limiting member 122 is configured as a V-shaped elastic sheet, the lower end of the V-shaped elastic sheet is fixed on the bottom plate 123, and the upper end of the V-shaped elastic sheet is elastically stopped against the beverage capsule 2; the upper end of the V-shaped spring is selectively inserted through the mounting hole 124 a. Like this, the one end elasticity of V-arrangement shell fragment pushes away beverage capsule 2, and the other end is fixed on bottom plate 123 to only need overcome the elastic force of V-arrangement shell fragment and can accomplish beverage capsule 2's snatching, further improve beverage capsule storage device 12's convenience of use, and simplify beverage capsule storage device 12's structure.

As shown in fig. 4, the lower end of the bottom plate 123 is further provided with an avoiding hole 124b, and the flange of the beverage capsule 2 located at the lowermost end of the capsule chute is located below the avoiding hole 124 b.

According to one embodiment of the invention, the specific working flow of the high-altitude material supplementing device is as follows:

when material supplement is needed, the electric push rod 116 is started to drive the driving connecting rod 113 to rotate clockwise around the hinge, so that the moving connecting rod 114 and the driven connecting rod 115 on the parallel four-bar linkage are driven to move together, the material rack 111 fixed on the moving connecting rod 114 keeps the bottom surface to descend horizontally until a material supplement position of a worker, the worker adds the beverage capsules 2 from the upper part of the beverage capsule storage device 12, the beverage capsules 2 fall down along the capsule slide ways by the gravity of the worker, and the flanges of the beverage capsules 2 at the lowest end are clamped on the limiting parts 122 at the two ends; after the material feeding is finished, the electric push rod 116 moves reversely to drive the driving connecting rod 113 to rotate anticlockwise around the hinge, and the material rack 111 fixed on the moving connecting rod 114 keeps the bottom surface to be lifted horizontally to the working position.

According to one embodiment of the present invention, the operation platform in the operation area 1c includes a first robot arm 132.

Referring to fig. 6-10, the first robot 132 according to the embodiment of the present invention is described, the first robot 132 according to the present invention includes a first robot body 1321 and a first actuator 131, the first robot body 1321 is connected to the first actuator 131 and is adapted to move the first actuator 131, the first actuator 131 is adapted to grab the beverage capsule 2 and make the beverage capsule, and the first actuator 131 can provide pressurized water for the beverage capsule 2.

According to the first mechanical arm 132 provided by the invention, the first mechanical arm 132 drives the first actuator 131 to realize grabbing of the beverage capsule 2, and after the grabbing of the beverage capsule 2 is completed, the first actuator 131 can inject water into the beverage capsule 2, so that the beverage capsule 2 is brewed in the first actuator 131, and the brewing efficiency is greatly improved.

According to one embodiment of the present invention, the first actuator 131 comprises an actuator body 131a, and a capsule containing part 1311 and a brewing head 1312 which are arranged in the actuator body 131a, wherein a containing space for containing the beverage capsule 2 is arranged in the capsule containing part 1311, the brewing head 1312 is adapted to provide pressurized water for the beverage capsule in the containing module and inject water into the containing space to complete brewing of the beverage capsule 2, and the first mechanical arm body 1321 is connected with the first actuator 131 and is adapted to drive the first actuator 131 to move.

According to the first robot arm 132 of the present invention, by providing the first actuator 131, and the first actuator 131 comprises a brewing head 1312 and a capsule housing 1311, a housing space for housing the beverage capsule 2 is provided in the capsule housing 1311, and the brewing head 1312 is adapted to inject water into the beverage capsule 2 in the housing space, so that the beverage capsule 2 is brewed in the first actuator 131. The first actuator 131 is arranged on the first mechanical arm body 1321, the first mechanical arm body 1321 can drive the first actuator 131 to move, in the process that the first mechanical arm body 1321 drives the first actuator 131 to move, the beverage capsule 2 can be grabbed by using the structure of the first actuator 131, the beverage capsule 2 enters the capsule accommodating part 1311, after the first mechanical arm body 1321 drives the first actuator 131 to complete grabbing work of the beverage capsule 2, the beverage capsule 2 is injected into the first actuator 131, brewing of the beverage capsule 2 is achieved, and after the beverage capsule 2 is brewed, the shell remaining in the beverage capsule 2 is discarded.

According to one embodiment of the present invention, a beverage processing space 1313 is provided in the actuator body 131a, a capsule receiving portion 1311 is mounted on the actuator body 131a portion, and the capsule receiving portion 1311 selectively protrudes out of the beverage processing space to grasp and receive a beverage capsule.

The capsule receiving portion 1311 is movably disposed on the actuator body 131a to enter or protrude out of the beverage processing space 1313. When the brewing process needs to be performed, the capsule accommodating portion 1311 extends out of the beverage processing space 1313, so that the accommodating space in the capsule accommodating portion 1311 is opened, the first mechanical arm body 1321 drives the first actuator 131, the beverage capsule 2 is accommodated in the capsule accommodating space by changing the position of the first actuator 131, so that the beverage capsule 2 is grabbed, after the grabbing of the beverage capsule 2 is completed, the capsule accommodating portion 1311 enters the beverage processing space 1313, and the brewing head 1312 injects water into the beverage capsule 2, so that the brewing process of the beverage capsule 2 is completed.

According to one embodiment of the present invention, the capsule container 1311 is slidably disposed on the actuator body 131a, the capsule container 1311 is provided with a slide rail, the actuator body 131a is provided with a slide groove engaged with the slide rail, and the slide rail and the slide groove are engaged to realize relative movement between the capsule container 1311 and the actuator body 131a, so that the capsule container 1311 can enter or extend out of the beverage processing space 1313, thereby ensuring stable movement of the capsule container 1311.

According to one embodiment of the present invention, the brewing head 1312 comprises a piercing needle movably arranged in the beverage processing space 1313 for piercing the beverage capsule 2, wherein beverage powder for brewing is typically arranged in the beverage capsule 2, and wherein the beverage capsule 2 is typically configured as a sealing structure, and wherein during brewing, the housing of the beverage capsule 2 is pierced by the piercing needle, adapted for injecting water into the beverage capsule 2, for brewing the beverage in the beverage capsule 2.

In the specific embodiment shown in fig. 20, the actuator body 131a is provided with a positioning block 103, the beverage capsule storage device 12 is provided with an avoiding hole 124b, the positioning block 103 is adapted to extend into the avoiding hole 124b, and the V-shaped groove on the positioning block 103 is adapted to cooperate with the flange of the beverage capsule 2.

Like this, snatch the in-process at beverage capsule 2, stretch into the in-process of dodging hole 124b at locating piece 103, the flange of beverage capsule 2 can fall into the tank bottom of V-arrangement groove under self action of gravity to realize the location to beverage capsule 2, thereby improve the precision that targets in place of capsule portion 1311, thereby improve the precision of snatching of beverage capsule 2.

According to an embodiment of the present invention, the operation platform 1c further comprises a water supply device having a water inlet end and a water outlet end, the water inlet end of the water supply device is connected to the water source, and the water outlet end of the water supply device is connected to the first actuator.

According to one embodiment of the present invention, the water supply device is configured as a quick-connect connector comprising a male connector end 101 and a female connector end 102, the male connector end 101 and the female connector end 102 being selectively engageable and one of the male connector end 101 and the female connector end 102 being connected to a water source as a water inlet end of the water supply device, and the other of the male connector end 101 and the female connector end 102 being connected to the first actuator 131, in particular to the lancet, as a water outlet end of the water supply device.

The first mechanical arm 132 is not provided with a pipeline, but the water source is conducted with the puncture needle after the first actuator 131 moves to the brewing position, so that a water supply pipe is omitted, the first actuator 131 can be provided with a male connector end 101 communicated with the puncture needle, the female connector end 102 is connected with the water source, after the first actuator 131 finishes grabbing action, the first mechanical arm 132 drives the first actuator 131 to move to the brewing position, the male connector end 101 is in butt joint with the female connector end 102, at the moment, the water supply device is communicated with the puncture needle to supply water for the puncture needle, and after the puncture needle punctures the beverage capsule 2, the brewing process of the beverage capsule 2 is finished.

By adopting the mode of matching the connector male end 101 with the connector female end 102, a water supply pipeline is omitted, so that the phenomenon that the brewing water provided by a water source stays in the pipeline for too long time is avoided, and the cooling of the brewing water is reduced.

According to an embodiment of the present invention, the water supply device is configured as a water supply pipeline disposed on the first mechanical arm 1321, one end of the water supply pipeline is connected to a water source as a water inlet end of the water supply device, the other end of the water supply pipeline is connected to the first actuator 131 as a water outlet end of the water supply device, and may be specifically connected to the lancet, the water supply pipeline is disposed inside the first mechanical arm 132 or outside the mechanical arm 132, and the water supply pipeline moves along with the movement of the first mechanical arm 132, so as to avoid interference between the water supply pipeline and other components, and further to maintain a reliable and stable passage between the lancet and the water source.

According to an embodiment of the present invention, the operation platform 1c further includes a pressing mechanism 1333 adapted to press the male connector end 101 and the female connector end 102, and the pressing mechanism 1333 is adapted to drive the male connector end 101 to press the female connector end 102 after the first mechanical arm 132 drives the first actuator 131 to move to a position where the male connector end 101 faces the female connector end 102, so as to complete the sealed connection between the male connector end 101 and the female connector end 102, thereby ensuring the sealing performance of the water supply device during the water supply process and avoiding the leakage of liquid.

The pressing mechanism 133 according to an embodiment of the present application is described below with reference to fig. 9 to 10. The pressing mechanism 133 according to the present invention includes a pressing base 1331 and a pressing rod 1334, the pressing base 1331 is provided with a main sliding groove 1332a, the main sliding groove 1332a includes a vertical section 1332b and an inclined section 1332c provided at a top end of the vertical section 1332b and extending obliquely upward, the pressing rod 1334 is configured in an L-shape and includes a fitting section 13341 and a pressing section 13342 connected to a fitting section 13341, a free end of the fitting section 13341 is slidable along the vertical section 1332b and/or the inclined section 1332c, and a fixed end of the fitting section 13341 is connected to the pressing section 13342 and is slidable along the vertical section 1332b and/or the inclined section 1332 c.

The pressing mechanism 133 according to the present invention can realize the turning and pressing actions of the pressing section 13342, so as to press the male end and the female end of the quick connector, the pressing base 1331 is provided with the main chute 1332a, the main chute 1332a can guide the pressing rod 1334, the free end of the matching section 13341 can slide in the vertical section 1332b, when the free end of the matching section 13341 slides in the vertical section 1332b, the ascending or descending process of the pressing rod 1334 in the vertical direction can be realized, so as to realize the pressing action or the ascending action of the pressing rod 1334.

The fixed end of the engaging segment 13341 can move along the track of the inclined segment 1332c when sliding along the inclined segment 1332c, so that the fixed end of the engaging segment 13341 moves away from the vertical segment 1332b, and the pressing segment connected to the engaging segment 13341 turns. By providing the main chute 1332a, a vertical section 1332b and an inclined section provided at the top end of the vertical section 1332b and extending obliquely upward are provided in the main chute 1332a, and a fixed end and a movable end which can move in the free section and the pressing section 13342 are provided on the pressing rod 1334, so as to realize the turning and pressing actions of the pressing section 13342.

According to the pressing mechanism 133 of the present invention, the main sliding groove 1332a is provided, so that the movement of the pressing rod 1334 is stable and reliable, the turning and pressing actions of the pressing section 13342 can be realized, the stable and reliable connection between the male end and the female end of the quick connector can be effectively ensured, and the automatic pressing process of the quick connector can be realized.

According to an embodiment of the present invention, the pressing base 1331 includes a first limiting plate 1332 and a second limiting plate 1333 which are arranged at intervals, the pressing rod 1334 is arranged between the first limiting plate 1332 and the second limiting plate 1333, the first limiting plate 1332 is provided with a main chute 1332a, and the first limiting plate 1332 and the second limiting plate 1333 are arranged at intervals to define a space suitable for the movement of the pressing rod 1334, so that the movement of the pressing rod 1334 is ensured not to interfere with the limiting plates, and the reliability of the pressing mechanism 133 is improved. Only the first stopper plate 1332 is provided with the main chute 1332a, so that the number of processing parts of the pressing mechanism 133 can be reduced while the movement track of the pressing rod 1334 is ensured to be stable.

According to one embodiment of the present invention, the free end of the mating segment 13341 can slide along the vertical segment 1332b and the fixed end of the mating segment 13341 can slide along the vertical segment 1332b and the inclined segment 1332 c. Two end points may be provided on the mating segment 13341, and two end points on the mating segment 13341 may be spaced apart in the extending direction of the mating segment 13341. The end of the mating section distal from the hold-down section 13342 is a fixed end and the end proximal to the hold-down section 13342 is a free end.

In the process of pressing down the pressing rod 1334, the fixed end and the free end have different traveling tracks, when the pressing rod 1334 moves in the up-down direction, both the fixed end and the free end move in the vertical section 1332b, and the free end is arranged at the lower side of the fixed end, when the fixed end moves to the top dead center of the vertical section 1332b, the fixed end enters the inclined section 1332c, and the free end still slides in the vertical section 1332b, at this time, the pressing rod 1334 enters the overturning process, the free end still moves upwards along the vertical section 1332b, and the fixed end moves in the inclined section 1332c, at this time, the pressing section 13342 of the pressing rod 1334 is overturned, until the fixed end moves to the top dead center of the inclined section 1332c, and the free end moves to the top dead center of the vertical section 1332b, so as to complete the.

According to one embodiment of the present invention, the free end of the fitting section 13341 is provided with a first follower roller 13341a slidably disposed at the vertical section 1332b, and the fixed end of the fitting section 13341 is provided with a second follower roller 13342a slidably disposed at the vertical section 1332b and the inclined section 1332 c.

The first follow-up roller 13341a and the second follow-up roller 13342a can slide in the main chute 1332a, the first follow-up roller 13341a and the second follow-up roller 13342a have the same size as the width of the main chute 1332a, so as to limit the moving track of the fixed end and the free end, and the first follow-up roller 13341a and the second follow-up roller 13342a can slide in the main chute 1332a, so that the friction force can be effectively reduced, and the moving stability of the pressing mechanism can be ensured.

According to an embodiment of the present invention, the second limiting plate 1333 is provided with an auxiliary slide groove 1333a, one of the free end and the fixed end of the engaging section 13341 is slidable along the auxiliary slide groove 1333a, and the other of the free end and the fixed end of the engaging section is slidable along the main slide groove 1332 a. The free end and the fixed end are respectively arranged in the main sliding chute 1332a and the auxiliary sliding chute 1333a, so that the free end and the fixed end slide in the two same sliding chutes, the moving stability of the pressure rod 1334 can be improved, the main sliding chute 1332a and the auxiliary sliding chute 1333a respectively limit the pressure rod 1334 from two sides, and the impact on the base caused by the action of the pressure rod 1334 can be reduced.

According to an embodiment of the present invention, the main chute 1332a and the auxiliary chute 1333a have the same shape and are opposite to each other, the main chute 1332a and the auxiliary chute 1333a are respectively disposed on the first limiting plate 1332 and the second limiting plate 1333, and the main chute 1332a and the auxiliary chute 1333a are configured to have the same shape, so that the restriction of the movement track of the pressing rod 1334 can be further improved, and the stability of the movement of the pressing rod 1334 can be improved. The main chute 1332a and the auxiliary chute 1333a provided on the first limiting plate 1332 and the second limiting plate 1333 can improve the versatility of the pressing mechanism 133, and the first limiting plate 1332 and the second limiting plate 1333 can be replaced at will.

According to an embodiment of the present invention, the auxiliary chute 1333a extends in the vertical direction and is opposite to the vertical section 1332b, the auxiliary chute 1333a may be provided with only the vertical section 1332b, the first follower roller 13341a slides in the auxiliary chute 1333a, and the moving track of the first follower roller 13341a is also within only the vertical section 1332b, and the arrangement of the auxiliary chute 1333a with only the vertical section 1332b may reduce the area of the second limiting plate 1333 to be perforated, ensure the structural strength of the second limiting plate 1333, and improve the processing efficiency.

According to one embodiment of the present invention, the free end of the engaging segment 13341 is provided with a first follower roller 13341a slidably disposed at the auxiliary chute 1333a, and the fixed end of the engaging segment 13341 is provided with a second follower roller 13342a slidably disposed at the main chute 1332 a. The first follower roller 13341a and the second follower roller 13342a are respectively disposed in the auxiliary chute 1333a and the main chute 1332a, and in the process of moving the pressing rod 1334 of the pressing mechanism 133, the limit force for the matching section 13341 comes from different limit plates, so that the impact force generated by the pressing rod 1334 in the moving process is dispersed to different limit plates, thereby reducing the vibration generated by the pressing mechanism 133 and improving the reliability and precision of the action of the pressing rod 1334.

According to one embodiment of the present invention, the compacting mechanism 133 further comprises a driving member 1335 and a transmission member comprising a driving link 1336 and an intermediate link 1337, one end of the driving link 1336 being connected to the output shaft of the driving member 1335, the other end of the driving link 1336 being hinged to the intermediate link 1337, and the intermediate link 1337 being hinged to the free end of the mating segment.

The drive 1335 may be configured as an electric motor, the output of which may output rotational speed and torque, and the output shaft of the drive 1335 being connected to the drive link 1336 to rotate the drive link 1336. The middle connecting rod 1337 is hinged with the free end of the matching section, and the middle connecting rod 1337 connects the driving connecting rod 1336 with the pressure rod 1334 to form a multi-connecting rod mechanism, so that the transmission of the power of the pressure rod 1334 is realized, and the stable movement of the pressure rod 1334 is ensured.

In one embodiment of the present invention, the specific workflow of the first robot 132 is as follows:

the first mechanical arm 132 drives the first actuator 131 to move to the beverage capsule position, and the first actuator 131 grabs the beverage capsule. In particular, the capsule receiving portion of the first actuator 131 grabs the beverage capsule such that the beverage capsule is located in the receiving space in the capsule receiving portion. Then, the first mechanical arm 132 drives the first actuator 131 to move to the brewing position, the pressing mechanism presses and abuts the connector male end 101 on the first actuator 131 and the structure female end 102 on the operating platform, and the water supply device supplies water, so that water with certain temperature and pressure is guided to the first actuator 131 through the connector male end 101 and the connector female end 102, and the beverage capsule in the capsule accommodating part is brewed.

According to one embodiment of the invention, the operation platform in the operation area 1c further comprises a second robot arm.

The second robot arm 14 according to the embodiment of the present invention is described below with reference to fig. 11 to 15. The second mechanical arm 14 according to the present invention includes a second mechanical arm body 141 and a second actuator, the second actuator is connected to the second mechanical arm body 141 to move under the driving of the second mechanical arm body 141, and the second actuator is suitable for packaging the beverage.

The second actuator includes: an integrated base 142 and a functional module; the function module is a plurality of function modules, which are selectively fixed on the integrated base 142, and each function module is respectively suitable for operating the container or the container cover of the beverage.

Specifically, a plurality of different functional modules may be disposed on the integrated base 142 according to the processing requirement, so that different functions can be performed by the different functional modules during the processing. For example: in the process of beverage processing, functional modules such as packaging and transferring are integrated on the integrated base 142, so that the processing efficiency can be improved.

According to the second actuator of the second mechanical arm 14 provided by the embodiment of the invention, by arranging the integration seat 142 and selectively arranging a plurality of different functional modules on the integration seat 142, not only can the processing requirements be met, but also the processing efficiency can be improved.

In the particular embodiment shown in fig. 13 and 14, the integration seat 142 is configured as a fixed disk, the circumference and/or the underside of which is adapted to fix the functional module.

In other words, a plurality of function modules may be disposed circumferentially above and below the nest 142 configured as a stationary disk, so that the number of function modules that may be disposed on the nest 142 is increased, the positions of disposing the plurality of function modules on the stationary disk are more reasonable, and the space occupation of the second robot arm 14 is reduced.

It should be noted that, when the integration seat 142 is adapted to fix the functional module at the circumference and/or below, in some embodiments, the functional module is disposed at the circumference of the integration seat 142; in other embodiments, a functional module is disposed below the integration seat 142; in a preferred embodiment, the integration seat 142 is provided with the function modules at the periphery and below, so that the integration level of the integration seat 142 can be improved, and the space occupation of the function modules can be reduced.

Further, the functional module includes: at least one of a first fetching module 143, a transferring module 144, and a barcode printing module 145; the first fetching module 143, the transferring module 144 and the barcode printing module 145 are all disposed on the fixed disk and spaced apart from each other in the circumferential direction of the fixed disk. Like this, the user can select suitable functional module to set up on the fixed disk according to the demand, and a plurality of functional module interval sets up in the circumference of fixed disk, can avoid appearing interfering between the functional module, improves integrated seat 142's job stabilization nature.

As shown in fig. 12 and 13, the first fetching module 143 is rotatably provided on the fixed tray.

Particularly, the first object fetching module 143 can be used for grabbing the container, and the first object fetching module 143 can drive the container to rotate so as to adjust the angle of the container, thereby facilitating subsequent processing.

It should be noted that, in some embodiments, in order to reduce the occupied space, the container to be grasped is stacked and disposed in a fixed area, the placing angle of the container in the fixed area is different from the processing angle after the container is grasped, and then the first fetching module 143 drives the container to rotate after the container is grasped, so that the container can be adjusted to be consistent with the processing angle, thereby facilitating the subsequent processing.

In the particular embodiment shown in fig. 13, the first fetching module 143 comprises: a first connection holder 1431, one end of the first connection holder 1431 being connected to the fixed disk; a first motor 1432, the first motor 1432 being disposed at the other end of the first connection bracket 1431; a grip bracket 1433, the grip bracket 1433 being adapted to grip and being connected to a motor shaft of the first motor 1432.

Wherein, first support is Z shape in the ascending projection of horizontal direction, and then the one end and the fixed disk of Z shape support are connected, and the other end and the vertical section of Z shape support form into the right angle fixed beam, and first motor 1432 sets up in the right angle fixed beam to with the other end fixed connection of first support, and then first motor 1432's motor shaft with snatch the support 1433 and be connected, rotate with selectively driving and snatch support 1433.

Like this, not only make first get fixed more stable, the fixed of first motor 1432 on first support of thing module 143 on the fixed disk, make first motor 1432 and the cooperation effect of grabbing support 1433 better moreover, the turned angle of first motor 1432 grabs the turned angle of support 1433 promptly, can improve the rotation accuracy, and the messenger grabs the rotation accuracy of support 1433 higher.

As can be appreciated, the gripping bracket 1433 includes: the holder comprises a holder body 14331 and first clamping arms 14332 connected to both ends of the holder body 14331, the holder body 14331 is connected to a motor shaft of a first motor 1432, the two first clamping arms 14332 are oppositely arranged, and a first vacuum suction cup 14333 for sucking an outer surface of a container is arranged on each of the two first clamping arms 14332.

Wherein, the equal one end of two first centre gripping arms 14332 is connected with support body 14331, and the other end is kept away from support body 14331 and is deviated from each other and extend, and then sets up first vacuum chuck 14333 on two first centre gripping arms 14332 respectively to when snatching the container, through the negative pressure of first vacuum chuck 14333 with the firm snatching of container, the structure of snatching support 1433 is more reasonable, can improve effectively and snatch efficiency.

In some embodiments, referring to fig. 11 and 12, the transfer module 144 can be used to transfer containers and is configured as a second gripper arm having one end attached to the holding pan and a free end with a profile conforming to at least a portion of the profile of the container. Like this, the second centre gripping arm is laminated with the appearance profile of container to be suitable for the centre gripping and realize the transportation of container with the removal through second arm body 141, when improving the fixed stability of container, can improve effectively and transport efficiency.

As shown in fig. 14 and 15, the barcode printing module 145 may be used to print barcodes on containers, including: a printing unit 1451, a second motor 1452, and a second coupling bracket 1453, one end of the second coupling bracket 1453 being coupled to the fixed tray, the other end of the second coupling bracket 1453 being coupled to the second motor 1452, a rotation shaft of the second motor 1452 being coupled to the printing unit 1451 and adapted to drive the printing unit 1451 to move toward or away from an outer surface of the container.

Like this, drive printing unit 1451 through second motor 1452 towards or keep away from the past surface motion of container, and then when bar code print module laminating is on the surface of container, through rotating bar code print module or rotating the container, realize the bar code and print, need not the manual work and print the bar code, when improving work efficiency, can reduce the paper extravagant.

It should be noted that the structure of the second connecting bracket 1453 is substantially the same as that of the first connecting bracket 1431, and thus, the description thereof is omitted.

In some embodiments, the functional module comprises: the second fetching module 146, the second fetching module 146 is disposed below the fixed tray.

Specifically, as shown in fig. 14, a second fetching module 146 is further disposed below the fixed tray, and the second fetching module 146 is used for grabbing the container cover, and includes: get thing dish 1461 and set up at the circumference border of getting thing dish 1461 and deviate from the flange portion 1462 that gets thing dish 1461 and extend, get thing dish 1461 and be located the below of fixed disk, and set up with the fixed disk is relative, get one side that thing dish 1461 deviates from the fixed disk and be provided with second vacuum chuck 1463, second vacuum chuck 1463 is suitable for absorbing fixed container lid.

That is to say, set up the second in the below of fixed disk and get thing module 146, can further improve integrated level of integrated seat 142, reduce the space of a plurality of functional module and occupy, absorb fixed container lid through second vacuum chuck 1463 simultaneously, fixed effect is better, snatchs stably, reliably.

Here, it should be noted that, in the process that the fixed disk rotates, the second fetching module 146 disposed below the fixed disk rotates asynchronously with the fixed disk, so that the fetching effect of the second fetching module 146 can be improved.

The second robot arm 14 according to the present invention comprises: the second robot arm 14 includes: a second robot body 141 and a second actuator in the above embodiments, the second actuator is connected to the second robot body 141 to move under the driving of the second robot body 141.

It is understood that the docking station 142 is disposed on the second robot body 141 and can rotate around the axis of the second robot body 141, so as to move or rotate under the driving of the second robot body 141.

According to the second mechanical arm 14 of the embodiment of the invention, the second actuator is adopted, so that the processing efficiency of the second mechanical arm 14 can be effectively improved.

In one embodiment of the present invention, the container and the container cover grasped by the first fetching module 143 and the second fetching module 146 are specific embodiments of a cup and a cup cover, respectively, and the workflow of the second robot arm 14 of the present application is described in detail.

The workflow of the second robot arm 14 is as follows:

the second mechanical arm 14 drives the second actuator to move towards the cup storage area, the first vacuum sucker 14333 of the first fetching module 143 is vacuumized to grab a cup in the cup storage area, the second mechanical arm 14 can drive the grabbed cup to turn over, the grabbed cup is moved to the corresponding brewing position on the operating platform, the first vacuum sucker 14333 stops vacuumization, the cup falls onto the operating platform under the action of self gravity, and at the moment, the first mechanical arm can start drink processing.

Then, the second mechanical arm 14 drives the second actuator to move to the cup lid storage area, the second vacuum chuck 1463 of the second object taking module 146 is vacuumized to grab a cup lid, the second mechanical arm 14 drives the second actuator and the grabbed cup lid to move to the operating platform, the cup lid is covered on the cup, meanwhile, the printing portion of the printing unit 1451 of the barcode printing module 145 is attached to the cup, and the second mechanical arm 14 can drive the barcode printing module 145 to rotate, so that barcode printing is completed.

Further, after printing, the printing unit 1451 moves away from the cup to reset, the second vacuum chuck 1463 stops vacuumization, the second mechanical arm 14 moves away from the cup and moves towards the cup to clamp the cup by the transfer module 144, and then the second mechanical arm 14 drives the second actuator and the processed beverage to move, so as to transfer the beverage (i.e. take a meal) fixed on the transfer module 144.

A cup cover replenishing device can be further arranged in the second storage area 1b, stacked cup covers are stored in the cup cover replenishing device, the cup cover replenishing device comprises a first cup cover storage part, a first moving plate and a driving part, the first cup cover storage part is provided with a storage space for containing cup covers, and the storage space is provided with a cup cover outlet; the first moving plate is arranged in the storage space and is suitable for lifting the cup cover; the driving piece is connected with the first moving plate and is suitable for driving the first moving plate to selectively move towards the cup cover outlet. The bowl cover exit is provided with the sensor, and the sensor is suitable for and detects whether the bowl cover exit exists the bowl cover, detects the bowl cover exit and does not exist the bowl cover at the sensor and then sends the supply instruction to the driving piece to drive first movable plate and shift up and carry out the bowl cover supply. After the cup cover is taken away by the second mechanical arm 14, the cup cover is covered on the brewed beverage cup, and the cup cover replenishing device can realize automatic replenishment. The second mechanical arm covers the cup cover on the cup after the beverage is brewed.

According to an embodiment of the present invention, the operation platform in the operation area 1c further comprises a meal delivery device.

A dining apparatus 15 according to an embodiment of the present invention is described below with reference to fig. 16-19.

The meal delivery device 15 according to the present invention comprises: the meal serving base 151, the tray 152 and the cover 153, wherein the tray 152 is arranged on the meal serving base 151 and is suitable for storing drinks; the cover 153 is arranged above the tray 152, and the cover 153 and the tray 152 define a meal space; the cover 153 is selectively movable toward or away from the tray 152 to close or open the dining space.

Specifically, the tray 152 is disposed above the meal outlet base 151, the processed drink can be placed on the tray 152, and the meal outlet space is covered or opened by the cover 153, and then when the processed drink is placed on the tray 152 and the consumer takes a meal in the future, the drink is spaced apart from the external space (i.e., the meal outlet space and the external space) by the cover 153, and when the consumer takes a meal in the future, the cover 153 is selectively opened so that the consumer can take away the drink.

It should be noted that the cover 153 may not only separate the dining space from the external space, but also the cover 153 has heat preservation and insulation effects.

According to the meal delivery device 15 provided by the embodiment of the invention, the cover body 153 is arranged, so that on one hand, in the idle period when the drink is processed and the consumer does not take the meal, the cover body 153 prevents dust and foreign matters from polluting the drink, and the food safety is improved; on the other hand, the cover body 153 is suitable for isolating the meal outlet space from the outside, and meanwhile, the cover body 153 has a heat preservation function, so that the situation that hot food becomes cold or cold food melts can be avoided, and the quality of the beverage and the user experience are improved.

As shown in fig. 18, meal delivery apparatus 15, according to some embodiments of the present invention, further comprises: the power source 154 and the transmission assembly 155, the transmission assembly 155 is connected to the housing 153 and is adapted to drive the housing 153 to move toward or away from the tray 152, and the power source 154 is in power connection with the transmission assembly 155.

Specifically, the power source 154 selectively moves the housing 153 toward or away from the tray 152 to achieve closing or opening of the dining space.

It is understood that the transmission assembly 155 is configured as any one of a belt transmission assembly 155, a chain transmission assembly 155, a worm gear transmission assembly 155; the power source 154 is any one of a hydraulic ram and a drive motor.

According to some embodiments of the present invention, a thermal insulation module 1521a and/or a refrigeration module 1521b is disposed in the tray 152, the thermal insulation module 1521a is adapted to insulate the beverage on the tray 152, and the refrigeration module 1521b is adapted to refrigerate the beverage on the tray 152.

Specifically, a groove for fixing the heat preservation module 1521a and the refrigeration module 1521b is formed in the tray 152, and the heat preservation module 1521a and the refrigeration module 1521b are located in the groove and directly face the beverage placed on the tray 152. Like this, when placing hot food in tray 152, slightly heat tray 152 through heat preservation module 1521a to guarantee that the drink maintains under the suitable service temperature, when placing cold food in tray 152, avoid cold food to melt through refrigeration module 1521 b.

It should be noted that the tray 152 is provided with the heat preservation module 1521a and/or the refrigeration module 1521b, which means that in some embodiments, the meal delivery device 15 is suitable for cold meal delivery and is provided with the refrigeration module 1521 b; in other embodiments, the meal delivery device 15 is adapted for hot meal delivery, and is provided with a heat preservation module 1521 a; in still other embodiments, the meal delivery apparatus 15 is adapted for both hot meal and cold meal delivery, and is provided with both the warm module 1521a and the cool module 1521 b.

Further, a storage area 1523 is further disposed on the tray 152, and the heat preservation module 1521a and/or the refrigeration module 1521b are disposed between the storage area 1523 and the tray 152.

That is, in some embodiments, a placement area 1523 is defined above the tray 152, and the shape and contour of the placement area 1523 are consistent with those of the inner peripheral wall of the bottom end of the cover 153, so that when the cover 153 covers the placement area 1523, the sealing performance of the dining space and the heat preservation and insulation effects are ensured.

As shown in fig. 18, a gravity sensor 1522 is further disposed on the tray 152, the gravity sensor 1522 is adapted to sense a change in weight on the tray 152, and the cover 20 can be controlled to move toward or away from the tray 152 according to a signal indicating the change in weight on the tray 152 reported by the gravity sensor 1522.

Specifically, the cover 153 may be controlled to be closed according to the weight change on the sensing tray 152 when it is determined that the beverage is placed on the sensing tray 152 (i.e., the gravity on the sensing tray 152 rises), and the cover 153 may be controlled to be opened to wait for the beverage to be placed when it is determined that the beverage is not placed on the sensing tray 152 (i.e., the gravity on the sensing tray 152 falls).

As shown in fig. 18, the tray 152 is rotatably provided on the meal base 151.

Wherein, the tray 152 can be selectively rotated between the meal making area 15a and the meal taking area 15 b.

Specifically speaking, when the consumer does not get the meal or when the drink is not placed in the meal space, the tray 152 is located in the meal making area 15a, so that the meal making device 15 occupies the space of the meal making device to reduce the overall space occupation, when the consumer gets the meal, the tray 152 rotates to the meal taking area 15b, so that the consumer can conveniently take the meal, and the use convenience of the meal making device 15 is improved.

Further, a light source 1525 and a light guide structure 1524 are disposed on the placement region 1523, and light emitted by the light source 1525 is suitable for illuminating a light guide surface of the light guide structure 1524.

Furthermore, the cover 153 is at least partially transparent, and light emitted from the light source 1525 is suitable for passing through the light guide structure 1524 and then entering the cover 153 to exit outwards.

That is, the light guide structure 1524 is suitable for forming a cool light effect on the cover 153 and the tray 152, and the light source 1525 is suitable for providing light rays with different colors, brightness and frequencies, so as to improve the overall aesthetic property of the dining device 15.

Specifically, the light source 1525 and the light guide structure 1524 form a first visible effect scene, the cover 153 is an at least partially transparent cover (e.g., a glass cover), and then the light source 1525, the light guide structure 1524 and the cover 153 can form a second visible effect scene, and then after the meal is finished by the meal taking device 15, the light source 1525 and the light guide structure 1524 define the first visible effect scene, and when the meal taking device 15 is in a cache state (i.e., when a user waits for a meal taking state), the light source 1525, the light guide structure 1524 and the cover 153 define the second visible effect scene.

Therefore, on one hand, the two scenes are switched, so that the identification degree is higher, the user can quickly identify the meal delivery device 15 with the beverage, and the convenience is improved; on the other hand, the visual effects of the two scenes can improve the aesthetic property of the meal delivery device 15, and can create high-grade, fantasy, scientific and technological and cool visual effects.

Here, it should be noted that the light source 1525 may be an led light strip and has a programmable control function, so that the light effect of the meal delivery device 15 can be matched with the environmental scene by adjusting the programming according to the difference of the usage scene where the meal delivery device 15 is located, and the user experience is further improved.

Further, when a beverage is stored on the tray 152, the light source 1525 emits a first light, and when no beverage is stored on the tray 152, the light source 1525 emits a second light, wherein the color of the first light is different from the color of the second light.

Therefore, the user can also recognize the state of the meal device 15 according to the color of the light emitted by the meal device 15, and the convenience of taking meals by the user is further improved.

The intelligent catering preparation system provided by the embodiment of the invention comprises: at least one meal delivery device 15 of the above embodiments; the meal making device is arranged in the meal making area 15a, a plurality of meal taking areas 15b are arranged in the circumferential direction of the meal making device, and each meal taking area 15b is optionally provided with a meal delivery device 15.

According to the intelligent catering preparation system provided by the embodiment of the invention, a plurality of meal taking areas 15b are arranged in the circumferential direction of the catering device, and the catering device 15 can be selectively arranged in each meal taking area 15 b.

Therefore, on one hand, the specific skill of the meal delivery device 15 can be flexibly configured according to the requirements of an application scene, and before the intelligent catering preparation system receives an order and starts to make the order, the intelligent catering preparation system automatically generates the placement positions of drinks according to the available conditions and the set logic of the plurality of meal taking areas 15b, and sends the placement positions to the corresponding mechanical arms through program codes to execute set actions; the corresponding meal delivery device 15 is provided with a gravity sensor 1522, after the fact that the corresponding order drinks are placed in a heat preservation area is detected, a heat preservation mode or a cold storage mode is started, and after the intelligent meal preparation system judges that the set requirements are met, information can be sent to a customer order completion and meal taking position, so that convenience is improved;

on the other hand, according to the specific situation of the application scene, a reasonable number of meal delivery devices 15 are arranged in the circumferential direction of the meal making device, so that the applicability is high, the use places with high hardness, high flow rate and high flow density can be used, and the universality of the intelligent meal preparing system is improved.

The meal delivery process of the meal delivery device 15 of the present embodiment is as follows:

tray 152 is located system meal region 15a, and the space of having a dinner is opened, waits for the arm to place the drink that the processing was accomplished, and after the arm placed the drink that the processing was accomplished, gravity sensor 1522 sent first signal, and power supply 154 drives the cover body 153 and falls to close the space of having a dinner to enter heat preservation buffer memory state or cold-stored buffer memory state, and light source 1525 sends the second light.

The tray 152 rotates to get meal regional 15b, and the cover body 153 is opened and is waited that the consumer gets meal, and light source 1525 sends first light, and after the consumer got meal, gravity sensor 1522 sent the second signal, and tray 152 rotates repast regional 15a, and the cover body 153 is opened again, and light source 1525 sends the second light, accomplishes a meal.

It can be understood that the number of the meal taking areas 15b is multiple, and after the consumer scans the code, the meal taking device 15 closest to the consumer takes a meal.

The following describes the working process of preparing the beverage by the intelligent catering preparation system 1 of the invention.

According to the intelligent catering preparation system, after the order is placed by a user, the first mechanical arm drives the first actuator 131 to move towards the beverage capsule containing device 12, the capsule containing part 1311 extends out of the actuator body 131a and grabs the beverage capsule in the capsule slide way, after the beverage capsule is contained in the capsule containing part 1311, the capsule containing part 1311 retracts into the actuator body 131a, and the first mechanical arm body 1321 drives the first actuator 131 to move to the brewing position.

When the first mechanical arm grabs the beverage capsule, the second mechanical arm 14 drives the second actuator to move towards the cup storage area, the first vacuum suction cup 14333 of the first fetching module 143 is vacuumized to grab a cup in the cup storage area, the second mechanical arm 14 can drive the grabbed cup to turn over, the grabbed cup is moved to the corresponding brewing position on the operation platform, the first vacuum suction cup 14333 stops vacuumization, the cup falls on the operation platform under the action of self gravity, and at the moment, the first mechanical arm can start beverage processing.

The male connector end 101 of the first actuator 131 is opposite to the female connector end 102 of the operating platform, the driving part 1335 of the pressing mechanism 133 works, the pressing rod 1334 is pressed on the upper side of the first actuator 131, the male connector end 101 is in butt joint with the female structure end 102, the male connector end 101 is connected with a water source in the second storage part 1b, the female connector end 102 is connected with a puncture needle in the first actuator body 131, after the male connector end is in butt joint with the female connector end, the puncture needle punctures a beverage capsule, water is injected into the beverage capsule 2 to brew the beverage capsule 2, and the brewed beverage flows into a cup right below the beverage capsule.

After the brewing is completed, the first mechanical arm 132 drives the brewed beverage capsule shell to move to the waste material feeding port, the capsule accommodating portion 1311 pops out of the actuator body 131a, and the beverage capsule shell falls into the waste material storage mechanism.

The second mechanical arm 14 drives the second actuator to move to the cup cover storage area, a second vacuum sucker 1463 of the second object taking module 146 is vacuumized to grab a cup cover, the second mechanical arm 14 drives the second actuator and the grabbed cup cover to move to the operating platform, the second vacuum sucker 1463 covers the cup cover on the cup, meanwhile, a printing part of a printing unit 1451 of the bar code printing module is attached to the cup, and the second mechanical arm 14 can drive the bar code printing unit 1451 to rotate to complete bar code printing.

After printing finishes, printing unit 1451 keeps away from the cup motion in order to reset, and second vacuum chuck stops the evacuation, and second arm 14 keeps away from the cup and removes, moves towards the cup again so that transport module centre gripping cup, and then second arm 14 drives the drink motion that the second executor and processing finished to the transportation (the meal of going out promptly) of the drink of fixing on transporting the module is realized.

After drink processing is completed, or after the bar code printing is finished, the cover body of the meal delivery device is opened to open the meal delivery space, the second mechanical arm 14 is suitable for transporting drinks to the tray of the meal delivery device, after the drinks are placed, the gravity sensor detects the gravity change on the tray, the cover body is lowered to close the meal delivery space, and after the waiting time for taking meals exceeds the time threshold value, the meal delivery device enters a heat preservation cache state or a cold storage cache state, and the light source emits second light.

After the drink preparation was accomplished, the tray can rotate to getting the meal region, and the cover body is opened and is waited for the consumer to get the meal, and the light source sends first light, and the consumer gets the meal, and gravity sensor sends the second signal, and the cover body is closed, and the tray rotates the repast region, accomplishes and once goes out the meal.

It should be noted here that the first robot arm 132, the second robot arm 14 and the meal delivery device 15 in the intelligent catering preparation system 1 can work in parallel to improve the beverage preparation efficiency of the intelligent catering preparation system 1.

And the high-altitude material supplementing device 11, the beverage capsule containing device 12, the first mechanical arm 132, the second mechanical arm 14 and the meal delivery device 15 in the intelligent catering preparation system 1 are all characterized in that a plurality of high-altitude material supplementing devices are arranged, and the intelligent catering preparation system can simultaneously perform a plurality of beverage preparation processes.

The intelligent catering preparation system also comprises at least one controller used for controlling each part in the intelligent catering preparation system to realize any work flow.

In the description of the present application, it is to be understood that the terms "center," "longitudinal," "lateral," "length," "width," "thickness," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," "clockwise," "counterclockwise," "axial," "radial," "circumferential," and the like are used in the orientations and positional relationships indicated in the drawings for convenience in describing the present application and for simplicity in description, and are not intended to indicate or imply that the referenced devices or elements must have a particular orientation, be constructed and operated in a particular orientation, and are therefore not to be considered limiting of the present application.

In the description of the present application, "the first feature" and "the second feature" may include one or more of the features.

In the description of the present application, "a plurality" means two or more.

In the description of the present application, the first feature being "on" or "under" the second feature may include the first and second features being in direct contact, and may also include the first and second features being in contact not directly but via another feature therebetween.

In the description of the present application, the first feature being "on," "above" and "over" the second feature includes the first feature being directly above and obliquely above the second feature, or simply indicating that the first feature is at a higher level than the second feature.

In the description herein, reference to the description of the terms "one embodiment," "some embodiments," "an illustrative embodiment," "an example," "a specific example," or "some examples" or the like means that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the application. In this specification, the schematic representations of the terms used above 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.

While 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 to the embodiments without departing from the principles and spirit of the application, the scope of which is defined by the claims and their equivalents.

Claims

1. An intelligent catering preparation system, comprising:

the food and beverage storage device comprises a first storage area and a second storage area, wherein the first storage area and/or the second storage area are suitable for storing food and beverage materials and are separated from each other;

the operation area is arranged between the first storage area and the second storage area, an operation platform is arranged in the operation area, and the operation platform is suitable for conveying the catering materials in the first storage area and/or the second storage area to the operation area and processing the catering materials.

2. The intelligent catering preparation system of claim 1, wherein the first storage area, the operating area and the second storage area are sequentially arranged in an up-down direction.

3. The intelligent catering preparation system of claim 2, wherein a high altitude feed supplement device is disposed in the first storage area, the high altitude feed supplement device comprising:

a material rack;

a parallel four-bar linkage mechanism comprising: the material rack comprises a fixed connecting rod, a driving connecting rod, a moving connecting rod and a driven connecting rod which are sequentially connected, wherein the fixed connecting rod is parallel to the moving connecting rod, the driving connecting rod is parallel to the driven connecting rod, and the moving connecting rod is provided with the material rack.

4. The intelligent catering preparation system according to claim 3, wherein a beverage capsule receiving device for receiving beverage capsules is provided on the material rack, the beverage capsule receiving device comprising:

the beverage container comprises a containing device body, wherein a capsule slide way for storing beverage capsules is arranged on the containing device body;

the limiting part is formed at one end of the containing device body and has a locking state and an unlocking state, the limiting part is suitable for abutting against the beverage capsule when the limiting part is in the locking state, and the beverage capsule is suitable for being separated from the capsule slide way when the limiting part is in the unlocking state.

5. The intelligent catering preparation system of claim 1, wherein the operations platform comprises a first robotic arm comprising:

a first arm body;

the first actuator is connected with the first mechanical arm body to move under the driving of the first mechanical arm body, and the first actuator is suitable for grabbing beverage capsules and brewing the beverage capsules.

6. The intelligent catering preparation system of claim 5, wherein the first actuator comprises:

an actuator body;

the capsule accommodating part is mounted on the actuator body, an accommodating space for accommodating a beverage capsule is arranged in the capsule accommodating part, and the capsule accommodating part can selectively extend out of the actuator body to grab the beverage capsule and accommodate the beverage capsule;

a brew head disposed within the actuator body, and adapted to provide pressurized water toward a beverage capsule positioned within the capsule receiving portion when the capsule receiving portion enters the actuator body.

7. The intelligent catering preparation system of claim 1, wherein the operating platform comprises a second robotic arm comprising:

a second mechanical arm body;

the second actuator is connected with the second mechanical arm body to move under the driving of the second mechanical arm body, and the second actuator is suitable for packaging drinks.

8. The intelligent catering preparation system of claim 7, wherein the second actuator comprises:

an integrated base;

the functional module is a plurality of functional modules, the functional modules can be selectively fixed on the integrated seat, and each functional module is suitable for operating a container or a container cover of a beverage.

9. The intelligent catering preparation system of claim 1, wherein the operating platform comprises a serving device, the serving device comprising:

a meal delivery base;

the tray is arranged on the meal serving base and is suitable for storing drinks;

the cover body is arranged above the tray, a meal outlet space is limited by the cover body and the tray, and the cover body moves towards or away from the tray to close or open the meal outlet space.

10. The intelligent catering preparation system of claim 1, wherein the second storage area comprises: water storage mechanism and waste material storage mechanism for accommodating rubbish.