1. The utility model provides an pass dish and withdraw integrative system of dish, includes conveyer belt (1) and pipeline box (2), its characterized in that: the conveying belt (1) is provided with a pushing mechanism (3);

an opening is formed in the pipeline box (2), and a lifting conversion mechanism (4) is arranged at the pipeline box (2);

an inlet is formed at one side of the pipeline box (2), and a moving trolley (5) is arranged in the pipeline box (2);

the bottom of the pipeline box (2) is provided with a plurality of through holes, and the through holes are provided with vertical moving mechanisms (6);

a table (7) is arranged below the pipeline box (2), a machine vision manipulator (8) is arranged in the table (7), a control panel is mounted on the table (7), and the control panel is in communication connection with the machine vision manipulator (8);

the automatic conveying device is characterized in that a controller (9) is arranged on the conveying belt (1), the controller (9) is connected with the moving trolley (5) through a wireless communication module (10), and the controller (9) is in communication connection with the conveying belt (1) and the pushing mechanism (3).

2. A system as claimed in claim 1, wherein the pushing mechanism (3) comprises a rhombic extension ladder (31) and a pushing block (32), the rhombic extension ladder (31) is fixedly mounted on the frame of the conveyor belt (1), the pushing block (32) is fixedly mounted at the end of a driving rod of the rhombic extension ladder (31), and the rhombic extension ladder (31) is in communication connection with the controller (9).

3. A dish conveying and withdrawing integrated system as claimed in claim 1, wherein a receiving plate (11) is fixedly mounted on the frame of the conveyor belt (1), and the receiving plate (11) extends into the inlet of the pipeline box (2).

4. A dish transferring and withdrawing integrated system as claimed in claim 1, wherein the vertical moving mechanism (6) comprises a rodless cylinder (41) and a U-shaped frame (42), the U-shaped frame (42) is fixedly mounted on a movable table of the rodless cylinder (41), the U-shaped frame (42) is adapted to the opening of the pipeline box (2), and the rodless cylinder (41) is in communication connection with the controller (9).

5. A dish transferring and withdrawing integrated system as claimed in claim 1, wherein the vertical moving mechanism (6) comprises an extension ladder (61) and a placing plate (62), the bottom of the extension ladder (61) is fixedly connected with the placing plate (62), the placing plate (62) is positioned at the opening of the pipeline box (2), the placing plate (62) is positioned above the table (7), and the extension ladder (61) is in communication connection with the controller (9).

6. A dish transferring and withdrawing integrated system as claimed in claim 1, wherein the moving trolley (5) is provided with a positioning module, and the positioning module is in communication connection with the controller (9).

7. A dish transferring and withdrawing integrated system as claimed in claim 1, wherein a tray is fixedly mounted on said moving trolley (5).

8. A dish transferring and withdrawing integrated system as claimed in claim 4, wherein a gravity sensor (12) is arranged on the U-shaped frame (42), and the gravity sensor (12) is in communication connection with the controller (9).

Background

The existing dish transferring machine has the advantages that the dish transferring robot is 1.2-1.3 m in height, the dish transferring robot can stably advance, the dish transferring service in a restaurant can be realized, and the dish transferring machine is a mature product in all service robots in technology. The dish transferring robot can send dishes to a designated table according to a preset route in a rail or trackless mode and an instruction end disc, and the dinner plates are transferred to the dining table by a customer or a waiter after a voice prompt is sent out. And a cart can be hung to finish simple and repeated physical work in a restaurant. The robot advances steadily, can realize man-machine interaction, meets the obstacle and can automatic stop in advance and can not touch the obstacle, sends voice prompt simultaneously. However, the following disadvantages are present:

1. the sensor is too few, or the performance is not enough, and the state of the external object cannot be sensed well.

2. Some industrial robots now fail and injure objects and workers.

3. The cost is expensive.

In order to solve the above problems, the present application provides an integrated system for transferring and removing dishes.

Disclosure of Invention

Objects of the invention

In order to solve the technical problems in the background art, the invention provides a dish transmission and removal integrated system, which reduces the use of personnel, reduces the operation cost and improves the efficiency.

(II) technical scheme

In order to solve the problems, the invention provides a dish transferring and removing integrated system which comprises a conveyor belt and a pipeline box, wherein the conveyor belt is provided with a pushing mechanism;

the pipeline box is provided with an opening, and a lifting conversion mechanism is arranged at the pipeline box;

an inlet is formed at one side of the pipeline box, and a moving trolley is placed in the pipeline box;

the bottom of the pipeline box is provided with a plurality of through holes, and the through holes are provided with vertical moving mechanisms;

a table is arranged below the pipeline box, a machine vision manipulator is arranged in the table, a control panel is arranged on the table, and the control panel is in communication connection with the machine vision manipulator;

the conveyor belt is provided with a controller, the controller is connected with the moving trolley through a wireless communication module, and the controller is in communication connection with the conveyor belt and the pushing mechanism.

Preferably, pushing mechanism contains rhombus extension ladder and ejector pad and constitutes, rhombus extension ladder fixed mounting is on the frame of conveyer belt, ejector pad fixed mounting is at the tip of rhombus extension ladder actuating lever, rhombus extension ladder and controller communication are connected.

Preferably, a receiving plate is fixedly mounted on the frame of the conveyor belt, and the receiving plate extends into the inlet of the pipeline box.

Preferably, the vertical moving mechanism comprises a rodless cylinder and a U-shaped frame, the U-shaped frame is fixedly mounted on a movable table of the rodless cylinder, the U-shaped frame is matched with the opening of the pipeline box, and the rodless cylinder is in communication connection with the controller.

Preferably, vertical moving mechanism contains the extension ladder and places the board, the bottom of extension ladder with place board fixed connection, place the board and be located the logical mouth department of pipeline box, and place the top that the board is located the desk, the extension ladder is connected with the controller communication.

Preferably, the moving trolley is provided with a positioning module, and the positioning module is in communication connection with the controller.

Preferably, the moving trolley is fixedly provided with a tray.

Preferably, a gravity sensor is arranged on the U-shaped frame and is in communication connection with the controller.

The technical scheme of the invention has the following beneficial technical effects:

the plate is conveyed through the conveying belt, the controller controls the rhombic extension ladder to be started to drive the push block to move, the plate is placed on the moving trolley through the placing opening, the moving trolley moves the controller and the moving trolley according to a required room and moves to the position above a table through the vertical moving mechanism, the plate is grabbed by the machine vision manipulator and moves to the table for eating, and the moving trolley moves to the placing opening for continuous use; when the food is delivered to different floors, the trolley is moved to the U-shaped frame, the rodless cylinder is started, and the rodless cylinder drives the trolley to move to the other pipeline box, so that the food delivery of different layers is realized; in conclusion, the use of personnel is reduced and the efficiency is improved; after people eat the dish, the dish is collected by the machine vision manipulator and is moved to the moving trolley to be sent back to the placing inlet.

Drawings

Fig. 1 is a schematic structural diagram of an integrated system for transferring and removing dishes according to the present invention.

Fig. 2 is a schematic structural view of a U-shaped frame in the dish transferring and removing integrated system according to the present invention.

Fig. 3 is a system diagram of an integrated system for transferring and removing dishes according to the present invention.

Reference numerals: 1. a conveyor belt; 2. a tubing cassette; 3. a pushing mechanism; 31. a rhombic extension ladder; 32. a push block; 4. a lift switch mechanism; 41. a rodless cylinder; 42. a U-shaped frame; 5. moving the trolley; 6. a vertical moving mechanism; 61. an extension ladder; 62. placing the plate; 7. a table; 8. a machine vision manipulator; 9. a controller; 10. a wireless communication module; 11. a bearing plate; 12. a gravity sensor.

Detailed Description

In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention will be described in further detail with reference to the accompanying drawings in conjunction with the following detailed description. It should be understood that the description is intended to be exemplary only, and is not intended to limit the scope of the present invention. Moreover, in the following description, descriptions of well-known structures and techniques are omitted so as to not unnecessarily obscure the concepts of the present invention.

As shown in fig. 1-3, the invention provides an integrated system for transferring and removing dishes, which comprises a conveyor belt 1 and a pipeline box 2, wherein the conveyor belt 1 is provided with a pushing mechanism 3;

an opening is formed in the pipeline box 2, and a lifting conversion mechanism 4 is arranged at the pipeline box 2;

an inlet is formed at one side of the pipeline box 2, and a moving trolley 5 is arranged in the pipeline box 2;

the bottom of the pipeline box 2 is provided with a plurality of through holes, and the through holes are provided with vertical moving mechanisms 6;

a table 7 is arranged below the pipeline box 2, a machine vision manipulator 8 is arranged in the table 7, a control panel is arranged on the table 7, and the control panel is in communication connection with the machine vision manipulator 8;

the conveyor belt 1 is provided with a controller 9, the controller 9 is connected with the moving trolley 5 through a wireless communication module 10, and the controller 9 is in communication connection with the conveyor belt 1 and the pushing mechanism 3.

In an alternative embodiment, the pushing mechanism 3 comprises a rhombic extension ladder 31 and a push block 32, the rhombic extension ladder 31 is fixedly installed on the frame of the conveyor belt 1, the push block 32 is fixedly installed at the end of a driving rod of the rhombic extension ladder 31, and the rhombic extension ladder 31 is in communication connection with the controller 9.

In an alternative embodiment, a receiving plate 11 is fixedly mounted on the frame of the conveyor belt 1, and the receiving plate 11 extends into the entrance of the line box 2.

In an alternative embodiment, the vertical moving mechanism 6 comprises a rodless cylinder 41 and a U-shaped frame 42, the U-shaped frame 42 is fixedly installed on the movable table of the rodless cylinder 41, the U-shaped frame 42 is matched with the opening of the pipeline box 2, and the rodless cylinder 41 is in communication connection with the controller 9.

In an alternative embodiment, the vertical moving mechanism 6 comprises an extension ladder 61 and a placing plate 62, the bottom of the extension ladder 61 is fixedly connected with the placing plate 62, the placing plate 62 is located at the through opening of the pipeline box 2, the placing plate 62 is located above the table 7, and the extension ladder 61 is in communication connection with the controller 9.

In an alternative embodiment, the mobile cart 5 is provided with a positioning module, and the positioning module is connected with the controller 9 in a communication way.

In an alternative embodiment, a tray is fixedly arranged on the moving trolley 5 and is used for containing the dishes.

In an alternative embodiment, the U-shaped frame 42 is provided with a gravity sensor 12, and the gravity sensor 12 is in communication with the controller 9, and the gravity sensor 12 senses whether a heavy object is on the U-shaped frame 42 for facilitating the subsequent movement.

According to the invention, the plate is conveyed by the conveyor belt 1, the controller 9 controls the rhombic extension ladder 31 to be started to drive the push block 32 to move, the plate is placed on the moving trolley 5 through the placing opening, the moving trolley 5 operates the controller 9 and the moving trolley 5 according to a required room and moves to the position above the table 7 through the vertical moving mechanism 6, the plate is grabbed by the machine vision manipulator 8 and moves to the table 7 for eating, and the moving trolley moves to the placing opening for continuous use; when the mobile trolley 5 moves to the U-shaped frame 42 at different floors, the rodless cylinder 41 is started, and the rodless cylinder 41 drives the mobile trolley to move to the other pipeline box 2, so that the dish delivery of different layers is realized; in conclusion, the use of personnel is reduced and the efficiency is improved; after the food is eaten by people, the machine vision manipulator 8 collects the dish and moves the dish to the moving trolley 5 to be sent to a playback entrance.

It is to be understood that the above-described embodiments of the present invention are merely illustrative of or explaining the principles of the invention and are not to be construed as limiting the invention. Therefore, any modification, equivalent replacement, improvement and the like made without departing from the spirit and scope of the present invention should be included in the protection scope of the present invention. Further, it is intended that the appended claims cover all such variations and modifications as fall within the scope and boundaries of the appended claims or the equivalents of such scope and boundaries.