1. An intelligent storage cabinet, comprising:

the multi-group magazine storage rack (1) comprises a rack body (101) and a multi-layer storage assembly (102) rotatably mounted on the rack body (101), wherein the multi-layer storage assembly (102) is used for storing various magazines (4);

the multiple groups of magazine sorting manipulators (2) are correspondingly arranged on the magazine storage shelf (1) one by one and used for grabbing the corresponding magazines (4) from the multilayer storage assembly (102);

the tray conveying and material conveying mechanism (3) is used for conveying the tray (5) to move to an appointed position, and the material box sorting mechanical arm (2) is used for placing the grabbed material box (4) on the tray (5) and then conveying materials.

2. The intelligent storage cabinet of claim 1, wherein: the angle adjusting mechanism (103) used for adjusting the inclination angle of the multilayer storage component (102) is installed on the shelf body (101), the angle adjusting mechanism (103) comprises an adjusting screw rod (1031), an adjusting screw rod nut (1032) and an adjusting connecting rod (1033), the adjusting screw rod nut (1032) is sleeved on the adjusting screw rod (1031), and the adjusting connecting rod (1033) is hinged to the adjusting screw rod nut (1032) and between the multilayer storage component (102).

3. The intelligent storage cabinet of claim 1, wherein: a plurality of transport runners (1021) are installed at the interval of arranging on multilayer storage component (102), the magazine baffle (1022) and lid backstop mechanism (1023) are installed to the one end of transport runner (1021), lid backstop mechanism (1023) includes rotatable depression bar (10231) and lid fender wheel (10232), lid fender wheel (10232) are installed the tip of depression bar (10231) is located magazine (4) top.

4. The intelligent storage cabinet of claim 1, wherein: magazine letter sorting manipulator (2) are including installing Y axle on shelf body (101) slide module (201), install X axle on the Y axle slide module (201) slide module (202), install Z axle on the X axle slide module (202) slide module (203) and install magazine on the Z axle slide module (203) snatchs mechanism (204), the magazine snatchs mechanism (204) Y axle slide module (201) X axle slide module (202) and Z axle slide module (203) and drive down along Y, X, Z axial displacement jointly.

5. The intelligent storage cabinet of claim 4, wherein: the Z-axis sliding module (203) comprises a Z-axis speed doubling mechanism (2031) and a Z-axis extending mechanism (2032) slidably mounted on the Z-axis speed doubling mechanism (2031), wherein the Z-axis speed doubling mechanism (2031) comprises a Z-axis driving device (20311), a gear (20312), a rack (20313) and a Z-axis synchronous belt mechanism (20314), the gear (20312) is mounted on the Z-axis driving device (20311), the rack (20313) is meshed with the gear (20312), the Z-axis synchronous belt mechanism (20314) is mounted on the rack (20313), the rack (20313) drives the Z-axis synchronous belt mechanism (20314) to move synchronously and enable the Z-axis synchronous belt mechanism (20314) to rotate, and the Z-axis extending mechanism (2032) is connected with the Z-axis synchronous belt mechanism (20314).

6. The intelligent storage cabinet of claim 4, wherein: the magazine grabbing mechanism (204) comprises a clamping jaw cylinder (2041) and two clamping jaws (2042) mounted on the clamping jaw cylinder (2041), and the clamping jaw cylinder (2041) drives the two clamping jaws (2042) to move relatively to clamp the magazine (4).

7. The intelligent storage cabinet of claim 1, wherein: tray is carried and material transmission device (3) include first transfer chain (301), second transfer chain (302), the tray snatchs module (303) and tray transition module (304), the tray snatchs module (303) and is used for with a plurality of on first transfer chain (301) tray (5) snatch one by one and place on tray transition module (304), and by tray transition module (304) carry extremely on second transfer chain (302), second transfer chain (302) are carried tray (5) arrive the assigned position.

8. The intelligent storage cabinet of claim 7, wherein: the tray grabbing module (303) comprises an X-axis tray sliding module (3031), a Y-axis tray sliding module (3032) and a tray adsorption device (3033), wherein the tray adsorption device (3033) is driven by the X-axis tray sliding module (3031) and the Y-axis tray sliding module (3032) to move axially along X, Y; the tray adsorption device (3033) comprises a vacuum generator (30331) and a plurality of suckers (30332), wherein the suckers (30332) are connected with the vacuum generator (30331) through air pipes; the tray transition module (304) comprises a Y-axis lifting module (3041) and a third conveying line (3042) installed on the Y-axis lifting module (3041), wherein the Y-axis lifting module (3041) drives the third conveying line (3042) to be lifted and butted with the second conveying line (302).

9. The intelligent storage cabinet of claim 1, wherein: the food ordering system also comprises a food display device (6), a touch screen (7), an ordering information display device (8), an electric control box (9), a bill printer (10) and a refrigerator cabinet body (11); the material box storage and conveying device is characterized in that RFID electronic tags (12) are installed on the material box (4) and the tray (5), a plurality of RFID identification modules (13) are installed on the plurality of groups of material box storage shelves (1), group sweeping RFID identification modules are installed on the tray conveying and material conveying mechanism (3), and the group sweeping RFID identification modules are used for identifying information and quantity of the material box in the tray (5).

10. A method for material in and out transfer and storage of an intelligent storage cabinet, which adopts the intelligent storage cabinet as claimed in any one of claims 1 to 9, and is characterized by comprising the following steps:

s1: preparing goods; manually placing a plurality of kinds of material boxes (4) on the multi-layer storage assembly (102) of the plurality of groups of material box storage shelves (1) respectively, enabling the material boxes (4) to automatically slide down along the conveying flow channel (1021) until the material boxes reach the position of a material box baffle plate (1022), repeatedly placing the material boxes (4), sequentially blocking the subsequent material boxes (4) by the previous material box (4) until each conveying flow channel (1021) is full of the material boxes (4), and finishing stock of the material boxes (4);

manually placing a plurality of groups of stacked trays (5) on a first conveying line (301) of the tray conveying and material conveying mechanism (3), and finishing stock of the trays (5);

s2: a conveying tray; the first conveying line (301) conveys the trays (5) to the tray grabbing module (303) and stops, the tray grabbing module (303) grabs a single tray (5) and places the tray on the tray transition module (304), the tray is conveyed to the second conveying line (302) through the tray transition module (304), and the second conveying line (302) conveys the trays (5) to a specified position and records information of the trays (5);

s3: grabbing and placing a material box; after the customer finishes ordering, the system controls the material box sorting manipulator (2) to start to take goods; the Y-axis sliding module (201), the X-axis sliding module (202) and the Z-axis sliding module (203) of the magazine sorting manipulator (2) jointly drive the magazine grabbing mechanism (204) to move axially along Y, X, Z to a magazine (4) corresponding to the customer order to grab the magazine (4), then the magazine grabbing mechanism moves and places the magazine on the tray (5) conveyed in the step S2, and the operation is repeated to grab the magazine in sequence until all the magazines (4) containing the items ordered by the customer are placed on the tray (5);

s4: checking the meal; after the step S3 is completed, the second conveying line (302) conveys the trays (5) loaded with the material boxes (4) to a transfer conveying line, and a group scanning RFID identification module on the transfer conveying line detects the number of the material boxes (4) on the trays (5) and checks the number with ordering information of customers;

s5: taking out the meal; after the step S4 is checked to be correct, the ordering bill is taken out manually through the bill printer (10), and the meal is taken out.

Background

With the development of economy and the progress of society, the pace of life of people is faster and faster, and the development of the fast food industry is more and more popularized in order to save the dining time of people.

At present, in the catering industry, material conveying is carried out manually, staff hold dishes in bowls and dishes and arrange the dishes, customers take trays by themselves and directly place the dishes on the trays; or the customer orders the meal to be sent to the customer's table by staff. The meal taking mode is low in efficiency, the condition of queuing and meal taking often occurs, the waiting time of customers is prolonged, more staff are needed, the condition of meal matching errors easily occurs, and the demand of fast pace of life of people cannot be met.

Disclosure of Invention

In order to solve the technical problems, the invention provides the intelligent storage cabinet and the material in-out transmission and storage method thereof, which have the advantages of multiple types and large quantity of stored meals, high automation degree, good reliability, great improvement on material transmission efficiency, reduction in manual input, flexible application to various catering stores and wide application prospect.

The technical scheme adopted by the invention for solving the technical problem is as follows: an intelligent storage cabinet, comprising:

the multi-group magazine storage shelf comprises a shelf body and a multi-layer storage assembly rotatably mounted on the shelf body, and the multi-layer storage assembly is used for storing various magazines;

the multiple groups of magazine sorting manipulators are correspondingly arranged on the magazine storage shelf one by one and used for grabbing the corresponding magazines from the multilayer storage assembly;

and the tray conveying and material conveying mechanism is used for conveying the tray to move to a specified position, placing the grabbed material boxes on the tray by the material box sorting mechanical arm and then conveying materials.

As a further improvement of the invention, an angle adjusting mechanism for adjusting the inclination angle of the multi-layer storage assembly is mounted on the shelf body, the angle adjusting mechanism comprises an adjusting screw rod, an adjusting screw rod nut and an adjusting connecting rod, the adjusting screw rod nut is sleeved on the adjusting screw rod, and the adjusting connecting rod is hinged between the adjusting screw rod nut and the multi-layer storage assembly.

As a further improvement of the invention, a plurality of conveying flow channels are arranged on the multilayer storage assembly at intervals, a material box baffle and a box cover stopping mechanism are arranged at one end of each conveying flow channel, each box cover stopping mechanism comprises a rotatable pressure rod and a box cover stopping wheel, and each box cover stopping wheel is arranged at the end part of the pressure rod and is positioned above the material box.

As a further improvement of the invention, the magazine sorting manipulator comprises a Y-axis sliding module mounted on the shelf body, an X-axis sliding module mounted on the Y-axis sliding module, a Z-axis sliding module mounted on the X-axis sliding module, and a magazine grabbing mechanism mounted on the Z-axis sliding module, wherein the magazine grabbing mechanism is driven by the Y-axis sliding module, the X-axis sliding module, and the Z-axis sliding module to move axially along Y, X, Z.

As a further improvement of the present invention, the Z-axis sliding module includes a Z-axis speed doubling mechanism and a Z-axis extending mechanism slidably mounted on the Z-axis speed doubling mechanism, the Z-axis speed doubling mechanism includes a Z-axis driving device, a gear, a rack and a Z-axis synchronous belt mechanism, the gear is mounted on the Z-axis driving device, the rack is engaged with the gear, the Z-axis synchronous belt mechanism is mounted on the rack, the rack drives the Z-axis synchronous belt mechanism to rotate while moving synchronously, and the Z-axis extending mechanism is connected with the Z-axis synchronous belt mechanism.

As a further improvement of the invention, the material box grabbing mechanism comprises a clamping jaw cylinder and two clamping jaws mounted on the clamping jaw cylinder, and the clamping jaw cylinder drives the two clamping jaws to move relatively to clamp the material box.

As a further improvement of the present invention, the tray conveying and material conveying mechanism includes a first conveying line, a second conveying line, a tray grabbing module and a tray transition module, the tray grabbing module is used for grabbing and placing a plurality of trays on the first conveying line one by one on the tray transition module, and conveying the trays to the second conveying line by the tray transition module, and the second conveying line conveys the trays to a designated position.

As a further improvement of the invention, the tray grabbing module comprises an X-axis tray sliding module, a Y-axis tray sliding module and a tray adsorption device, wherein the tray adsorption device is driven by the X-axis tray sliding module and the Y-axis tray sliding module to move axially along X, Y; the tray adsorption device comprises a vacuum generator and a plurality of suckers, and the suckers are connected with the vacuum generator through air pipes; tray transition module includes Y axle lifting module and installs third transfer chain on the Y axle lifting module, Y axle lifting module drive third transfer chain lifting with the butt joint of second transfer chain.

As a further improvement of the intelligent storage cabinet, the intelligent storage cabinet also comprises a meal display device, a touch screen, an ordering information display device, an electrical control box, a bill printer and a refrigerator cabinet body; the tray conveying and material conveying mechanism is provided with a group sweeping RFID module which is used for identifying information and quantity of the material boxes in the tray.

The invention also provides a method for material in-out transmission and storage of the intelligent storage cabinet, which comprises the following steps:

s1: preparing goods; manually placing a plurality of material boxes on the multi-layer storage assemblies of the plurality of groups of material box storage shelves respectively, enabling the material boxes to automatically slide down along the conveying flow channels until the material boxes reach the position of the material box baffle, repeatedly placing the material boxes, sequentially blocking the subsequent material boxes by the previous material box until each conveying flow channel is full of material boxes, and finishing stock of the material boxes;

manually placing a plurality of groups of stacked trays on a first conveying line of a tray conveying and material conveying mechanism, and finishing the stock of the trays;

s2: a conveying tray; the first conveying line conveys the trays to the tray grabbing module and stops, the tray grabbing module grabs a single tray and places the tray on the tray transition module, the tray is conveyed to the second conveying line by the tray transition module, and the second conveying line conveys the trays to the designated position and records the information of the trays;

s3: grabbing and placing a material box; after the customer orders the food, the system controls the material box sorting manipulator to start to pick up the food; the Y-axis sliding module, the X-axis sliding module and the Z-axis sliding module of the magazine sorting manipulator jointly drive the magazine grabbing mechanism to move axially to a magazine position corresponding to the customer order along Y, X, Z to grab the magazine, then the magazine is moved and placed on the tray conveyed in the step S2, and the actions are repeated to grab the magazine in sequence until all the magazines containing the items ordered by the customer are placed on the tray;

s4: checking the meal; after the step S3 is completed, the second conveying line conveys the tray loaded with the material boxes to a transfer conveying line, and a group scanning RFID identification module on the transfer conveying line detects the number of the material boxes on the tray and checks the number with ordering information of customers;

s5: taking out the meal; and step S4, after the order is checked to be correct, the ordering bill is taken out manually through the bill printer, and the meal is taken away.

The invention has the beneficial effects that:

1. the intelligent storage cabinet and the material in-out transmission and storage method thereof have the advantages that the automation degree is high, the reliability is good, the material transmission efficiency is greatly improved, the labor investment is reduced, the intelligent storage cabinet can be flexibly applied to various catering stores, and the application prospect is wide;

2. the multilayer storage adjustable shelf is provided with the multilayer storage assembly, the capacity is large, the multilayer storage assembly can be inclined by a certain angle through the angle adjusting mechanism, so that the material boxes can slide to automatically slide downwards along the conveying flow channel and sequentially block the subsequent material boxes, external force or manual placement is not needed, the stock is convenient, and the stock efficiency is greatly improved; meanwhile, the angle adjusting mechanism can be reversely adjusted, so that goods can be taken out conveniently; the material box baffle and the box cover stopping mechanism are arranged on the multilayer storage assembly, so that the material box is effectively prevented from being impacted and falling off when sliding downwards, the material box can be stably taken out, and the box cover is prevented from falling off when being taken out; the RFID identification module is arranged on the multilayer storage assembly, so that the RFID electronic tag on the material box can be identified, the phenomena of missing and misplacing of the material box can be effectively avoided, and the accuracy of placing the material box is ensured;

3. the magazine sorting manipulator is driven by the Y-axis sliding module, the X-axis sliding module and the Z-axis sliding module together, so that the magazine grabbing mechanism can move to an appointed position along the Y, X and Z axial directions to grab the magazine, the degree of automation is high, the occupied space is small, the cost is low, the flexibility is high, and the requirement of a specific use scene can be met; meanwhile, the Z-axis sliding module comprises a Z-axis speed doubling mechanism and a Z-axis extending mechanism, has a three-order extending function, improves the stroke of the manipulator in the Z-axis direction, enlarges the grabbing range, and when the Z-axis speed doubling mechanism drives the material box grabbing mechanism to move, the speed of the Z-axis speed doubling mechanism is the sum of the rack speed and the rotating speed of the Z-axis synchronous belt mechanism, thereby realizing the speed doubling function, greatly shortening the goods fetching time and improving the working efficiency;

4. the tray conveying and material conveying mechanism is provided with a first conveying line and a second conveying line which are distributed up and down, the first conveying line can store a plurality of groups of stacked trays at the same time, the occupied space is small, and the storage capacity of the trays is large; the X-axis tray sliding module and the Y-axis tray sliding module are matched for use, the tray adsorption device is driven to adsorb and grab one goods at a time, and the tray transition module is transited to the second conveying line, so that continuous transportation is realized, the transportation efficiency is improved, the automation degree is high, and the requirement of an automatic integrated transportation line can be met; the third transfer chain mode of tray transition module does: carry hold-in range mechanism earlier reversal, make the tray retreat the back that targets in place, carry hold-in range mechanism corotation again, carry the tray to the second delivery line on, and then guarantee that the tray moves specific length forward, reachs the assigned position, corresponds with magazine letter sorting manipulator, improves the precision.

Drawings

FIG. 1 is a perspective view of an intelligent storage cabinet of the present invention;

fig. 2 is a perspective view of the intelligent storage cabinet of the present invention with the cabinet body of the refrigerator removed;

FIG. 3 is a front view of the storage shelf of the intelligent storage cabinet magazine of the present invention;

FIG. 4 is an enlarged view of A of FIG. 3 according to the present invention;

FIG. 5 is a top view of a multi-level storage assembly of the intelligent storage cabinet of the present invention;

FIG. 6 is a bottom view of the multi-layer storage assembly of the intelligent storage cabinet of the present invention;

FIG. 7 is a perspective view of the intelligent storage cabinet magazine sorting robot of the present invention;

FIG. 8 is a front view of the intelligent storage cabinet magazine sorting robot of the present invention;

FIG. 9 is a perspective view of the X-axis sliding module, the Z-axis sliding module and the magazine grabbing mechanism of the intelligent storage cabinet of the invention;

FIG. 10 is a bottom view of the X-axis sliding module, the Z-axis sliding module and the magazine grabbing mechanism of the intelligent storage cabinet of the present invention;

FIG. 11 is a perspective view of the intelligent cabinet tray conveying and material transfer mechanism of the present invention;

fig. 12 is a perspective view of the intelligent storage cabinet tray grabbing module of the present invention;

FIG. 13 is a perspective view of the tray transition module of the intelligent storage cabinet of the present invention;

fig. 14 is a flow chart illustrating steps of a method for material in and out transfer and storage in an intelligent storage cabinet according to the present invention.

The following description is made with reference to the accompanying drawings:

1-magazine storage shelf; 101-shelf body;

102-Multi-tier storage Components; 1021-transport flow path;

1022-Cartridge stop; 1023-lid stop mechanism;

10231-a compression bar; 10232-box cover catch wheel;

103-angle adjusting mechanism; 1031-adjusting screw rod;

1032-adjusting the lead screw nut; 1033-adjusting link;

2-a material box sorting manipulator; 201-Y axis sliding module;

202-X-axis slip module; 203-Z axis sliding module;

2031-Z-axis speed multiplying mechanism; 20311-Z-axis drive;

20312-Gear; 20313-rack;

20314-Z-axis synchronous belt mechanism; 2032-Z axis extension mechanism;

204-a cartridge grasping mechanism; 2041 — gripper cylinder;

2042-jaw; 3-tray conveying and material conveying mechanism;

301-first transfer line; 302-second delivery line;

303-a pallet grabbing module; 3031-X axis tray sliding module;

3032-Y-axis tray sliding module; 3033-tray adsorption device;

30331-vacuum Generator; 30332-suction cup;

304-tray transition module; 3041-Y-axis lifting module;

3042-a third transfer line; 4-the magazine;

5-a tray; 6-meal display device;

7-touch screen; 8-ordering information display device;

9-electric control box; 10-Bill Printer;

11-freezer cabinet; 12-RFID electronic tags;

13-RFID identification module.

Detailed Description

A preferred embodiment of the present invention will be described in detail below with reference to the accompanying drawings.

Referring to fig. 1 to 13, the present invention provides an intelligent storage cabinet, including: four groups of material box storage shelves 1, four groups of material box sorting manipulators 2 and tray conveying and material conveying mechanisms 3.

Referring to fig. 3, each of the magazine storage shelves 1 includes a shelf body 101 and a multi-layer storage assembly 102 rotatably mounted on the shelf body 101, the multi-layer storage assembly 102 is used for storing magazines 4, the magazines 4 have a plurality of types with different height specifications, and the magazines 4 are used for placing various meals. The multi-layer storage assembly 102 comprises a plurality of storage layer racks which are arranged at intervals in the vertical direction, and the number of layers and the number of columns of the storage layer racks and the height between two adjacent storage layer racks can be adjusted according to actual needs. The middle parts of the storage shelves are respectively installed on the shelf body 101 through rotating shafts in a rotating mode, two ends of each storage shelf are respectively connected with two shelf connecting rods in a rotating mode, the same ends of the storage shelves are respectively connected through the shelf connecting rods, and therefore the four-bar mechanism is formed, and the storage shelves can synchronously rotate around the rotating shafts.

Referring to fig. 3 and 4, an angle adjusting mechanism 103 is installed on the shelf body 101 at the bottom of the multi-layer storage assembly 102, and the angle adjusting mechanism 103 is used for adjusting the inclination angle of the multi-layer storage assembly 102. The angle adjusting mechanism 103 comprises an adjusting screw 1031, an adjusting screw nut 1032, an adjusting connecting rod 1033 and a slide rail, the adjusting screw 1031 penetrates through one side wall of the rack body 101, a bearing is installed between the adjusting screw 1031 and one side wall of the rack body 101, and the left end of the adjusting screw 1031 is rotatably installed on the supporting seat through another bearing. In this embodiment, the lead screw 1031 is a trapezoidal lead screw, which has a self-locking function, and the lead screw 1031 may also be a ball screw, and at this time, a locking device needs to be installed on the lead screw 1031, and the lead screw 1031 is locked by using the locking device after the adjustment is completed. The adjusting screw nut 1032 is sleeved on the adjusting screw 1031, a nut mounting plate is fixed on the adjusting screw nut 1032, and the nut mounting plate is matched on the guide rail in a sliding mode through a sliding block. One end of the adjusting link 1033 is hinged to the nut mounting plate on the adjusting lead screw nut 1032, and the other end of the adjusting link 1033 is hinged to the bottom of the multi-layer storage assembly 102. During adjustment, the adjusting screw 1031 is rotated to drive the adjusting screw nut 1032 to move along the guide rail, the adjusting screw nut 1032 pulls or pushes the adjusting connecting rod 1033 to move, and finally the multi-layer storage assembly 102 is driven to rotate around the rotating shaft until the inclination of the multi-layer storage assembly 102 meets the required requirement.

Handle or servo motor are installed to the one end that accommodate the lead screw 1031 extends the goods shelves support body 101 lateral wall, and the handle is adopted to this embodiment, drives accommodate the lead screw 1031 through rotatory handle and rotates and adjust. Of course, a servo motor can be used to drive the adjusting screw 1031 to rotate to realize automatic adjustment. Two limit screws are arranged on the shelf frame body 101 along the length direction of the adjusting screw 1031, are respectively positioned at two ends of the guide rail and are right opposite to the adjusting screw nut 1032, and are used for limiting the stroke range of the adjusting screw nut 1032, namely limiting the adjustable range of the inclination angle of the multilayer storage assembly 102 and preventing the sliding block from sliding out of the guide rail. The shelf body 101 is also provided with an angle display device and an angle adjustment detection sensor, the angle display device is used for detecting the inclination angle of the multilayer storage assembly 102, the angle display device can be in a mechanical pointer type or a digital display type, the current inclination angle of the multilayer storage assembly 102 can be displayed in real time, and the current inclination angle of the multilayer storage assembly 102 can be visually checked during adjustment, so that the required angle can be conveniently adjusted. The angle adjustment detection sensor can detect and record the inclination angle of the multilayer storage assembly 102, and after the inclination angle of the multilayer storage assembly 102 is changed by overhauling or other conditions, the inclination angle before resetting is adjusted again, so that the inclination angle can be directly judged by the angle adjustment detection sensor without being adjusted according to the angle display device.

Referring to fig. 5 and 6, a plurality of conveying flow channels 1021 are arranged on each layer of storage shelves of the multi-layer storage assembly 102, and a magazine stopping plate 1022 and a magazine cover stopping mechanism 1023 are installed at one end of each conveying flow channel 1021, which is inclined downwards. Carry runner 1021 and can adopt the fluent strip structure, automatic conveying line or flexible conveying mechanism etc. the preferred fluent strip structure that adopts, through adopting this structural design, when the stock, only need place magazine 4 higher one end on carrying runner 1021, magazine 4 receives gravity along carrying runner 1021 automatic gliding, until blockking by magazine baffle 1022, the repeated magazine 4 of placing, the former magazine 4 blocks follow-up magazine 4 in proper order, to every carry runner 1021 full stock magazine 4, the stock finishes. Wherein, the material box baffle 1022 is made of elastic super glue, which can prevent the material box 4 from falling off. Lid backstop mechanism 1023 includes rotatable depression bar 10231 and lid fender wheel 10232, and lid fender wheel 10232 installs in one end of depression bar 10231 and is located the magazine 4 top, and another tip of depression bar 10231 rotates and installs on the storage layer frame to install the torsional spring between depression bar 10231 and storage layer frame. During initial state, lid fender wheel 10232 contactless magazine 4's lid, when magazine letter sorting manipulator 2 snatched magazine 4 and upwards held up, the lid kept off wheel 10232 and the flexible pressure is attached on the lid under the spring action of torsional spring, makes the magazine stably take out, avoids the lid to drop.

Each layer of storage shelf of the multi-layer storage assembly 102 is provided with an RFID (Radio Frequency Identification) Identification module 13 corresponding to each transport channel 1021, each material box 4 is provided with an RFID electronic tag 12, and the RFID Identification module 13 can identify the RFID electronic tag 12 on the material box 4. When placing corresponding food name's transport runner 1021 runner with magazine 4, 4 information of magazine are judged to RFID identification module 13 record, and 4 information of magazine match with runner food information, and the green lamp of RFID is often lighted and is recorded information such as magazine dish name, shelf life, transmits to central RFID control system, and if information mismatch, the red lamp is lighted in the RFID warning, places magazine 4 again. Therefore, the phenomena of missing and misplacing of the material box 4 can be effectively avoided, and the placing accuracy of the material box 4 is ensured.

Referring to fig. 2, four groups of magazine sorting robots 2 are installed on four groups of magazine storage shelves 1 in a one-to-one correspondence, and are used for grabbing corresponding magazines 4 from the multi-layer storage assembly 102.

For ease of understanding, with reference to the cartridge storage rack 1, the vertical side of the cartridge storage rack 1 is the Y-axis direction, the lateral side of the front surface is the X-axis direction, and the direction perpendicular to both the Y-axis direction and the X-axis direction is the Z-axis direction.

Referring to fig. 7, the magazine sorting robot 2 includes a Y-axis sliding module 201 installed on the shelf body 101, an X-axis sliding module 202 installed on the Y-axis sliding module 201, a Z-axis sliding module 203 installed on the X-axis sliding module 202, and a magazine grabbing mechanism 204 installed on the Z-axis sliding module 203, wherein the magazine grabbing mechanism 204 moves along Y, X, Z axially under the common driving of the Y-axis sliding module 201, the X-axis sliding module 202, and the Z-axis sliding module 203.

Referring to fig. 8 and 9, the Y-axis sliding module 201 includes a Y-axis driving device, a Y-axis synchronous belt mechanism, two Y-axis sliding rails and a Y-axis mounting plate, the Y-axis sliding rails are arranged along the Y-axis direction, the Y-axis mounting plate is connected to the tops of the two Y-axis sliding rails, and the two Y-axis sliding rails and the Y-axis mounting plate are fixedly mounted on the shelf body 101. The Y-axis driving device is fixedly installed on the Y-axis installation plate and comprises a Y-axis servo motor and a speed reducer installed on the Y-axis servo motor, a driving shaft is installed on the speed reducer, and one end of the driving shaft is connected with a Y-axis synchronous wheel of the Y-axis synchronous belt mechanism. The X-axis sliding module 202 is provided with an X-axis mounting plate, the X-axis mounting plate is matched on the two Y-axis slide rails in a sliding mode through a slide block, and the X-axis mounting plate is connected with a Y-axis synchronous belt of the Y-axis synchronous belt mechanism through a synchronous belt pressing plate. The Y-axis driving device drives the Y-axis synchronous belt mechanism to rotate to drive the X-axis sliding module 202 to slide on the Y-axis slide rail in a reciprocating manner.

The structural principle of the X-axis sliding module 202 is the same as that of the Y-axis sliding module 201, and the description thereof is not repeated here. The X-axis sliding module 202 can drive the Z-axis sliding module 203 to move back and forth along the Z-axis.

Referring to fig. 9 and 10, the Z-axis sliding module 203 includes a Z-axis speed multiplying mechanism 2031 and a Z-axis extending mechanism 2032 slidably mounted on the Z-axis speed multiplying mechanism 2031, and the Z-axis speed multiplying mechanism 2031 is mounted on the X-axis sliding module 202. The Z-axis speed doubling mechanism 2031 comprises a Z-axis driving device 20311, a gear 20312, a rack 20313, a Z-axis synchronous belt mechanism 20314, a Z-axis mounting plate, two Z-axis slide rails a, two Z-axis slide rails B and a slide rail mounting plate, wherein the two Z-axis slide rails a, the two Z-axis slide rails B, the rack and the Z-axis synchronous belt mechanism 20314 are all mounted on the slide rail mounting plate along the Z-axis direction, and the Z-axis synchronous belt of the Z-axis synchronous belt mechanism 20314 is connected with the Z-axis mounting plate through a synchronous belt pressing plate. The Z-axis mounting plate is fixedly provided with a sliding block, and the two Z-axis sliding rails A are arranged on the sliding block in a sliding manner. The Z-axis drive 20311 includes a Z-axis servomotor mounted on the Z-axis mounting plate and a speed reducer mounted on the Z-axis servomotor, and the speed reducer is mounted with a gear 20312, and the gear 20312 is engaged with the rack 20313. The Z-axis extension mechanism 2032 is slidably mounted on the two Z-axis slide rails B via sliders, and is connected to a Z-axis synchronous belt of the Z-axis synchronous belt mechanism 20314 via a synchronous belt pressing plate. When the Z-axis speed multiplying mechanism 2031 works, the Z-axis servo motor is started, the gear 20312 is driven to rotate by the speed reducer, the gear 20312 drives the rack 20313 to move, the rack 20313 drives the Z-axis synchronous belt mechanism 20314 to move synchronously, and meanwhile, the Z-axis synchronous belt mechanism 20314 rotates to drive the Z-axis extending mechanism 2032 to move. The speed of the Z-axis extension mechanism 2032 is the sum of the speed of the rack 20313 and the rotation speed of the Z-axis synchronous belt mechanism 20314, so that the speed doubling function is realized, the goods taking time is greatly shortened, and the work efficiency is improved. The structural principle of the Z-axis extending mechanism 2032 is the same as that of the Y-axis sliding module 201, and the description thereof is omitted here. The Z-axis extending mechanism 2032 can drive the magazine grabbing mechanism 204 to further extend along the Z-axis, so that a three-order extending function is realized in the Z-axis, the stroke of the manipulator in the Z-axis is increased, and the grabbing range is expanded.

The magazine grabbing mechanism 204 comprises a clamping jaw cylinder 2041 and two clamping jaws 2042 mounted on the clamping jaw cylinder 2041, and the clamping jaw cylinder 2041 drives the two clamping jaws 2042 to move relatively to grab the magazine 4. The cartridge gripping mechanism 204 is provided with a detection sensor for detecting whether or not the cartridge 4 is present when gripping the cartridge 4.

Referring to fig. 11 to 13, the tray conveying and material transferring mechanism 3 is used for conveying the tray 5 to a designated position, placing the grabbed magazine 4 on the tray 5 by the magazine sorting robot 2, and then transferring the material. The tray conveying and material conveying mechanism 3 comprises a first conveying line 301, a second conveying line 302, a tray grabbing module 303 and a tray transition module 304, wherein the tray grabbing module 303 is used for grabbing a plurality of trays 5 on the first conveying line 301 one by one and placing the trays on the tray transition module 304, the trays are conveyed to the second conveying line 302 through the tray transition module 304, and the trays 5 are conveyed to the designated position through the second conveying line 302.

Referring to fig. 12, the tray grabbing module 303 includes an X-axis tray sliding module 3031, a Y-axis tray sliding module 3032, and a tray adsorption device 3033, and the tray adsorption device 3033 is driven by the X-axis tray sliding module 3031 and the Y-axis tray sliding module 3032 to move axially along X, Y. The X-axis tray sliding module 3031 and the Y-axis tray sliding module 3032 can adopt a screw rod module or a belt module, preferably adopt a screw rod module, and have high precision. The X-axis tray sliding module 3031 comprises a screw rod and a screw rod nut which are driven by a servo motor, the servo motor drives the screw rod to rotate, and the Y-axis tray sliding module 3032 is driven by the screw rod nut to move along the X axial direction. The structure principle of the Y-axis tray sliding module 3032 is the same as that of the X-axis tray sliding module 3031, and the description thereof is not repeated herein. The tray adsorption device 3033 comprises a vacuum generator 30331 and four suction cups 30332, wherein the four suction cups 30332 are connected with the vacuum generator 30331 through air pipes. When the vacuum generator 30331 is started, the four suction cups 30332 generate negative pressure to suck and grab the tray 5. The vacuum generator 30331 is also provided with an electromagnetic valve and a pressure switch, the electromagnetic valve is used for controlling the on-off of the air path, and the pressure switch can be used for adjusting the suction force of the suction cup 30332.

Referring to fig. 13, the tray transition module 304 includes a Y-axis lifting module 3041 and a third conveying line 3042 installed on the Y-axis lifting module 3041, and the Y-axis lifting module 3041 drives the third conveying line 3042 to lift and butt with the second conveying line 302. The Y-axis lifting module 3041 may also adopt a screw rod module or a belt module, and in this embodiment, a screw rod module is preferably adopted, and the structural principle of the screw rod module is the same as that of the X-axis tray sliding module 3031. The third conveying line 3042 includes a conveying line carrier disc, a conveying synchronous belt mechanism, and a conveying line motor, and the conveying line carrier disc is slidably mounted on the Y-axis lifting module 3041 through a conveying line support. The two conveying synchronous belt mechanisms are respectively arranged on the front side and the rear side of the conveying line carrier disc and driven by a conveying line motor to synchronously rotate. Side flanges are arranged on two sides of the conveying line carrying disc and used for stopping the tray 5 to prevent the tray from falling. The middle part of transfer chain year dish is installed and is detected the sensor, detects the sensor and is used for detecting whether have the tray 5 of placing by tray adsorption equipment 3033 on the transfer chain year dish. One end of the conveying line carrying disc is provided with a tray baffle, and the other detection sensor is arranged at the tray baffle and used for detecting the moving position of the tray 5. The working mode of the third conveying line 3042 is: carry hold-in range mechanism reversal through transfer chain motor drive earlier, make tray 5 retreat the back that targets in place, carry hold-in range mechanism corotation again, carry tray 5 to second transfer chain 302 on, and then guarantee tray 5 and move specific length forward, reach the assigned position, correspond with magazine letter sorting manipulator 2, improve the precision.

Wherein, all install RFID electronic tags 12 on the tray 5, install on the tray transport and material transmission device 3 and sweep RFID identification module 13 by group for material box information and quantity in discerning tray 5.

Preferably, the first conveying line 301 is a roller conveyor, several sets of stacked trays 5 can be placed on the first conveying line 301, and several sets of trays 5 can be simultaneously buffered on the first conveying line 301. Second transfer chain 302 is hold-in range conveyer, and second transfer chain 302 has four hold-in range mechanisms, and four hold-in range mechanism synchronous operation walk the same length at every turn, can carry four trays 5 simultaneously, make four trays 5 reach the assigned position, with four magazine letter sorting manipulators 2 one-to-one, four magazine letter sorting manipulators 2 simultaneous working get magazine 4, raise the efficiency.

Referring to fig. 1, the intelligent storage cabinet further includes a food display device 6, a touch screen 7, an ordering information display device 8, an electrical control box 9, a bill printer 10, and a refrigerator cabinet body 11. The refrigerator body 11 covers the material box storage shelf 1; the food display device 6 and the ordering information display device 8 are both display screens and are respectively used for displaying menu information and ordering information of customers; the electric control box 9 is used for controlling the operation of the equipment; the touch screen 7 is used for displaying relevant running information and alarm information of equipment, and customers use the ordering ipad to remotely order at the dining table

The customer can order the food by himself; the ticket printer 10 prints the order ticket at the time of material transfer.

The working principle of the embodiment is as follows: firstly, the inclination angle of the multilayer storage assembly 102 is adjusted by the angle adjusting mechanism 103 to meet the requirement, then the materials are prepared, the material box 4 is placed at the higher end of the conveying flow channel 1021, the material box 4 automatically slides downwards along the conveying flow channel 1021 under the action of gravity until being blocked by a material box baffle 1022, the material box 4 is repeatedly placed, the previous material box 4 sequentially blocks the subsequent material boxes 4, and the material boxes 4 are fully stored in each conveying flow channel 1021; the first conveying line 301 conveys the trays 5 to the tray grabbing module 303 and stops, the tray grabbing module 303 grabs a single tray 5 and places the tray 5 on the tray transition module 304, and then the tray is conveyed to the second conveying line 302 by the tray transition module 304, and the second conveying line 302 conveys the trays 5 to a designated position to correspond to the magazine sorting manipulator 2; the Y-axis sliding module 201, the X-axis sliding module 202 and the Z-axis sliding module 203 jointly drive the magazine grabbing mechanism 204 to move to the magazine 4 corresponding to the customer order along the Y, X, Z axial direction, the two clamping jaws 2042 are driven by the clamping jaw cylinder 2041 to move relatively to clamp the magazine 4, then the magazine 4 is moved and placed on the tray 5, the action is repeated to grab the magazine 4 in sequence until all the magazines 4 containing the items ordered by the customer are placed on the tray 5, and finally material transmission is carried out.

Referring to fig. 1 to 14, the present embodiment further provides a method for material in and out transfer and storage of an intelligent storage cabinet, where the method for material in and out transfer and storage of an intelligent storage cabinet includes the following steps:

s1: preparing goods; manually placing a plurality of kinds of material boxes 4 on the multi-layer storage assembly 102 of the plurality of groups of material box storage shelves 1 respectively, enabling the material boxes 4 to automatically slide down along the conveying flow channel 1021 until the material boxes reach the material box baffle 1022, repeatedly placing the material boxes 4, sequentially blocking the subsequent material boxes 4 by the previous material box 4 until each conveying flow channel 1021 is full of the material boxes 4, and finishing stock of the material boxes 4;

the RFID identification module 13 arranged on the material box storage shelf 1 corresponding to each conveying flow channel 1021 identifies and judges the RFID electronic tag 12 on the material box 4; matching information, wherein the RFID green light is normally on and recording information; if the information is not matched, the RFID alarm lights the red light, and the material box 4 is placed again;

manually placing a plurality of groups of stacked trays 5 on a first conveying line 301 of the tray conveying and material conveying mechanism 3, and finishing stock of the trays 5;

s2: a conveying tray; the first conveying line 301 conveys the trays 5 to the tray grabbing module 303 and stops, the tray grabbing module 303 grabs a single tray 5 and places the tray 5 on the tray transition module 304, the tray is conveyed to the second conveying line 302 by the tray transition module 304, and the second conveying line 302 conveys the tray 5 to a designated position and records information of the tray 5;

firstly, the X-axis tray sliding module 3031 of the tray grabbing module 303 drives the Y-axis tray sliding module 3032 to drive the tray adsorption device 3033 to reach the upper part of the tray 5, then the Y-axis tray sliding module 3032 drives the tray adsorption device 3033 to descend so that the suction cup 30332 adsorbs the tray 5, then the tray is moved and placed on the third conveying line 3042 of the tray transition module 304, and the Y-axis lifting module 3041 drives the third conveying line 3042 to lift and butt joint with the second conveying line 302; then, the third conveying line 3042 drives the tray 5 to move backward for alignment, and then drives the tray 5 to move and convey to the second conveying line 302, and the tray moves forward by a fixed length to reach a designated position;

s3: grabbing and placing a material box; after a customer uses the ordering ipad to remotely order on the dining table, the system controls the material box sorting manipulator 2 to start to pick up goods; the Y-axis sliding module 201, the X-axis sliding module 202 and the Z-axis sliding module 203 of the magazine sorting manipulator 2 jointly drive the magazine grabbing mechanism 204 to axially move to a magazine 4 corresponding to the customer order along Y, X, Z, after the magazine grabbing mechanism 204 detects the magazine 4, the two clamping jaws 2042 are driven by the clamping jaw cylinder 2041 to relatively move to grab the magazine 4, then the magazine 4 is moved and placed on the tray 5 conveyed in the step S2, and the actions are repeated to grab the magazine 4 in sequence until all the magazines 4 containing the food ordered by the customer are placed on the tray 5;

s4: checking the meal; after the step S3 is completed, the second conveying line 302 conveys the tray 5 loaded with the magazine 4 to a transfer conveying line, and a group scanning RFID identification module on the transfer conveying line detects the number of the magazine 4 loaded on the tray 5 and checks the number with the ordering information of the customer;

s5: taking out the meal; after the step S4 checks the order, the order ticket is manually taken out by the ticket printer 10 and the meal is taken out.

Therefore, the intelligent storage cabinet and the method for material in-out transmission and storage thereof provided by the invention have the advantages of high automation degree, good reliability, capability of greatly improving the material transmission efficiency and reducing the labor input, capability of being flexibly applied to various catering stores, and wide application prospect. The multilayer storage adjustable shelf is provided with the multilayer storage assembly, the capacity is large, the multilayer storage assembly can be inclined by a certain angle through the angle adjusting mechanism, so that the material boxes can slide to automatically slide downwards along the conveying flow channel and sequentially block the subsequent material boxes, external force or manual placement is not needed, the stock is convenient, and the stock efficiency is greatly improved; through install magazine baffle and lid backstop mechanism on multilayer storage assembly, the striking drops when effectively preventing the magazine gliding to can make the magazine stably take out, the lid drops when avoiding taking out. And install RFID identification module on multilayer storage assembly, can discern the RFID electronic tags on the magazine, can effectively avoid magazine hourglass to put, misplace the phenomenon, guarantee the accuracy that the magazine was placed. The magazine letter sorting manipulator slides under the common drive of module, X axle slip module and the Z axle slip module at the Y axle, makes the magazine snatch the mechanism and can follow Y, X and Z axial displacement and snatch the magazine to the assigned position, and degree of automation is high not only, occupation space is little, with low costs, has very high flexibility moreover, can satisfy specific use scene needs. Simultaneously, Z axle slip module includes that the Z axle doubles fast mechanism and Z axle extension mechanism, has the function of three-order extension, has improved the ascending stroke of manipulator in the Z axle, has enlarged the scope of snatching, and when the Z axle doubles fast mechanism drives the magazine and snatchs the mechanism and remove in addition, its speed is rack speed and Z axle hold-in range mechanism slew velocity and, realizes doubly fast function, has shortened greatly and has got the goods time, has improved work efficiency. The tray conveying and material conveying mechanism is provided with a first conveying line and a second conveying line which are distributed up and down, the first conveying line can store a plurality of groups of stacked trays at the same time, the occupied space is small, and the storage capacity of the trays is large; the X-axis tray sliding module and the Y-axis tray sliding module are matched for use, the tray adsorption device is driven to adsorb and grab one goods at a time, and the tray transition module is transited to the second conveying line, so that continuous transportation is realized, the transportation efficiency is improved, the automation degree is high, and the requirement of an automatic integrated transportation line can be met; the third transfer chain mode of tray transition module does: carry hold-in range mechanism earlier reversal, make the tray retreat the back that targets in place, carry hold-in range mechanism corotation again, carry the tray to the second delivery line on, and then guarantee that the tray moves specific length forward, reachs the assigned position, corresponds with magazine letter sorting manipulator, improves the precision.

In the previous description, numerous specific details were set forth in order to provide a thorough understanding of the present invention. The foregoing description is only a preferred embodiment of the invention, which can be embodied in many different forms than described herein, and therefore the invention is not limited to the specific embodiments disclosed above. And that those skilled in the art may, using the methods and techniques disclosed above, make numerous possible variations and modifications to the disclosed embodiments, or modify equivalents thereof, without departing from the scope of the claimed embodiments. Any simple modification, equivalent change and modification of the above embodiments according to the technical essence of the present invention are within the scope of the technical solution of the present invention.