CN109544800A - A kind of access formula intellect service robot now adjusts drink vending machine - Google Patents
A kind of access formula intellect service robot now adjusts drink vending machine Download PDFInfo
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- CN109544800A CN109544800A CN201811314656.5A CN201811314656A CN109544800A CN 109544800 A CN109544800 A CN 109544800A CN 201811314656 A CN201811314656 A CN 201811314656A CN 109544800 A CN109544800 A CN 109544800A
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- container
- catching robot
- beverage
- control device
- mixing vessel
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- G—PHYSICS
- G07—CHECKING-DEVICES
- G07F—COIN-FREED OR LIKE APPARATUS
- G07F13/00—Coin-freed apparatus for controlling dispensing or fluids, semiliquids or granular material from reservoirs
- G07F13/06—Coin-freed apparatus for controlling dispensing or fluids, semiliquids or granular material from reservoirs with selective dispensing of different fluids or materials or mixtures thereof
- G07F13/065—Coin-freed apparatus for controlling dispensing or fluids, semiliquids or granular material from reservoirs with selective dispensing of different fluids or materials or mixtures thereof for drink preparation
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- General Physics & Mathematics (AREA)
- Beverage Vending Machines With Cups, And Gas Or Electricity Vending Machines (AREA)
Abstract
The invention discloses a kind of access formula intellect service robots now to adjust drink vending machine, including multi-axis robot, beverage bottle pallet, container automatic device for taking out, automatic open-close mixing vessel and control device；Beverage bottle pallet is equipped with beverage bottle, is loaded with the beverage of predetermined type, and control out liquid by going out liquid control device；Container automatic device for taking out connects control device, for taking out container containing under control of the control means；Automatic open-close mixing vessel is connected to control device, for automatic lid closing/opening or closure under control of the control means；Multi-axis robot is used for the instruction according to control device, and the automatic open-close mixing vessel under uncapped state is moved at beverage bottle and picks up the beverage of corresponding type, then pours into the existing tune drink in the automatic open-close mixing vessel under uncapped state in container containing.The present invention may be implemented the intellectual allocation type drink for selling multiple type beverage blends, and it is stable, intelligence degree is high.
Description
Technical field
The present invention relates to receive equipment technical field automatically, and in particular to a kind of access formula intellect service robot now adjusts drink
Product vending machine.
Background technique
Automatic vending machine is a kind of machine that goods can be paid automatically according to the coin of investment.Automatic vending machine is business automation
Commonly used equipment, it is not limited by time, place, manpower can be saved, facilitate transaction, with cost of labor it is continuous rising and
The continuous development of intelligent equipment, equipment of receiving automatically become more and more popular.Domestic common Vending Machine is divided into four at present
Kind: Drink dispenser, food automatic vending machine, comprehensive automation vending machine, cosmetics Vending Machine.
Existing Drink dispenser can only generally support selling for single beverage, also lack allocation type reliable for operation
Drink sells equipment.
Summary of the invention
In view of the deficiencies of the prior art, the present invention is intended to provide a kind of access formula intellect service robot now adjusts drink to sell
Machine, may be implemented the intellectual allocation type drink for selling multiple type beverage blends, and it is stable, intelligence degree is high.
To achieve the goals above, the present invention adopts the following technical scheme:
A kind of access formula intellect service robot now adjusts drink vending machine, including multi-axis robot, beverage bottle pallet, container
Automatic device for taking out, automatic open-close mixing vessel and control device；The control device is used for for consumer entering beverage types
Selection instruction is selecting the beverage types contained in required existing tune drink, completing payment and controlling the tune for completing now to adjust drink
Match；The beverage bottle pallet is equipped with several beverage bottles, and the beverage of predetermined type, the drink are mounted in each beverage bottle
Expect that bottle controls out liquid by going out liquid control device；The control device control is connected to the container automatic device for taking out, the appearance
Device automatic device for taking out for taking out container containing under control of the control means；The automatic open-close mixing vessel is electrically connected
In the control device, for automatic lid closing/opening or closure under control of the control means；The multi-axis robot is used for according to control
Automatic open-close mixing vessel under uncapped state is moved to the corresponding position of one or more beverage bottles simultaneously by the instruction of device processed
The beverage of corresponding type is picked up, the existing tune drink in the automatic open-close mixing vessel under uncapped state is then poured into container containing
In.
Further, it further includes having automatic ice-making to go out ice dress that the access formula intellect service robot, which now adjusts drink vending machine,
It sets, the control device control is connected to the automatic ice-making and goes out ice production apparatus.
Further, it further includes organic frame that the access formula intellect service robot, which now adjusts drink vending machine, described more
Axis robot, beverage bottle pallet, container automatic device for taking out, automatic open-close mixing vessel, control device, automatic ice-making go out ice dress
It sets and is set in the rack；The bottom of the rack is equipped with universal wheel and motor driving wheel, and the bottom of the rack
Front-end and back-end are respectively equipped with multi-sensor amalgamation device；The multi-sensor amalgamation device includes being electrically connected in described
Proximity sensor, ultrasonic sensor, 3D infrared sensor, the laser radar, crash sensor of control device.
Still further, the rack is equipped with translucent cover and translucent cover elevating mechanism, the translucent cover elevating mechanism electricity
Property is connected to the control device, and the translucent cover can be driven to make elevating movement；When translucent cover rises to utmostly, institute
The beverage bottle stated on work top, beverage bottle pallet and beverage bottle pallet is enclosed in the translucent cover.
Further, the container automatic device for taking out is mainly by container storage device, container taking and placing device, container holder liter
Lift device composition；
The container storage device has container outlet for storing several container containings；
The container taking and placing device includes container catching robot, container catching robot elevating mechanism, container gripper
Tool hand horizontal mobile mechanism and container catching robot elastic mechanism, the container catching robot elevating mechanism, container crawl
Manipulator horizontal mobile mechanism and container catching robot elastic mechanism are electrically connected at the control device；The container is grabbed
Manipulating hoist structure and container catching robot horizontal mobile mechanism is taken to be respectively used to that the container catching robot is driven to make
It elevating movement and moves horizontally；The container catching robot includes that container catching robot clamping part one and container crawl are mechanical
Hand clamping part two, the container catching robot elastic mechanism is for driving the container catching robot clamping part one and container
Catching robot clamping part two is made opposite or is moved backwards；
The container holder lifting device includes container holder and container holder elevating mechanism, and the container holder elevating mechanism electrically connects
It is connected to the control device, the container holder elevating mechanism is connected to the container holder, and for driving container holder to make lifting fortune
It is dynamic；
The container catching robot is used under the drive of container catching robot elastic mechanism from container storage device
Middle clamping container containing and under the drive of container catching robot elevating mechanism and container catching robot horizontal mobile mechanism
Container containing is placed on container holder；The container holder is after it placed container containing under the drive of container holder elevating mechanism
Rise to the position of setting.
Further, the automatic open-close mixing vessel include mixing vessel ontology, mixing vessel lid, flip-open cover mechanism,
Rabbling mechanism and container containing catching robot mechanism, the flip-open cover mechanism, rabbling mechanism and container containing catching robot machine
Structure is electrically connected at the control device；The flip-open cover mechanism is connected to the mixing vessel lid, is used to open mixing and holds
Mixing vessel lid is sealed in the opening of mixing vessel ontology by device lid；The rabbling mechanism is used for mixing vessel sheet
Intracorporal various beverages are stirred existing tune drink needed for being mixed to get consumer；Container containing catching robot mechanism
For after now tune drink that mixing vessel is intrinsic pours into container containing, crawl container containing to the position of setting to be for consumption
Person takes.
Further, the beverage bottle pallet is connected to the beverage bottle pallet elevating mechanism, beverage bottle pallet lift
Structure is electrically connected at the control device, under the driving of control device, driving the beverage bottle pallet to make elevating movement.
Further, the liquid control device out includes outlet tube, elastic component mounting base, elastic component, steel ball, gasket and O
Shape sealing ring；The elastic component mounting base is set to the inside of the beverage bottle, and the upper end is connected with the inside of the beverage bottle；
The elastic component is set to the top of the elastic component mounting base, and top is connect with the elastic component mounting base；The outlet tube
Upper end pass through the beverage bottle bottom protrude into the elastic component mounting base, lower end is connected with the outside of beverage bottle；
The steel ball is movably arranged in the elastic component mounting base, the upper end and lower end respectively with the lower end of the elastic component and institute
State the upper end connection of outlet tube；The two sides of the elastic component mounting base are equipped with O-ring seals and gasket, and the gasket is set to institute
State the top of O-ring seals；When the outlet tube is not by external upwards thrust, the steel ball and the gasket are in contact and right
The gasket generates pressure, when the steel ball is mutually separated with the gasket, the upper end of the outlet tube and elastic component peace
It is connected inside dress seat.
Further, the control device includes beverage selection input module, payment module and control module, the branch
Module and the beverage selection equal communication connection of input module are paid in the control module, the beverage selection input module is used for for disappearing
The beverage types contained in drink are now adjusted needed for expense person's selection, payment module is used for for consumer payment, and the control module is used
It selects input module to receive the beverage types selection instruction of consumer entering in from beverage and receives payment from payment module
Complete confirmation instruction after, control multi-axis robot, beverage bottle pallet, container automatic device for taking out, automatic open-close mixing vessel and
Ice maker work, obtains existing tune drink needed for consumer.
The beneficial effects of the present invention are: the intellectual allocation type drink for selling multiple type beverage blends may be implemented,
And it is stable, intelligence degree is high.
Detailed description of the invention
Fig. 1 is the forward direction overall structure diagram of vending machine in the embodiment of the present invention；
Fig. 2 is the backward overall structure diagram of vending machine in the embodiment of the present invention；
Fig. 3 is the connection schematic diagram (vehicle head part) of rack and more merge sensor devices in the embodiment of the present invention；
Fig. 4 is the connection schematic diagram (tail part) of rack and more merge sensor devices in the embodiment of the present invention；
Fig. 5 is the forward direction structural schematic diagram of container automatic device for taking out in the embodiment of the present invention；
Fig. 6 is the backward structural schematic diagram of container automatic device for taking out in the embodiment of the present invention；
Fig. 7 is the forward direction structural schematic diagram of container taking and placing device in the embodiment of the present invention；
Fig. 8 is the backward structural schematic diagram of container taking and placing device in the embodiment of the present invention；
Fig. 9 is the structural schematic diagram of container holder lifting device in the embodiment of the present invention；
Figure 10 is the structural schematic diagram of container bearing device in the embodiment of the present invention；
Figure 11 is the structural schematic diagram of container storage device in the embodiment of the present invention；
Figure 12 is the general structure schematic diagram of automatic open-close mixing vessel in the embodiment of the present invention；
Figure 13 is the schematic diagram of internal structure of mixing vessel ontology in Figure 12；
Figure 14 is the structural schematic diagram for going out liquid control device in the embodiment of the present invention.
Specific embodiment
Below with reference to attached drawing, the invention will be further described, it should be noted that the present embodiment is with this technology side
Premised on case, the detailed implementation method and specific operation process are given, but protection scope of the present invention is not limited to this reality
Apply example.
As represented in figures 1 through 14, a kind of access formula intellect service robot now adjusts drink vending machine, including multi-axis robot 1,
Beverage bottle pallet 2, container automatic device for taking out, automatic open-close mixing vessel 3 and control device 4；The control device 4 is for supplying
Consumer entering beverage types selection instruction is to select the beverage types contained in required existing tune drink, complete payment and control
Complete the allotment for now adjusting drink；The beverage bottle pallet 2 is equipped with several beverage bottles 5, is mounted in each beverage bottle 5 and sets in advance
Determine the beverage of type, the beverage bottle 5 controls out liquid by going out liquid control device；The control of control device 4 is connected to the appearance
Device automatic device for taking out, the container automatic device for taking out are used to take out container containing under the control of control device 4 and (contain and hold
Device can be goblet, be also possible to other suitable containers)；The automatic open-close mixing vessel 3 is electrically connected at the control
Device 4 processed, for automatic lid closing/opening or closure under the control of control device 4；The multi-axis robot 1 is used for according to control device
Automatic open-close mixing vessel 3 under uncapped state is moved to the corresponding position of one or more beverage bottles 5 and connect by 4 instruction
The beverage of corresponding type is taken, the existing tune drink in the automatic open-close mixing vessel 3 under uncapped state is then poured into container containing
In.
When work, consumer first passes through control device, according to itself hobby in preset optional beverage types
One or more beverage types are selected, and are paid according to the total price that control device is calculated, control device starts to control
Complete the allotment for now adjusting drink.Control device control container automatic device for taking out automatically takes out a container containing, controls simultaneously
Then it is described certainly to control multi-axis robot drive according to beverage types selection instruction for the automatic open-close mixing vessel automatic lid closing/opening
Dynamic folding mixing vessel is moved at the beverage bottle for being loaded with the beverage of corresponding type, and the beverage in each beverage bottle is in hydraulic control system out
It is flowed under the action of device in automatic open-close mixing vessel.Control device controls multi-axis robot and drives the automatic open-close mixed
After closing the beverage types that container picks up all consumer's selections, existing tune drink is obtained, then controlling multi-axis robot will open automatically
It closes mixing vessel to be moved at container containing, and topples over the automatic open-close mixing vessel, now drink is adjusted to import Sheng for therein
At packaging container.
In the present embodiment, it further includes having automatic ice-making to go out that the access formula intellect service robot, which now adjusts drink vending machine,
Ice production apparatus 6, the control of control device 4 are connected to the automatic ice-making and go out ice production apparatus 6.
When consumer selects on the rocks by control device, in allocation process, the control device controls multi-axis robot
Drive automatic open-close mixing vessel be moved to automatic ice-making go out at the ice mouth 7 of ice production apparatus to pick up set amount ice cube and other
Beverage blends are together.
In the present embodiment, it further includes organic frame 8 that the access formula intellect service robot, which now adjusts drink vending machine, described
Multi-axis robot 1, beverage bottle pallet 2, container automatic device for taking out, automatic open-close mixing vessel 3, control device 4, automatic ice-making
Ice production apparatus 6 is set in the rack 8 out；The bottom of the rack 8 is equipped with universal wheel 9 and motor driving wheel 10, and described
The front-end and back-end of the bottom of rack 1 are respectively equipped with multi-sensor amalgamation device 11；The multi-sensor amalgamation device 11 includes
The proximity sensor 14 in the control device 4, ultrasonic sensor 15,3D infrared sensor 16, laser thunder is electrically connected
It reaches, crash sensor 17.
By the setting of universal wheel, motor driving wheel, multi-sensor amalgamation device, walking automatically for vending machine may be implemented
Row.When traveling, control device controls motor driving wheel operation, and rack starts traveling under the drive of motor driving wheel.Universal wheel
Rack can be led arbitrarily to turn to.The characteristic quantities such as position, the speed of laser radar transmitting detecting laser beam target, then will be from
The reflected signal of target is compared with transmitting signal, to obtain target for information about, such as distance, orientation, height,
The parameters such as speed, posture, shape detect target, tracked and are identified.Proximity sensor 14 is without contacting test object just
It can detect the mobile message of object and there are information and be converted to electric signal.Ultrasonic sensor 15 utilizes echo and Doppler
Static or movable target near effect identification.3D infrared sensor 16 can detect the temperature of neighbouring target, pass through hair
Signal to control device, control device controls motor driving wheel in time and stops operating or turn to out, guarantees the life of personnel and animal
Life safety.Crash sensor 17 issues signal to control device when just in case colliding, and control device starts safety measure and (stops
Vehicle or steering).By above-mentioned apparatus, when rack traveling, is safe and reliable, may be implemented now adjust drink by the traveling setting of rack
Product are sent to consumer on hand.
Further, the rack 8 is equipped with work top 18, and the container automatic device for taking out takes out container containing 19
It is placed on the setting position of work top 18 afterwards, pours into container containing after existing tune drink and transferred in the drive of multi-axis robot 1
It sets and is taken on position 20 for consumer in taking for work top 18.
Further, the rack 8 is equipped with translucent cover 21 and translucent cover elevating mechanism, the translucent cover elevating mechanism
It is electrically connected at the control device 4, and the translucent cover 21 can be driven to make elevating movement；When translucent cover rises to utmostly
When, the beverage bottle 5 on the work top 18, beverage bottle pallet 2 and beverage bottle pallet 2 is enclosed in the translucent cover 21
It is interior.By the way that translucent cover is arranged, translucent cover can be risen to utmostly by control device when without allotment operation,
To protect the beverage bottle 5 on work top 18, beverage bottle pallet 2 and beverage bottle pallet 2 to be polluted by introduced contaminants.
In the present embodiment, the container automatic device for taking out is mainly by container storage device 22, container taking and placing device 23, appearance
Device seat lifting device 24 forms；
The container storage device 22 has container outlet for storing several container containings；
The container taking and placing device 23 is grabbed including container catching robot 26, container catching robot elevating mechanism, container
Take manipulator horizontal mobile mechanism and container catching robot elastic mechanism, the container catching robot elevating mechanism, container
Catching robot horizontal mobile mechanism and container catching robot elastic mechanism are electrically connected at the control device 4；It is described
Container catching robot elevating mechanism and container catching robot horizontal mobile mechanism are respectively used to drive the container gripper
Tool hand is made elevating movement and is moved horizontally；The container catching robot 26 includes container catching robot clamping part 1 and holds
Device catching robot clamping part 2 28, the container catching robot elastic mechanism is for driving the container catching robot to press from both sides
It holds portion 1 and container catching robot clamping part 2 28 is made opposite or moved backwards；
The container holder lifting device 24 includes container holder 29 and container holder elevating mechanism, the container holder elevating mechanism electricity
Property be connected to the control device 4, the container holder elevating mechanism is connected to the container holder 29, and for driving container holder 29
Make elevating movement；
The container catching robot 26 is used to fill under the drive of container catching robot elastic mechanism from container storage
It sets and clamps container containing in 22 and in the band of container catching robot elevating mechanism and container catching robot horizontal mobile mechanism
Container containing is placed on container holder under dynamic；The container holder 29 is after it placed container containing in container holder elevating mechanism
The position of setting is risen under drive.
When operation, control device controls container catching robot elevating mechanism and the container crawl of the container taking and placing device
Manipulator horizontal mobile mechanism drives container catching robot to be moved at container storage device, and it is mechanical then to control container crawl
Hand elastic mechanism drives container catching robot clamping part one and container catching robot clamping part two to move toward one another, and clamps and contains
Packaging container simultaneously takes out, and then controls container catching robot elevating mechanism and container catching robot horizontal mobile mechanism band is visibly moved
Device catching robot is moved at container holder, is controlled container catching robot elastic mechanism thereafter and is driven container catching robot folder
It holds portion one and container catching robot clamping part two is made to unclamp container containing, container containing is fallen at container holder, most backwards to moving
The position that the container holder elevating mechanism drives container containing to rise to setting is controlled afterwards.
In the present embodiment, the container holder elevating mechanism drives container containing to rise on work top.The work
Table top is equipped with matchingly hole location, the container holder elevating mechanism drive container containing to rise simultaneously with container containing maximum outside diameter
Across the hole location, it is exposed on the work top.
Further, in the present embodiment, the container catching robot elevating mechanism includes container catching robot
Elevating screw 30, container catching robot lifting motor 31, container catching robot mounting platform 32, container catching robot liter
Optical axis 33 and at least one container catching robot lifting travel sensor 34, the container catching robot lifting motor 31 drop
The control device 4 is electrically connected at container catching robot lifting travel sensor 34；The container catching robot
The transmission connection of the output shaft of elevating screw 30 and the container catching robot lifting motor 31 (is coaxially to connect in the present embodiment
Connect), one end of the container catching robot mounting platform 32 by container catching robot lifting nut 35 be sequentially connected in
The container catching robot elevating screw 30, the other end are movably socketed on the container catching robot lifting optical axis 33
On；The container catching robot horizontal mobile mechanism is installed on the container catching robot mounting platform 32, the appearance
Device catching robot elastic mechanism is sequentially connected in the container catching robot 26, and is connected to the container catching robot
Horizontal mobile mechanism, the container catching robot horizontal mobile mechanism drive the container catching robot elastic mechanism horizontal
It is mobile, so that the container catching robot 26 be driven to move horizontally；The container catching robot lifting travel sensor 34
On the position of container catching robot lifting optical axis setting.In the present embodiment, container catching robot lifting row
There are three journey sensors 34, is separately mounted to the top and lower part of container catching robot lifting optical axis.
When work, control device controls the container catching robot lifting motor 31 and runs, container catching robot liter
The output shaft driving container catching robot elevating screw 30 for dropping motor 31 rotates, and the one of container catching robot mounting platform 32
End rises or falls under the drive of container catching robot lifting nut 35 along container catching robot elevating screw 30, holds
The other end of device catching robot mounting platform 32 rises or falls along container catching robot lifting optical axis 33 together, thus
Drive container catching robot horizontal mobile mechanism, the container catching robot elastic mechanism and container catching robot together
It rises or falls.
Still further, the container catching robot horizontal mobile mechanism includes that container catching robot moves horizontally electricity
Machine 36, container catching robot move horizontally synchronous pulley group 37, container catching robot moves horizontally synchronous belt 38, container is grabbed
Take that manipulator moves horizontally linear guide 39 and container catching robot moves horizontally pedestal 40, the container catching robot water
Flat mobile motor 36 is electrically connected at the control device 4；The container catching robot moves horizontally the transmission connection of motor 36
It is moved horizontally synchronous pulley group 37 (driving pulley) in the container catching robot, the container catching robot moves horizontally
Synchronous belt 38 transmission connection in the container catching robot move horizontally synchronous pulley group 37 (both ends rotating around be set to main belt
Wheel and driven pulley), the container catching robot moves horizontally pedestal 40 and is fixedly connected with the container catching robot level
The side of movement synchronous belt 38；The container catching robot elastic mechanism is installed on the container catching robot and moves horizontally
On pedestal 40, and it is sequentially connected in the container catching robot 26；It is removable that container catching robot moves horizontally pedestal 40
Ground is installed on the container catching robot and moves horizontally in linear guide 39.
When work, container catching robot moves horizontally motor 36 and container catching robot is driven to move horizontally synchronous pulley
37 rotation of group, container catching robot move horizontally synchronous pulley group 37 and container catching robot are driven to move horizontally synchronous belt 38
Rotation, so that driving container catching robot to move horizontally pedestal 40 moves horizontally linear guide 39 along container catching robot
It moves horizontally, the final position for driving container catching robot to be moved horizontally to setting.
In the present embodiment, the container catching robot horizontal mobile mechanism further includes that the crawl of at least one container is mechanical
Hand moves horizontally stroke sensor 41, and the container catching robot moves horizontally stroke sensor 41 and grabs set on the container
Manipulator moves horizontally in linear guide 39；The container catching robot moves horizontally stroke sensor 41 and is electrically connected at institute
State control device 4.In the present embodiment, it includes two that the container catching robot, which moves horizontally stroke sensor 41, respectively
The both ends of linear guide 39 are moved horizontally set on the container catching robot.When container catching robot moves horizontally pedestal 40
It is moved to when container catching robot moves horizontally the position of stroke sensor 41 and container catching robot moves horizontally stroke
Sensor 41 contacts, and container catching robot moves horizontally stroke sensor 41 and sends signal, control device 4 to control device 4
Control container catching robot moves horizontally the stopping of motor 36, and the stopping of container catching robot moves horizontally.
Still further, the container catching robot elastic mechanism includes the elastic motor 42 of container catching robot and holds
The elastic screw shaft 43 of device catching robot, the elastic transmission connection of motor 42 of container catching robot is in the container gripper
The elastic screw shaft 43 of tool hand；Contrary rotation is respectively equipped on two parts of the elastic screw shaft 43 of container catching robot
Turn screw thread, the container catching robot clamping part 1 and container catching robot clamping part 2 28 are sequentially connected respectively in institute
State two parts of the elastic screw shaft 43 of container catching robot；The elastic motor 42 of container catching robot is electrically connected at institute
State control device 4.
When work, control device controls the elastic motor 42 of container catching robot and runs, the container catching robot pine
Tight motor 42 drives the elastic screw shaft 43 of the container catching robot to rotate, in the elastic screw shaft 43 of container catching robot
Under drive, the container catching robot clamping part 1 and container catching robot clamping part 2 28 are made backwards to (separate) or phase
To (close) mobile, crawl or release of the realization to container containing.
Further, in the present embodiment, the container holder elevating mechanism includes container holder lifting motor 44, container holder
It goes up and down linear guide 45, container holder lifting synchronous pulley group 46 and container holder and goes up and down synchronous belt 47；The container holder lifting motor
44 transmission connections go up and down synchronous pulley group 45 in the container holder, and the container holder lifting transmission connection of synchronous belt 47 is in the appearance
Device seat goes up and down synchronous pulley group 46, and the container holder 29 (can pass through connector) is fixed on the container holder lifting synchronous belt 47
Side, and it is slidably mounted on the container holder lifting linear guide 45；The container holder lifting motor 44 is electrically connected
In the control device 4.
Further, the container holder elevating mechanism further includes having at least one container holder lifting travel sensor 48,
The container holder lifting travel sensor 48 is set in container holder lifting linear guide 45；The container holder lifting travel passes
Sensor 48 is electrically connected at the control device 4.In the present embodiment, the top and bottom end of the container holder lifting linear guide
Part is equipped with container holder lifting travel sensor.
When container holder is moved to the position Shi Huiyu container holder lifting travel sensor of container holder lifting travel sensor 48
48 be in contact (or connector and container holder lifting travel sensor 48 are in contact), container holder lifting travel sensor 48 to
Control device sends signal, and the control device control container holder lifting motor 44 is out of service, then container holder stops movement.
In the present embodiment, the container automatic device for taking out further includes having container bearing device 25, the container support
Device 25 includes bracket 49, movable axis 50, tray motor 51, tray support axis 52, support 53, movable pin 54, pallet 55, moves
Movable plate 57；The transmission connection of tray motor 51 is in the tray support axis 52 and the tray support axis 52 can be driven to rotate；
The activity pin 54 is fixed on the lower end of the tray support axis 52, and the support 53 is equipped with the helicla flute tilted down
56, the activity pin 54 is movably assemblied in the helicla flute 56；The pallet 55 is fixedly connected on the pallet branch
Support axis 52；The bracket 49 is equipped with movable axis pilot hole, and the movable axis 50 is movably plugged in the movable axis guiding
Hole, the movable plate 57 are fixedly connected on the movable axis 50, and the tray motor 51 is installed on the movable plate 57；It is described
Tray motor 51 is electrically connected at the control device 4；The pallet 55 is located at the lower section of the container storage device 22, described
The container outlet of container storage device 22 is located at bottom, at least one container containing is exposed to outside the container outlet, the pallet
55 are used for support container containing.
The working principle of the container bearing device is: when the container outlet of the container storage device 22 is located at bottom
When (facilitate take out container containing), when not needing to take container containing, the pallet support is in the container storage device 22
In be located at bottommost container containing lower section, supporting role is played to container containing.
When needing to take container containing, control device controls tray motor 51 and works, and tray motor 51 drives the support
Disk support shaft 52 rotates, and movable pin 54 rotates together also with the tray support axis.Movably due to movable pin 54
It is assemblied in the helicla flute 56, therefore movable pin 54 can move downward in the course of rotation in leading for helicla flute 56, from
And tray support axis 52, pallet 55, movable plate 57, tray motor 51 is driven to move downward, the connection limitation of movable axis and bracket
All parts can only move downward.When container catching robot clamps in the container storage device 22 positioned at bottommost
After container containing, control device control container catching robot elevating mechanism drives the container catching robot to move downward,
And it controls container catching robot horizontal mobile mechanism the container catching robot is driven to move horizontally and leave the container and deposit
The lower section of storage device 22.Then, control device control tray motor 51 works, and the output shaft of tray motor 51 rotates backward, band
Dynamic activity pin 54 is moved upwards along helicla flute 56, pallet 55 resets again and support newest positioned at container storage device 22
The container containing of bottommost.
In the present embodiment, the container storage device 22 include upper mounted plate 58, container storage cylinder 59, threaded rod 60,
Bottom plate 61, finger plate 62 and container storage cylinder lifting motor 63；The bottom end of the container storage cylinder 59 be fixed on it is described under
Fixed plate 61, the container storage cylinder lifting motor 63 are set to fixed plate 58, deposit on fixed plate 58 with container
The corresponding position of storage cylinder 59 is equipped with and the maximum outside diameter of container storage cylinder 59 is to matched container storage cylinder through-hole；The container is deposited
The bottom end of storage cylinder 59 is equipped with container outlet, is vertically stacked with several container containings respectively in each container storage cylinder 59, is located at most
The container containing of bottom is exposed to outside the container outlet；The bottom plate 61 is equipped with and the container outlet and size phase
The container through-hole matched；The finger plate 62 is fixed on the bottom plate 62, and one end of the threaded rod 60 is sequentially connected in institute
Container storage cylinder lifting motor 63 is stated, other end screw-driven is connected to the finger plate 62.
In the present embodiment, there are four container storage cylinders 59 for setting in container storage device 22.Container catching robot exists
After grabbing container, control device controls container storage cylinder lifting motor 63 and runs, and container storage cylinder lifting motor 63 drives institute
The rotation of threaded rod 60 is stated, the threaded rod 60 drives the finger plate 62 to rise, and the finger plate 62 drives the bottom plate
Rise together, to drive container storage cylinder to be moved upward to the height of setting, so that the newest container containing positioned at bottommost
Outside the container outlet for exposing container storage cylinder.
Further, the container storage device 22 further includes having centring means 64, and the centring means 64 is connected to institute
Finger plate 62 is stated, and for making radial centering for the finger plate 62.
Further, the container storage device 22 further includes flexible part piece 65, and the elastic component piece 65 is set to described
The periphery of finger plate 62, for be located at container storage cylinder bottommost and be exposed to the container outlet container containing carry out
Resilient clamp.
In the present embodiment, the output shaft of the container storage cylinder lifting motor 63 is connected to a driver pinion 66, institute
It states driver pinion 66 and is engaged in a driven gear wheel 67, one end of the threaded rod 60 is connected to the driven gear wheel 67.
In the present embodiment, the automatic open-close mixing vessel 3 include mixing vessel ontology 68, mixing vessel lid 69,
Flip-open cover mechanism, rabbling mechanism and container containing catching robot mechanism, the flip-open cover mechanism, rabbling mechanism and container containing crawl
Manipulator mechanism is electrically connected at the control device；The flip-open cover mechanism is connected to the mixing vessel lid 69, is used for
It opens mixing vessel lid 69 or mixing vessel lid 69 is sealed in the opening of mixing vessel ontology 68；The rabbling mechanism
For being stirred existing tune drink needed for being mixed to get consumer to the various beverages in mixing vessel ontology 68；The splendid attire
Container catching robot mechanism is used for after now tune drink that mixing vessel is intrinsic pours into container containing, grabs container containing
It is taken to the position of setting for consumer.In practical applications, it can according to need mixing vessel ontology 68, mixing vessel lid
Body 69 is made into different forms, such as avenges gram cup.
The working principle of above-mentioned automatic open-close mixing vessel is: when picking up different beverage types, the control device
It controls the flip-open cover mechanism to open mixing vessel lid 69, multi-axis robot drives mixing vessel ontology 68 to arrive each beverage bottle
Place picks up the beverage of corresponding type.After the completion of picking up beverage, the control device controls the flip-open cover mechanism for mixing vessel lid
Body 69 is sealed on the opening of mixing vessel ontology 68 again, the rabbling mechanism operation is then controlled, to mixing vessel ontology
Beverage inside 68 is mixed, and required existing tune drink is obtained.After obtaining required existing tune drink, control device control
The multi-axis robot drives mixing vessel ontology 68 at container containing, while controlling flip-open cover mechanism again for mixing vessel lid
Body 69 is opened, and when mixing vessel ontology 68 reaches at container containing, control device controls multi-axis robot for mixing vessel sheet
Existing tune drink in body 68 pours into container containing.Thereafter, control device control container containing catching robot mechanism will contain
The container containing crawl of existing tune drink, and control multi-axis robot and drive container containing catching robot mechanism by container containing
It is moved at the position of setting and (takes position 20 in the present embodiment for work top 18), taken for consumer.
Further, the flip-open cover mechanism includes flip lid motor 70 and rocking bar 71, and the output shaft of the flip lid motor 70 passes
Dynamic one end for being connected to the rocking bar 71；The other end of the rocking bar 71 is fixed on the top of the mixing vessel lid 69；Institute
It states flip lid motor 70 and is electrically connected at the control device.When work, electric motor starting is renovated in control device control, is shaken described in drive
Bar rotates upward or downward, so that the mixing vessel lid 69 be driven to open or cover the opening closed in mixing vessel ontology 68
Place.
In the present embodiment, the output shaft of the flip lid motor 70 is connected to worm screw 72, one end connection of the rocking bar 71
In worm gear 73, the worm screw 72 and worm gear 73 are connected by meshing transmission；What the rocking bar 71 can be connect around it with the worm gear 73
One end rotation.
Further, the rabbling mechanism includes stirring motor 74 and mixing part；The mixing part holds set on the mixing
In device ontology 68, and there is part to stretch out outside mixing vessel ontology 68, the part of stretching and mixing vessel ontology 68 are movably close
Envelope connection；The part of stretching of the transmission connection of stirring motor 74 in mixing part；The stirring motor 74 is electrically connected at institute
State control device.In whipping procedure, control device controls the stirring motor operation, and the stirring motor drives the stirring
The partial turn of the stretching in portion is realized to drive partial turn of the mixing part in mixing vessel ontology 68 to mixing vessel
Various beverage blends stirring in ontology 68 obtains existing tune drink.
Further, the rabbling mechanism further includes having bevel gear pair 75 and spur gear pair 76, and the bevel gear pair 75 wraps
Intermeshing drive bevel gear and driven wheel of differential are included, the output shaft of the stirring motor 74 is sequentially connected in the initiative taper
Gear, the driven wheel of differential and the spur gear pair 76 are sequentially connected；The transmission connection of spur gear pair 76 is in the stirring
The part of the stretching in portion.Under this setting, the output shaft of stirring motor 74 drives drive bevel gear rotation, and drive bevel gear drives
Driven wheel of differential rotation, so that turn spur pair 76 rotates, it is final to drive mixing part rotation.
Further, the spur gear pair 76 include intermeshing active spur gear and driven spur gear, it is described from
Dynamic bevel gear and the active spur gear are coaxially connected；The mixing part includes two agitating shafts 77, and two agitating shafts 77 have
Part is stretched out outside the mixing vessel ontology 68, and the part of the stretching of two agitating shafts 77 is connected to the active straight-tooth
Wheel and driven spur gear.The active spur gear and driven spur gear drive agitating shaft 77 to rotate simultaneously.
Further, two agitating shafts 77 be located at the part in mixing vessel ontology 68 be connected separately with stirring sieve
Plate 78.The effect of stirring sieve plate 78 is more in large area to be stirred the various beverages in mixing vessel ontology 68, thus
It is allowed to more uniform.
Further, container containing catching robot mechanism includes container containing catching robot 79, container containing
The elastic screw shaft 80 of catching robot, the elastic motor 81 of container containing catching robot and fixed bracket 82, the fixed bracket
82 are fixed on the mixing vessel ontology 68, and the elastic screw shaft 80 of container containing catching robot is rotatably installed on institute
It states on fixed bracket 82, the output shaft of the elastic motor 81 of container containing catching robot is sequentially connected in the container containing
The elastic screw shaft 80 of catching robot；Container containing catching robot 79 is mainly by container containing catching robot clamping part 1
It is formed with container containing catching robot clamping part 2 84, two parts of the elastic screw shaft 80 of container containing catching robot
It is respectively equipped with contrary rotation screw thread, the container containing catching robot clamping part 1 and container containing crawl are mechanical
Screw-driven is connected to two parts of the elastic screw shaft 80 of the container containing catching robot to hand clamping part 2 84 respectively；It contains
The elastic motor 81 of container catching robot is electrically connected at the control device.
When crawl is loaded with the container containing of existing tune drink, the control device control container containing catching robot is elastic
Motor 81 is run, and the elastic motor 81 of container containing catching robot drives the elastic screw shaft 80 of the container containing catching robot
Rotation, container containing catching robot clamping part 1 and container containing catching robot clamping part 2 84 are grabbed in container containing
The movement for making opposite (close) on the elastic screw shaft 80 of manipulator under the drive of two parts rotation screw thread of opposite direction, to press from both sides
Handle the container containing.Control device controls the position that multi-axis robot drives the mixing vessel ontology 68 to be moved to setting
Then place controls the elastic motor 81 of container containing catching robot and drives the elastic screw shaft 80 of the container containing catching robot
It rotates backward, container containing catching robot clamping part 1 and container containing catching robot clamping part 2 84 are made backwards to (remote
From) container containing is placed on the taking on position of setting to unclamp container containing by movement.
In the present embodiment, the elastic motor 81 of the container containing catching robot is sequentially connected by bevel gear pair in institute
State the elastic screw shaft 80 of container containing catching robot.
In the present embodiment, the beverage bottle pallet 2 is connected to the beverage bottle pallet elevating mechanism 85, beverage bottle pallet
Elevating mechanism 85 is electrically connected at the control device 4, under the driving of control device, driving the beverage bottle pallet to make
Elevating movement.Setting is convenient for changing or supplements the beverage in beverage bottle in this way.
Further, it is described go out liquid control device include outlet tube 86, elastic component mounting base 87, elastic component 88, steel ball 89,
Gasket 90 and O-ring seals 91；The elastic component mounting base 87 is set to the inside of the beverage bottle 5, the upper end and the beverage
The inside of bottle 5 is connected；The elastic component 88 is set to the top of the elastic component mounting base 87, and top and the elastic component are pacified
Seat 87 is filled to connect；The bottom that the upper end of the outlet tube 86 passes through the beverage bottle 5 is protruded into the elastic component mounting base 87,
Lower end is connected with the outside of beverage bottle 5；The steel ball 89 is movably arranged in the elastic component mounting base 87, the upper end and
Lower end is connect with the upper end of the lower end of the elastic component 88 and the outlet tube 86 respectively；The two sides of the elastic component mounting base 87
O-ring seals 91 and gasket 90 are equipped with, the gasket 90 is set to the top of the O-ring seals 91；The outlet tube 86 is not
When by external upwards thrust, the steel ball 89 and the gasket 90 are in contact and generate pressure to the gasket, when the steel
When pearl 89 mutually separates with the gasket 90, it is connected inside the upper end of the outlet tube 86 and the elastic component mounting base.
The working principle of above-mentioned liquid control device out is: when multi-axis robot drives the automatic open-close mixing vessel to move
When moving to the lower section of beverage bottle, multi-axis robot drives automatic open-close mixing vessel to press upwards on the outlet tube to stretch out beverage
Part outside bottle, outlet tube jack up upwards under the action of lifting force, by steel ball, and steel ball and gasket separation, elastic component are compressed,
The upper end of outlet tube is connected with the inside of elastic component mounting base at this time, and beverage enters outlet tube via elastic component mounting base, and
It flows out in automatic open-close mixing vessel.When multi-axis robot drives the automatic open-close mixing vessel to leave below beverage bottle
When, under the rebound effect power of elastic component, steel ball returns back to original position, is in contact with gasket, and under the action of the elastic member to pad
Piece generates pressure, guarantees to completely cut off elastic component mounting base and outlet tube by gasket and O-ring seals.
Above-mentioned liquid control device good seal performance, simple and reliable for structure, strong operability out are convenient for safeguarding.
In the present embodiment, the gasket 90 includes the first gasket and the second gasket, and the O-ring seals 91 include first
O-ring seals and the second O-ring seals, the first gasket, the first O-ring seals, the second gasket, the second O-ring seals are from upper past
Under set gradually.It repeats setting gasket and O-ring seals can help to ensure that the effect of sealing.
Further, the lower part of the elastic component mounting base 87 is equipped with plug screw 92, and the upper end of the outlet tube 86 passes through institute
State the inside that plug screw 92 protrudes into the elastic component mounting base 87；The plug screw is located under the gasket 90 and O-ring seals 91
Side.The effect of plug screw is that wine liquid is further prevented to leak out to outside beverage bottle by elastic component mounting base.
Further, the elastic component is compressed spring.
In the present embodiment, the control device includes beverage selection input module, payment module and control module, institute
Payment module and the beverage selection equal communication connection of input module are stated in the control module, the beverage selection input module is used for
For now adjusting the beverage types contained in drink needed for consumer's selection, payment module is used for for consumer payment, the control mould
Block is used to receive the beverage types selection instruction of consumer entering from beverage selection input module and receive from payment module
After confirmation instruction is completed in payment, control multi-axis robot, beverage bottle pallet, container automatic device for taking out, automatic open-close mixing are held
Device and ice maker work, obtain existing tune drink needed for consumer.Beverage selection input module and payment module can be with
It is integrated into touch screen device 93, touch screen device can also be selected using beverage selection input module, payment module is set as sweeping
The scheme of code payment device.Selected beverage types inventory, number currently waited etc. can be shown by touch screen device
Content checks the state of itself order convenient for consumer.
For those skilled in the art, it can be provided various corresponding according to above technical solution and design
Change and modification, and all these change and modification, should be construed as being included within the scope of protection of the claims of the present invention.
Claims (9)
1. a kind of access formula intellect service robot now adjusts drink vending machine, which is characterized in that including multi-axis robot, beverage bottle
Pallet, container automatic device for taking out, automatic open-close mixing vessel and control device；The control device is used for for consumer entering
Beverage types selection instruction is completed now to adjust drink to select the beverage types contained in required existing tune drink, complete payment and control
The allotment of product；The beverage bottle pallet is equipped with several beverage bottles, and the beverage of predetermined type is mounted in each beverage bottle,
The beverage bottle controls out liquid by going out liquid control device；The control device control is connected to the container automatic device for taking out,
The container automatic device for taking out for taking out container containing under control of the control means；The automatic open-close mixing vessel electricity
Property be connected to the control device, for automatic lid closing/opening or closure under control of the control means；The multi-axis robot is used for
According to the instruction of control device, it is corresponding that the automatic open-close mixing vessel under uncapped state is moved to one or more beverage bottles
Then existing tune drink in automatic open-close mixing vessel under uncapped state is poured into Sheng by position and the beverage for picking up corresponding type
In packaging container.
2. access formula intellect service robot according to claim 1 now adjusts drink vending machine, which is characterized in that the visit
It further includes having automatic ice-making to go out ice production apparatus, the control device control connection that the formula intellect service robot of asking, which now adjusts drink vending machine,
Go out ice production apparatus in the automatic ice-making.
3. access formula intellect service robot according to claim 2 now adjusts drink vending machine, which is characterized in that the visit
It further includes organic frame that the formula intellect service robot of asking, which now adjusts drink vending machine, and the multi-axis robot, beverage bottle pallet, container are certainly
Dynamic withdrawing device, automatic open-close mixing vessel, control device, automatic ice-making go out ice production apparatus and are set in the rack；The machine
The bottom of frame is equipped with universal wheel and motor driving wheel, and the front-end and back-end of the bottom of the rack are respectively equipped with multisensor
Fusing device；The multi-sensor amalgamation device includes that the proximity sensor in the control device, ultrasound is electrically connected
Sensor, 3D infrared sensor, laser radar, crash sensor.
4. access formula intellect service robot according to claim 3 now adjusts drink vending machine, which is characterized in that the machine
Frame is equipped with translucent cover and translucent cover elevating mechanism, and the translucent cover elevating mechanism is electrically connected at the control device, and can
The translucent cover is driven to make elevating movement；When translucent cover rises to utmostly, the work top, beverage bottle pallet and
Beverage bottle on beverage bottle pallet is enclosed in the translucent cover.
5. access formula intellect service robot according to claim 1 now adjusts drink vending machine, which is characterized in that the appearance
Device automatic device for taking out is mainly made of container storage device, container taking and placing device, container holder lifting device；
The container storage device has container outlet for storing several container containings；
The container taking and placing device includes container catching robot, container catching robot elevating mechanism, container catching robot
Horizontal mobile mechanism and container catching robot elastic mechanism, the container catching robot elevating mechanism, container crawl are mechanical
Hand horizontal mobile mechanism and container catching robot elastic mechanism are electrically connected at the control device；The container gripper
Tool hand elevating mechanism and container catching robot horizontal mobile mechanism are respectively used to that the container catching robot is driven to go up and down
It moves and moves horizontally；The container catching robot includes container catching robot clamping part one and container catching robot folder
Portion two is held, the container catching robot elastic mechanism is for driving the container catching robot clamping part one and container to grab
Make opposite or move backwards in manipulator clamping portion two；
The container holder lifting device includes container holder and container holder elevating mechanism, and the container holder elevating mechanism is electrically connected at
The control device, the container holder elevating mechanism are connected to the container holder, and for driving container holder to make elevating movement；
The container catching robot under the drive of container catching robot elastic mechanism from container storage device for pressing from both sides
It takes container containing and will be contained under the drive of container catching robot elevating mechanism and container catching robot horizontal mobile mechanism
Packaging container is placed on container holder；The container holder rises under the drive of container holder elevating mechanism after it placed container containing
To the position of setting.
6. access formula intellect service robot according to claim 1 now adjusts drink vending machine, which is characterized in that it is described from
Dynamic folding mixing vessel includes mixing vessel ontology, mixing vessel lid, flip-open cover mechanism, rabbling mechanism and container containing gripper
Tool mobile phone structure, the flip-open cover mechanism, rabbling mechanism and container containing catching robot mechanism are electrically connected at the control dress
It sets；The flip-open cover mechanism is connected to the mixing vessel lid, is used to open mixing vessel lid or seals mixing vessel lid
It covers in the opening of mixing vessel ontology；The rabbling mechanism is stirred mixed for various beverages intrinsic to mixing vessel
Conjunction obtains existing tune drink needed for consumer；Container containing catching robot mechanism is used for mixing vessel is intrinsic
After now drink being adjusted to pour into container containing, the position of crawl container containing to setting is taken for consumer.
7. access formula intellect service robot according to claim 1 now adjusts drink vending machine, which is characterized in that the drink
Material bottle holder disk is connected to the beverage bottle pallet elevating mechanism, and beverage bottle pallet elevating mechanism is electrically connected at the control dress
It sets, under the driving of control device, driving the beverage bottle pallet to make elevating movement.
8. access formula intellect service robot according to claim 1 now adjusts drink vending machine, which is characterized in that it is described go out
Liquid control device includes outlet tube, elastic component mounting base, elastic component, steel ball, gasket and O-ring seals；The elastic component installation
Seat is set to the inside of the beverage bottle, and the upper end is connected with the inside of the beverage bottle；The elastic component is set to the elasticity
The top of part mounting base, top are connect with the elastic component mounting base；The upper end of the outlet tube passes through the beverage bottle
Bottom is protruded into the elastic component mounting base, and lower end is connected with the outside of beverage bottle；The steel ball is movably arranged at institute
It states in elastic component mounting base, the upper end and lower end are connect with the upper end of the lower end of the elastic component and the outlet tube respectively；Institute
The two sides for stating elastic component mounting base are equipped with O-ring seals and gasket, and the gasket is set to the top of the O-ring seals；Institute
When stating outlet tube not by external upwards thrust, the steel ball and the gasket are in contact and generate pressure to the gasket, when
When the steel ball is mutually separated with the gasket, it is connected inside the upper end of the outlet tube and the elastic component mounting base.
9. access formula intellect service robot according to claim 1 now adjusts drink vending machine, which is characterized in that the control
Device processed includes beverage selection input module, payment module and control module, and the payment module and beverage selection input mould
The equal communication connection of block is used in the control module, the beverage selection input module for now adjusting in drink needed for consumer's selection
The beverage types contained, payment module are used for for consumer payment, and the control module is used to connect from beverage selection input module
It receives the beverage types selection instruction of consumer entering and receives payment from payment module and complete after confirming instruction, control multiaxis
Robot, beverage bottle pallet, container automatic device for taking out, automatic open-close mixing vessel and ice maker work, obtain consumer
Required existing tune drink.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811314656.5A CN109544800B (en) | 2018-11-06 | 2018-11-06 | Access type intelligent service robot vending machine for beverage in-situ mixing |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811314656.5A CN109544800B (en) | 2018-11-06 | 2018-11-06 | Access type intelligent service robot vending machine for beverage in-situ mixing |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN109544800A true CN109544800A (en) | 2019-03-29 |
| CN109544800B CN109544800B (en) | 2021-03-16 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201811314656.5A Active CN109544800B (en) | 2018-11-06 | 2018-11-06 | Access type intelligent service robot vending machine for beverage in-situ mixing |
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| Country | Link |
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| CN110802613A (en) * | 2019-11-14 | 2020-02-18 | 佛山科学技术学院 | Water receiving robot |
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Also Published As
| Publication number | Publication date |
|---|---|
| CN109544800B (en) | 2021-03-16 |
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