CN111113440A - Automatic milk tea robot - Google Patents
Automatic milk tea robot Download PDFInfo
- Publication number
- CN111113440A CN111113440A CN201911276201.3A CN201911276201A CN111113440A CN 111113440 A CN111113440 A CN 111113440A CN 201911276201 A CN201911276201 A CN 201911276201A CN 111113440 A CN111113440 A CN 111113440A
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- Prior art keywords
- milk tea
- platform
- mechanical arm
- manufacturing
- bucket
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
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- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47J—KITCHEN EQUIPMENT; COFFEE MILLS; SPICE MILLS; APPARATUS FOR MAKING BEVERAGES
- A47J31/00—Apparatus for making beverages
- A47J31/40—Beverage-making apparatus with dispensing means for adding a measured quantity of ingredients, e.g. coffee, water, sugar, cocoa, milk, tea
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- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47J—KITCHEN EQUIPMENT; COFFEE MILLS; SPICE MILLS; APPARATUS FOR MAKING BEVERAGES
- A47J31/00—Apparatus for making beverages
- A47J31/40—Beverage-making apparatus with dispensing means for adding a measured quantity of ingredients, e.g. coffee, water, sugar, cocoa, milk, tea
- A47J31/41—Beverage-making apparatus with dispensing means for adding a measured quantity of ingredients, e.g. coffee, water, sugar, cocoa, milk, tea of liquid ingredients
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- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47J—KITCHEN EQUIPMENT; COFFEE MILLS; SPICE MILLS; APPARATUS FOR MAKING BEVERAGES
- A47J31/00—Apparatus for making beverages
- A47J31/44—Parts or details or accessories of beverage-making apparatus
- A47J31/52—Alarm-clock-controlled mechanisms for coffee- or tea-making apparatus ; Timers for coffee- or tea-making apparatus; Electronic control devices for coffee- or tea-making apparatus
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- Engineering & Computer Science (AREA)
- Food Science & Technology (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The application discloses automatic milk tea robot, this automatic milk tea robot includes: the manufacturing platform is used for manufacturing milk tea; the material placing platform is arranged on one side of the manufacturing platform and used for storing materials for manufacturing the milk tea; the image acquisition device is arranged corresponding to the manufacturing platform so as to acquire an image of the tool on the manufacturing platform; the mechanical arm is arranged on the manufacturing platform and is in signal connection with the image acquisition device, the mechanical arm is provided with a mechanical arm, and the mechanical arm controls the mechanical arm to acquire materials placed on the material placing table according to information acquired by the image acquisition device and makes the materials into milk tea. The automatic milk tea robot can complete milk tea making in a smaller working space, saves cost and space, and can make milk tea in 24 hours all weather.
Description
Technical Field
The application relates to the technical field of food preparation, in particular to an automatic milk tea robot.
Background
The existing tea shops are all manufactured manually, but the labor cost is increased day by day, and the selling time is limited by the working time of staff. With the arrival of the artificial intelligence era, robots are more and more popularized, but no robot milk tea machine exists in the current market, the current milk tea making is generally in a milk tea shop worker on-site making mode, the current milk tea making steps mainly comprise the steps of adding a water agent, adding powder, adding sauce, stirring, adding a milk cover, taking out of a cup and the like, the series of steps are completed by workers of the milk tea shop, and the repeated mechanical work can be solved by the robots. In addition, raw material addition errors and uneven stirring are easy to occur manually in the manufacturing process, and the problems of unsanitary processing process of store personnel and the like also occur.
Disclosure of Invention
The technical problem that this application mainly solved provides an automatic milk tea robot, can accomplish the preparation of milk tea in littleer workspace, more practices thrift cost and space, can make milk tea in all weather for 24 hours simultaneously.
In order to solve the technical problem, the application adopts a technical scheme that: provided is an automatic milk tea robot, including: the manufacturing platform is used for manufacturing milk tea; the material placing platform is arranged on one side of the manufacturing platform and used for storing materials for manufacturing the milk tea; the image acquisition device is arranged corresponding to the manufacturing platform so as to acquire an image of the tool on the manufacturing platform; the mechanical arm is arranged on the manufacturing platform and is in signal connection with the image acquisition device, the mechanical arm is installed on the mechanical arm, and the mechanical arm controls the mechanical arm to acquire materials placed on the material placing table according to information acquired by the image acquisition device and makes the materials into milk tea.
In a specific implementation mode, the automatic milk tea robot further comprises a transmission device, the transmission device is arranged on one side, away from the material placing table, of the manufacturing platform, the transmission device comprises a transmission motor and a transmission belt, and the transmission motor rotates to drive the transmission belt to move.
In a specific embodiment, a plurality of milk tea placing openings are arranged on the transmission belt at intervals, and the milk tea placing openings are used for placing finished milk tea.
In a specific implementation mode, the manufacturing platform comprises a cup and cup cover placing platform, a manufacturing platform and a tool platform which are arranged adjacently, and the manufacturing platform is arranged between the cup and cup cover placing platform and the tool platform.
In a specific embodiment, the image acquisition device is fixedly connected with the material placing table through a bracket.
In a specific embodiment, the material placing table comprises a water bucket, a milk bucket, an additive bucket and an ice bucket which are sequentially arranged side by side, wherein the water bucket and the milk bucket are provided with outlet pipelines, the additive bucket is provided with an outlet pipeline or an opening, the ice bucket is provided with an opening, and the outlet pipeline and the opening are both provided with valves.
In a specific embodiment, the side of the manufacturing platform connected with the material placing platform is provided with a charging platform for charging the material of the material placing platform into the cup.
In a specific embodiment, a mechanical arm base is fixedly arranged on the manufacturing platform, and the mechanical arm is mounted on the mechanical arm base.
In a specific embodiment, the image capturing device may be a camera.
In a specific embodiment, the automatic milk tea robot comprises a processor and a memory which are mutually coupled, the memory is used for storing a software program, the processor is in signal connection with the image acquisition device and the mechanical arm, and the processor controls the mechanical arm according to the information acquired by the image acquisition device.
The beneficial effect of this application is: be different from prior art, this application provides an automatic milk tea robot, and this automatic milk tea robot includes: the manufacturing platform is used for manufacturing milk tea; the material placing platform is arranged on one side of the manufacturing platform and used for storing materials for manufacturing the milk tea; the image acquisition device is arranged corresponding to the manufacturing platform so as to acquire an image of the tool on the manufacturing platform; the mechanical arm is arranged on the manufacturing platform and is in signal connection with the image acquisition device, the mechanical arm is provided with a mechanical arm, and the mechanical arm controls the mechanical arm to acquire materials placed on the material placing table according to information acquired by the image acquisition device and makes the materials into milk tea. The automatic milk tea robot can complete milk tea making in a smaller working space, saves cost and space, and can make milk tea in 24 hours all weather.
Drawings
In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings needed to be used in the description of the embodiments are briefly introduced below, it is obvious that the drawings in the following description are only some embodiments of the present application, and other drawings can be obtained by those skilled in the art without inventive efforts, wherein:
fig. 1 is a schematic structural diagram of an embodiment of an automatic milk tea robot provided by the present application;
fig. 2 is a schematic structural view of another embodiment of the automatic milk tea robot provided by the present application.
Detailed Description
The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are only a part of the embodiments of the present application, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application.
It should be noted that if directional indications (such as up, down, left, right, front, and back … …) are referred to in the embodiments of the present application, the directional indications are only used to explain the relative positional relationship between the components, the movement situation, and the like in a specific posture (as shown in the drawings), and if the specific posture is changed, the directional indications are changed accordingly.
In addition, if there is a description of "first", "second", etc. in the embodiments of the present application, the description of "first", "second", etc. is for descriptive purposes only and is not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one such feature. In addition, technical solutions between various embodiments may be combined with each other, but must be realized by a person skilled in the art, and when the technical solutions are contradictory or cannot be realized, such a combination should not be considered to exist, and is not within the protection scope of the present application.
Referring to fig. 1, fig. 1 is a schematic structural diagram of an embodiment of an automatic milk tea robot according to the present application, and the automatic milk tea robot 100 according to the embodiment of the present application includes: the manufacturing platform 101, wherein the manufacturing platform 101 is used for manufacturing milk tea; a material placing table 102, wherein the material placing table 102 is arranged on one side of the making platform 101 and is used for storing materials for making the milk tea; the image acquisition device 103 is arranged corresponding to the manufacturing platform 101 so as to acquire an image of the tool on the manufacturing platform 101; the mechanical arm 104 is arranged on the manufacturing platform 101, the mechanical arm 104 is in signal connection with the image acquisition device 103, the mechanical arm 104 is provided with a mechanical arm 1041, and the mechanical arm 104 controls the mechanical arm 1041 to acquire the materials placed on the material placing table 102 and manufacture the materials into milk tea according to the information acquired by the image acquisition device 103.
In this embodiment, the robot 104 has a degree of freedom of 7, and a three-finger robot 1041 is attached to the end of the robot 104. Through the arm that the degree of freedom is 7, automatic milk tea robot can be more nimble, and control area is wider, and three indicate that the manipulator can be more convenient clamp get instrument and cup bowl cover, the preparation milk tea of more swift convenience.
In this embodiment, the automatic milk tea robot further includes a transmission device 105, the transmission device 105 is disposed on one side of the manufacturing platform 101 away from the material placing table 102, the transmission device 105 includes a transmission motor (not shown in the figure) and a transmission belt 1051, specifically, the transmission motor rotates to drive the transmission belt 1051 to move, one end of the transmission belt 1051 is disposed on one side of the manufacturing platform 101 away from the material placing table 102, the other end is disposed at a user window, and a user takes milk tea at the user window.
In this embodiment, a plurality of milk tea placing openings 1052 are arranged on the driving belt 1051 at intervals, and the milk tea placing openings 1052 are used for placing finished milk tea, wherein the milk tea placing openings 1052 are configured as grooves, and the finished milk tea is placed in the grooves, so as to prevent the milk tea in the milk tea cup from spilling due to shaking in the conveying process.
In this embodiment, the manufacturing platform 101 includes a cup and lid placing table 1011, a manufacturing table 1012 and a tool table 1013 which are adjacently disposed, and the manufacturing table 1012 is disposed between the cup and lid placing table 1011 and the tool table 1013. Specifically, cup and bowl cover that matched with not unidimensional cup and bowl cover have been placed on platform 1011 is placed to cup and bowl cover, and the user selects the milk tea of the size that oneself needs through the system after, and the manipulator presss from both sides the cup and the bowl cover of getting corresponding size according to user's selection clamp for subsequent milk tea preparation. Spoons of various sizes for making milk tea are placed on the tool table 1013, and milk tea cups of corresponding sizes are taken by the manipulator according to the cups of different sizes, so that milk tea is stirred in the milk tea making process, and materials are uniformly mixed in the milk tea making process.
In this embodiment, the image capturing device 103 is fixedly connected to the material placing table 102 through a bracket 1031, specifically, the bracket 1031 is fixedly disposed on a side of the material placing table 102 away from the manufacturing platform 101, the image capturing device 103 is disposed corresponding to the manufacturing platform through the bracket, and further, the image capturing device 103 is disposed above the manufacturing platform, so as to facilitate the image capturing device 103 to capture the image information of the manufacturing platform 101 and the material placing platform 104. Further, the image capturing device 103 captures the position information of the cup and the cup lid on the manufacturing platform 101 and the tool on the tool table 1013.
In this embodiment, the material placing table 102 includes a water bucket 1021, a milk bucket 1022, an additive bucket 1023 and an ice bucket 1024, which are sequentially arranged side by side, wherein the water bucket 1021 and the milk bucket 1022 are provided with outlet pipes, the additive bucket 1023 is provided with outlet pipes or openings, the ice bucket 1024 is provided with openings, and the outlet pipes and the openings are provided with valves. Specifically, a water containing cavity is arranged in the water barrel 1021, cold water and hot water are respectively contained in the water containing cavity, and the automatic milk tea robot provides the cold water and the hot water required for making milk tea according to the selection of a user. The bottom of cask 1021 is provided with outlet pipe, and optionally, outlet pipe can set up to the silicone tube, is provided with the valve on the silicone tube, can control the interpolation of hot and cold water through switch valve. The bottom of the milk bucket 1022 is provided with an outlet pipeline, optionally, the outlet pipeline may be set as a silicone tube, the silicone tube is provided with a valve, and the adding of milk can be controlled by opening and closing the valve. Add and be provided with the sauce in the storage bucket 1023 and hold the chamber, the sauce holds the intracavity and has placed various milk tea sauce, and the bottom of addition storage bucket 1023 is provided with outlet conduit or opening, can select to set up to outlet conduit or at the bottom opening of addition storage bucket 1023 according to the difference of sauce, and outlet conduit or opening part are provided with the valve, and the interpolation of milk tea sauce can be controlled to the switch through control flap. An opening is formed in the bottom of the ice bucket 1024, a valve is arranged at the opening, and the adding of ice cubes can be controlled by controlling the valve to be opened and closed. Optionally, the ice bucket 1024 may be placed on one side of the manufacturing platform 101, a clamp is further placed in the tool area 1013 of the manufacturing platform 101, and the manipulator 1041 may take the clamp of the tool table 1013 to pick ice cubes and place the ice cubes into a cup.
In this embodiment, the side of the fabrication platform 101 that is connected to the material placement station 102 is formed with a loading platform 1014, and the loading platform 1014 is used to add the material of the material placement station 102 to the cup. Specifically, in the milk tea making process of the automatic milk tea robot 100, the manipulator 1041 places the milk tea cup on the material placing platform 1014 at a position corresponding to the material placing table 102, and then the manipulator 1041 controls the valves of the water bucket 1021, the milk bucket 1022, the additive bucket 1023 and the ice bucket 1024 to be opened and closed, so that water, milk, additive and ice cubes are added into the milk tea cup. Further, the manipulator 1041 controls the amount of water, milk, additives and ice cubes added into the milky tea cup by controlling the time of opening and closing the valve.
In this embodiment, a robot base 1015 is fixedly disposed on the fabrication platform 101, and the robot 104 is mounted on the robot base 1015. Specifically, the robot arm base 1015 is disposed between the making table 1012 and the conveyor 105, so that the robot arm 1041 makes milk tea and places the finished milk tea on the conveyor 105 to be conveyed to the customer.
In this embodiment, image acquisition device 103 may be camera or high definition digtal camera, and image acquisition device 103 may acquire the position information of cup, bowl cover and various spoons that platform 1011 and instrument platform 1013 were placed to cup and bowl cover on the preparation platform 101 to feed back the position information of cup, bowl cover and various spoons to automatic milk tea robot, automatic milk tea robot is through the position information control manipulator 1041 of cup, bowl cover and various spoons accurately snatch cup, bowl cover and spoon, and make the milk tea.
Referring to fig. 2, fig. 2 is a schematic structural diagram of another embodiment of the automated milk tea robot according to the present application, the automated milk tea robot 100 includes a processor 201 and a memory 202 coupled to each other, the memory 202 is used for storing software programs, the processor 201 is connected to the image acquisition device 103 and the robot arm signal 104, and the processor 201 controls the robot arm according to information acquired by the image acquisition device.
In a specific embodiment, the automatic milk tea robot is further provided with a touch display device, on which a user can select a milk tea type and a milk tea size required by the user, and the touch display device is coupled with the processor 201, the image acquisition device 103 and the mechanical arm 104. After a user selects the type and size of milk tea required by the user through the touch display device, the image acquisition device 103 acquires position information of a cup and a cup cover with corresponding sizes on the cup and cup cover placing table 1011 on the manufacturing platform 101, the processor 201 controls the manipulator 1041 on the mechanical arm 104 to accurately grab the cup and the cup cover according to the position information of the cup and the cup cover acquired by the image acquisition device 103, after the manipulator 1041 grabs the cup, the cup is placed on the feeding platform 1014 corresponding to the outlet pipes or openings of the bucket 1021, the milk bucket 1022, the feeding bucket 1023 and the ice bucket 1024 on the material placing table 102, when corresponding materials are required to be added, the manipulator 1041 places the cup at the corresponding outlet pipe and opening, then the manipulator 1041 opens the corresponding valve, the amount of material addition is further controlled by controlling the opening time of the valve, for example, when a proper amount of water is required to be added, after the manipulator 1041 places the cup at the outlet pipe corresponding to the bucket 1021, the manipulator 1041 opens the valve to a preset position, the preset time is set according to the program, and when the preset time is reached, the manipulator 1041 closes the valve; then, the manipulator 1041 grabs the cup with the added water and places the cup at the corresponding opening of the milk bucket 1022, the manipulator 1041 opens the valve to a preset position, the preset time is set according to the program, and when the preset time is reached, the manipulator 1041 closes the valve; the manipulator 1041 grabs the outlet pipe department of placing the adder bin 1023 at the cup that adds the milk, and the manipulator 1041 opens the valve to predetermined position, and what set up according to the procedure is the preset time, and after reaching the time that the procedure was preset, the manipulator 1041 closed the valve. Finally, the manipulator selects whether to add ice according to the user, if the user selects to add ice, the manipulator 1041 grabs the cup and places the cup at the opening of the ice bucket 1024, the manipulator 1041 opens the valve to a preset position, the preset time is set according to the program, and when the preset time is reached, the manipulator 1041 closes the valve.
In this embodiment, the manipulator 1041 places the cup added with the material at the place of the manufacturing table 1012, and then the manipulator 1041 grabs the spoon according to the position information of the spoon with the corresponding size on the tool 1013 acquired by the image acquisition device 103, puts the spoon into the cup for stirring, and puts the spoon back to the original place after stirring the material uniformly, optionally, after putting the spoon back to the original place, the spoon after use can be cleaned. After the milk tea in the cup is uniformly stirred by the manipulator 1041, the manipulator 1041 grabs the cup cover to cover the cup, the prepared milk tea is placed on the milk tea placing opening 1052 on the conveyer 105, and the milk tea is conveyed to a guest at a window through a conveyer belt to take the milk tea.
In this embodiment, after the milk tea is made, the automatic milk tea robot may further press the plastic film cover with a machine, and after pressing the plastic film cover, the manipulator 1041 grabs the milk tea cup and shakes, so that the milk tea materials are repeatedly mixed.
Further, the automatic milk tea robot in this application not only can be used to make milk tea automatically, but also can be automatic beverage preparation robot and other automatic beverage robot.
Be different from prior art, the automatic milk tea robot of this application embodiment, this automatic milk tea robot includes: the manufacturing platform is used for manufacturing milk tea; the material placing platform is arranged on one side of the manufacturing platform and used for storing materials for manufacturing the milk tea; the image acquisition device is arranged corresponding to the manufacturing platform so as to acquire an image of the tool on the manufacturing platform; the mechanical arm is arranged on the manufacturing platform and is in signal connection with the image acquisition device, the mechanical arm is provided with a mechanical arm, and the mechanical arm controls the mechanical arm to acquire materials placed on the material placing table according to information acquired by the image acquisition device and makes the materials into milk tea. The automatic milk tea robot can complete milk tea making in a smaller working space, saves cost and space, and can make milk tea in 24 hours all weather.
The above description is only for the purpose of illustrating embodiments of the present application and is not intended to limit the scope of the present application, and all modifications of equivalent structures and equivalent processes, which are made by the contents of the specification and the drawings of the present application or are directly or indirectly applied to other related technical fields, are also included in the scope of the present application.
Claims (10)
1. The automatic milk tea robot is characterized by comprising:
the manufacturing platform is used for manufacturing milk tea;
the material placing table is arranged on one side of the manufacturing platform and used for storing materials for manufacturing the milk tea;
the image acquisition device is arranged corresponding to the manufacturing platform to acquire an image of a tool on the manufacturing platform;
the mechanical arm is arranged on the manufacturing platform and is in signal connection with the image acquisition device, a mechanical arm is installed on the mechanical arm, and the mechanical arm controls the mechanical arm to acquire materials placed on the material placing table according to information acquired by the image acquisition device and makes the materials into milk tea.
2. The automatic milk tea robot according to claim 1, further comprising a transmission device, wherein the transmission device is arranged on one side of the manufacturing platform far away from the material placing table, the transmission device comprises a transmission motor and a transmission belt, and the transmission motor rotates to drive the transmission belt to move.
3. The automatic milk tea robot according to claim 2, wherein a plurality of milk tea placing openings are formed in the transmission belt at intervals, and the milk tea placing openings are used for placing finished milk tea.
4. The automated milk tea robot of claim 1, wherein the production platform comprises a cup and lid placing table, a production table and a tool table arranged adjacently, the production table being arranged between the cup and lid placing table and the tool table.
5. The automated milk tea robot according to claim 1, wherein the image capturing device is fixedly connected to the material placing table by a bracket.
6. The automatic milk tea robot of claim 1, wherein the material placing table comprises a water bucket, a milk bucket, an additive bucket and an ice bucket which are sequentially arranged side by side, wherein the water bucket and the milk bucket are provided with outlet pipelines, the additive bucket is provided with an outlet pipeline or an opening, the ice bucket is provided with an opening, and the outlet pipeline and the opening are both provided with valves.
7. The automated milk tea robot according to claim 6, wherein a charging platform is formed at a side of the production platform connected to the material placing platform for adding the material of the material placing platform into the cup.
8. The automatic milk tea robot according to claim 1, wherein a mechanical arm base is fixedly arranged on the manufacturing platform, and the mechanical arm is mounted on the mechanical arm base.
9. The automated milk tea robot according to claim 1, wherein the image acquisition device may be a camera.
10. The automated milk tea robot according to claim 1, wherein the automated milk tea robot comprises a processor and a memory coupled to each other, the memory being configured to store a software program, the processor being in signal connection with the image acquisition device and the robotic arm, the processor controlling the robotic arm according to information acquired by the image acquisition device.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911276201.3A CN111113440A (en) | 2019-12-12 | 2019-12-12 | Automatic milk tea robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911276201.3A CN111113440A (en) | 2019-12-12 | 2019-12-12 | Automatic milk tea robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN111113440A true CN111113440A (en) | 2020-05-08 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201911276201.3A Pending CN111113440A (en) | 2019-12-12 | 2019-12-12 | Automatic milk tea robot |
Country Status (1)
| Country | Link |
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| CN (1) | CN111113440A (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112818928A (en) * | 2021-02-26 | 2021-05-18 | 深圳前海微众银行股份有限公司 | Quality detection method, quality detection device, quality detection apparatus, storage medium, and program product |
| CN113428640A (en) * | 2021-07-05 | 2021-09-24 | 赵诣泓 | Intelligent bar counter system and operation method |
| CN113581557A (en) * | 2021-06-29 | 2021-11-02 | 上海电机学院 | Automatic milk tea machine |
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| CN113428640A (en) * | 2021-07-05 | 2021-09-24 | 赵诣泓 | Intelligent bar counter system and operation method |
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