CN108648348B

CN108648348B - Beverage selling robot

Info

Publication number: CN108648348B
Application number: CN201810465051.XA
Authority: CN
Inventors: 邹属民
Original assignee: Individual
Current assignee: Individual
Priority date: 2018-05-16
Filing date: 2018-05-16
Publication date: 2020-12-25
Anticipated expiration: 2038-05-16
Also published as: CN108648348A

Abstract

The invention discloses a beverage selling robot, comprising: the robot comprises a robot body, a first mechanical arm and a second mechanical arm, wherein the first mechanical arm and the second mechanical arm are movably connected to the robot body; a liquid inlet of the liquid supply pump is communicated with the beverage source, a liquid outlet of the liquid supply pump is communicated with the beverage storage part, and one end of the second mechanical arm is fixedly connected with the beverage storage part; the paper cup feeder is internally provided with a plurality of paper cups, and an outlet of each paper cup corresponds to the first position of the first mechanical arm; and the control center is electrically connected with the first mechanical arm, the second mechanical arm, the liquid supply pump and the paper cup feeder. The whole process of the supply of the drinks, the supply of the paper cups and the pouring of the drinks into the paper cups is realized through the control of the controller, manual operation is not needed, and the time and the labor are greatly saved.

Description

Beverage selling robot

Technical Field

The invention relates to the technical field of intelligent robots, in particular to a beverage (containing soybean milk, beverages, tea and beer) selling robot.

Background

The soybean milk is a traditional soybean protein beverage in China, and is prepared by soaking soybeans, grinding, filtering residues and boiling. The soybean milk is rich in nutrition, is suitable for people of all ages and is sold in four seasons. The soybean milk can nourish yin, moisten dryness and harmonize yin and yang in spring and autumn; the soybean milk can be drunk in summer to remove heat, prevent heatstroke, promote salivation and quench thirst; the soybean milk can be drunk in winter, and can dispel cold, warm stomach, nourish body and tonify.

The existing sale modes of the soybean milk are generally divided into three types, namely, after the soybean milk is produced and prepared, the soybean milk is put into a cupped container for packaging and sold in a guarantee period; secondly, the merchant utilizes the grinding machine, the juice extractor and other equipment to manufacture the ground soybean milk for sale; thirdly, putting the soybean milk into a heat-insulating barrel after the soybean milk is produced and made, and taking the soybean milk for sale by a merchant when a customer buys the soybean milk; however, the above three channels are not ground by stone, and further, a soymilk selling mode of unmanned operation and self-service selling cannot be realized, so how to provide a self-service soymilk selling device which can obtain hot soymilk by coin insertion or scanning by a customer becomes a problem to be solved by those in the art.

Disclosure of Invention

In order to solve the above technical problem, the present invention provides a beverage selling robot, including:

the robot comprises a robot body, wherein a first mechanical arm and a second mechanical arm are movably connected to the robot body, the first mechanical arm is movably arranged between a first position and a second position, and the second mechanical arm is movably arranged between a third position and a fourth position;

the inlet of the liquid supply pump is communicated with a beverage source, the outlet of the liquid supply pump corresponds to the position of a beverage storage part, and the beverage storage part is fixedly connected to the free end of the second mechanical arm;

the paper cup feeder is provided with a paper cup outlet, a plurality of paper cups are stored in the paper cup feeder, and the paper cup outlet corresponds to the first position of the first mechanical arm;

and the control center is in communication connection with the first mechanical arm, the second mechanical arm and the paper cup feeder, controls the first mechanical arm to move between a first position and a second position, and controls the second mechanical arm to move between a third position and a fourth position and controls the paper cup feeder to feed the paper cups to the outlets of the paper cups.

The beneficial effect of adopting above-mentioned technical scheme is: the whole process of the supply of the drinks, the supply of the paper cups and the pouring of the drinks into the paper cups is realized through the control of the controller, manual operation is not needed, and the time and the labor are greatly saved.

Preferably, the method further comprises the following steps: and the payment system is in communication connection with the control center.

Preferably, the payment system can be a coin payment system, if the pricing of a cup of beverage is ternary, a pulse induction generator can be arranged at a coin inserting position, a pulse signal is sent to the control center every time a coin is inserted, and the control center starts to sequentially execute each operation program after the three signals are sent out.

Preferably, the payment system can also be a WeChat or Paibao payment system, a payment module is arranged in the robot body and electrically connected with the control center, when the user pays the fee through the WeChat, the payment module sends a payment completion signal to the control center, and the control center starts to sequentially execute each operation program.

Preferably, the liquid supply pump comprises a pump body, and a piston rod which are arranged in a cavity of the pump body, wherein a liquid inlet and a liquid outlet are arranged on the side wall of the pump body in a penetrating manner, the liquid inlet is communicated with the beverage source, the liquid outlet is communicated with the beverage storage part, the liquid inlet is provided with a liquid inlet one-way valve, and the liquid outlet is provided with a liquid outlet one-way valve; one end of the piston rod is fixedly connected with the piston, the other end of the piston rod penetrates through the pump body end cover and extends to the outside of the pump body, the other end of the piston rod is in transmission connection with a first motor, and the first motor is electrically connected with the control center.

The piston rod and the piston are driven by the motor to be pulled and moved, so that drinks can be sucked into the cavity of the pump body from the drink source and then conveyed to the drink storage part, the drink conveying amount at each time can be set to be the capacity of one paper cup, the drink storage part does not store redundant drinks, the number of the drink to be taken is large, the drinks cannot become cool and deteriorate due to being retained in the drink storage part for a long time, particularly for hot drinks, the heat preservation work is important, the drink source can be placed into the heat preservation barrel, the outlet of the heat preservation barrel is communicated with the liquid inlet, and the effective heat preservation effect can be realized by the liquid supply mode of the number of the drink to be taken.

Preferably, the paper cup feeder includes: the paper cup guide frame, the first shifting fork, the second shifting fork, and the first gear, the second gear and the third gear which are meshed in sequence;

a plurality of paper cups are longitudinally stacked in the paper cup guide frame, and the tip of the first shifting fork and the tip of the second shifting fork are respectively inserted to the upper side and the lower side of the upper edge of the paper cup at the lowest part; a first cam is fixedly arranged on the side surface of the first gear, a second cam is fixedly arranged on the side surface of the third gear, the first cam is in transmission connection with the second shifting fork, the second cam is in transmission connection with the first shifting fork, the center of the second gear is connected with an output shaft of a second motor, and the second motor is electrically connected with the control center; the falling position of the lowermost paper cup corresponds to the first position of the first mechanical arm.

Through the alternate movement of first shift fork and second shift fork, make the paper cup vertically drop in the leading truck, and only once drop a paper cup, the paper cup falls after corresponding with the first position of first arm, realizes getting cup work of first arm.

Preferably, a fourth gear, a fifth gear and a sixth gear which are meshed in sequence are arranged in the robot body; the center of the fifth gear is connected with an output shaft of a third motor, the third motor is electrically connected with the control center, a third cam is fixedly arranged on the side surface of the fourth gear, a fourth cam is fixedly arranged on the side surface of the sixth gear, the third cam is in transmission connection with the second mechanical arm, and the fourth cam is in transmission connection with the first mechanical arm.

The first mechanical arm and the second mechanical arm can make corresponding motions by specially limiting the profile shapes of the third cam and the fourth cam, namely, the first mechanical arm can move between the first position and the second mechanical arm can move between the third position and the fourth position by limiting the profile shapes of the third cam and the fourth cam.

Preferably, the robot has the robot head, the neck fixedly connected with of robot head shakes the loop bar, shake the head loop bar with second arm chain drive, the loop bar of shaking the head with the corner of second arm is the same.

Because the corner of the loop bar of shaking the head is the same with the second arm, the second arm can drive the robot head to carry out corresponding rotation shaking the head loop bar when moving, has realized the technological effect "head is along with manual" promptly.

Preferably, a voice playing component is arranged in the robot head, the voice playing component stores simulation voice, and preferably, the voice can be 'please taste the robot to grind the soybean milk at the moment'.

Preferably, a fifth cam and a roller wheel are arranged in the head of the robot, an upper tooth, a lower tooth and a swing rod are arranged at a mouth of the robot, the upper tooth is hinged with one end of the swing rod, the lower tooth is fixedly connected with the other end of the swing rod, the fifth cam is connected with an output shaft of a fourth motor, the roller wheel is in transmission connection with the fifth cam, and the roller wheel is hinged with the upper tooth and the swing rod through a roller wheel shaft sleeved with a spring; the concave shape of the fifth cam along the rotation direction corresponds to the playing rhythm of the simulation voice.

The opening and closing movement of the mouth of the robot corresponds to the voice playing rhythm character of 'please taste the soybean milk of the robot' by limiting the shape (the density and the height of the tooth shape) of the fifth cam, so that the visual and auditory effects of the voice sent out from the population of the robot are given to people.

Preferably, for making the robot outside comparatively lifelike, the outside cover of robot body is equipped with humanoid shell.

Drawings

In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the provided drawings without creative efforts.

FIG. 1 is a schematic diagram of a fluid supply pump according to the present invention;

FIG. 2 is a schematic view of a paper cup feeder according to the present invention;

FIG. 2A is a top view of a paper cup feeder configuration provided by the present invention;

FIG. 3 is a schematic illustration of the transmission between a first robot arm and a second robot arm according to the present invention;

FIG. 4 is a schematic diagram of the robot head and the first robot arm according to the present invention;

FIG. 4A is a schematic view of FIG. 4 taken along line A;

FIG. 4B is a schematic view of FIG. 4B illustrating the present invention;

FIG. 5 is a schematic diagram illustrating a dropping principle of a paper cup according to the present invention;

FIG. 6 is a circuit control diagram provided by the present invention;

FIG. 7 is a schematic view of a first cam provided in accordance with the present invention;

FIG. 8 is a schematic view of a third cam provided in accordance with the present invention;

fig. 9 is a schematic view of a fourth cam provided by the present invention.

Wherein, 1-a first mechanical arm, 2-a second mechanical arm, 3-a pump body, 4-a piston, 5-a piston rod, 6-a liquid inlet, 7-a liquid outlet, 8-a liquid inlet one-way valve, 9-a liquid outlet one-way valve, 10-a paper cup guide frame, 11-a first fork, 12-a second fork, 13-a first gear, 14-a second gear, 15-a third gear, 16-a paper cup, 17-a first cam, 18-a second cam, 19-a fourth gear, 20-a fifth gear, 21-a sixth gear, 22-a third cam, 23-a fourth cam, 24-a robot head, 25-a fifth cam, 26-a roller, 27 a roller shaft, 28-an upper tooth, 29-a lower tooth and 30-a swing rod, 31-a liquid inlet pipeline, 32-a liquid outlet pipeline, 33-a drawing gear, 34-a drawing rack, 35-a travel switch, 36-a support wheel, 37-a first cam connecting rod, 38-a second cam connecting rod, 39-a third cam connecting rod, 40-a fourth cam connecting rod, 41-a third shifting fork, 42-a fourth shifting fork, 43-a positive and negative screw, 44-a sun wheel, 45-a planet wheel, 46-a first bevel gear, 47-a second bevel gear, 48-a compression nut, 49-a screw A, 50-a screw B, 51-a head shaking sleeve rod, 52-a head support, 53-a recording and playing machine, 54-a loudspeaker, 55-a rotating shaft, 56-a first chain wheel, 57-a chain, 58-a second chain wheel, 59-a pulp pot and 60-a heat-preservation barrel, 61-a fourth motor.

Detailed Description

The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, 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 invention.

The embodiment of the invention discloses a beverage selling robot, which comprises:

the robot comprises a robot body, wherein a first mechanical arm 1 and a second mechanical arm 2 are movably connected to the robot body, the first mechanical arm 1 is movably arranged between a first position and a second position, and the second mechanical arm 2 is movably arranged between a third position and a fourth position;

the first position is a cup taking position of the first mechanical arm 1, the second position is a cup placing position of the first mechanical arm 1, and the cup placing position is used for receiving poured beverages; the third position is the position of waiting to pour of second arm 2, and the fourth position is the liquid pouring position of second arm 2, and the second position corresponds with the fourth position.

The inlet of the liquid supply pump is communicated with the beverage source, the outlet of the liquid supply pump corresponds to the position of the beverage storage part, and the beverage storage part is fixedly connected to the free end of the second mechanical arm 2;

a paper cup feeder having a paper cup outlet on which a plurality of paper cups 16 are stored, the paper cup outlet corresponding to the first position of the first mechanical arm 1;

and the control center is in communication connection with the first mechanical arm 1, the second mechanical arm 2 and the paper cup feeder, controls the first mechanical arm 1 to move between a first position and a second position, and controls the second mechanical arm 2 to move between a third position and a fourth position and controls the paper cup feeder to feed the paper cups to the outlets of the paper cups 16.

And the payment system is in communication connection with the control center.

In the embodiment of the invention, the payment system is a coin-feed payment system and a WeChat payment system which are used simultaneously, if the pricing of a cup of drink is ternary, a pulse induction generator can be arranged at a coin-feed position, each coin-feed position can send out a pulse signal to the control center, and the control center starts to execute each operation program in sequence after the three signals are sent out.

The robot is characterized in that a payment module is arranged in the robot body and is electrically connected with the control center, when a user pays the fee through WeChat, the payment module sends a payment completion signal to the control center, and the control center starts to execute each operation program in sequence.

In the embodiment of the invention, the liquid supply pump comprises a pump body 3, a piston 4 and a piston rod 5 which are arranged in a cavity of the pump body 3, a liquid inlet 6 and a liquid outlet 7 are arranged on the side wall of the pump body 3 in a penetrating way, the liquid inlet 6 is communicated with an outlet of a heat-insulating barrel 60, and the liquid outlet 7 is communicated with a slurry kettle 59; one end of a piston rod 5 is fixedly connected with a piston 4, the other end of the piston rod 5 penetrates through an end cover of the pump body 3 and extends to the outside of the pump body 3, the other end of the piston rod 5 is in transmission connection with a first motor, and the first motor is electrically connected with a control center; the liquid inlet 6 is provided with a liquid inlet one-way valve 8, and the liquid outlet 7 is provided with a liquid outlet one-way valve 9;

in the embodiment of the invention, the beverage is hot soybean milk, the first motor drives the piston rod 5 to move, the lower part of the other end of the piston rod 5 is supported by the supporting wheel 36, when the piston rod 5 moves leftwards, the liquid inlet one-way valve 8 is opened, the liquid outlet one-way valve 9 is closed, and the soybean milk is sucked into the cavity of the pump body 3 through the liquid inlet pipeline 31; when the soybean milk is moved rightwards, the liquid inlet one-way valve 8 is closed, the liquid outlet one-way valve 9 is opened, and the soybean milk flows into the milk pot 59 through the liquid outlet pipeline 32 to be poured.

In an embodiment of the present invention, a paper cup feeder includes: the paper cup guide frame 10, the first shifting fork 11, the second shifting fork 12 and the first gear 13, the second gear 14 and the third gear 15 which are meshed in sequence;

in the embodiment of the present invention, a plurality of paper cups 16 are stacked in the paper cup guide 10 in a longitudinal direction, and the tip of the first fork 11 and the tip of the second fork 12 are inserted to the upper side and the lower side of the upper edge of the lowermost paper cup 16, respectively; a first cam 17 is fixedly arranged on the side surface of the first gear 13, a second cam 18 is fixedly arranged on the side surface of the third gear 15, the first cam 17 is in transmission connection with the second shifting fork 12, the second cam 18 is in transmission connection with the first shifting fork 11, the center of the second gear 14 is connected with an output shaft of a second motor, and the second motor is electrically connected with a control center; the falling position of the lowermost paper cup 16 corresponds to the first position of the first robot arm 1.

In the embodiment of the present invention, the wheel centers of the first gear 13, the second gear 14, and the third gear 15 are on the same straight line.

In the present embodiment, the first cam 17 and the second cam 18 are mirror-symmetrical in shape.

As shown in fig. 2, the second motor rotates to drive the second gear 14 to rotate so as to drive the first gear 13 and the third gear 15 to rotate, the first cam 17 and the second cam 18 rotate, the first cam connecting rod 37 drives the first shifting fork 11 to move left and right, the second cam connecting rod 38 drives the second shifting fork 12 to move left and right, the tips of the two shifting forks are made into cones with a height difference of 9 mm, the height difference is just two cup edge gap sizes, the first shifting fork 11 is inserted into a cup edge gap to separate the cups from each other right, the separated cups are not allowed to fall because the second shifting fork 12 holds the separated cups, and on the other hand, the separated cups are forced to move upwards to realize complete separation of the two cups. When the second shifting fork 12 retreats to the right and retreats from the cup edge, the cup originally held by the second shifting fork falls down; the cup on the cup can not fall down because the cup is supported by the first shifting fork 11, the second shifting fork 12 enters in the next period, the first shifting fork 11 retreats, the cup falls down and is supported by the lower shifting fork, the second motor is signaled once to separate one cup, and the process is repeated.

In the embodiment of the invention, a fourth gear 19, a fifth gear 20 and a sixth gear 21 which are meshed in sequence are arranged in the robot body; the center of the fifth gear 20 is connected with an output shaft of a third motor, the third motor is electrically connected with a control center, a third cam 22 is fixedly arranged on the side surface of the fourth gear 19, a fourth cam 23 is fixedly arranged on the side surface of the sixth gear 21, the third cam 22 is in transmission connection with the second mechanical arm 2, and the fourth cam 23 is in transmission connection with the first mechanical arm 1. The wheel centers of the fourth gear 19, the fifth gear 20 and the sixth gear 21 are on the same straight line.

The third motor rotates to drive the fifth gear 20 to drive the fourth gear 19 and the sixth gear 21, and the third cam 22 and the fourth cam 23 rotate; the third cam connecting rod 39 drives the third shifting fork 41, the fourth cam connecting rod 40 drives the fourth shifting fork 42, the length of the driven end of the cam connecting rod is adjusted to change the swing angle of the shifting fork, the extension is increased, and otherwise, the extension is reduced; in the present embodiment, the angle is set to 40 degrees.

The second mechanical arm 2 and the third shifting fork 41 are fixed at the upper end and the lower end of the same rotating shaft 55, the third shifting fork 41 swings 40 degrees, the second mechanical arm 2 also swings 40 degrees, when the second mechanical arm 2 swings inwards to pour soybean milk, the pull rod 62 pushes the second mechanical arm 2 to bend, and the forward and reverse screws 43 of the pull rod 62 can ensure that the spout of the soybean milk pot 59 can pour soybean milk into the cup 16. A sun wheel 44 which can rotate in a limiting manner is fixed at the elbow of the second mechanical arm 2, meanwhile, a planet wheel 45 is movably sleeved at the position connected with the elbow, when the second mechanical arm 2 swings back and forth, the pull rod 62 forces the planet wheel 45 to rotate left and right around the sun wheel 44, and the second mechanical arm 2 connected with the planet wheel 45 bends and stretches; a first bevel gear 46 is coaxially fixed below the planet wheel 45, and when the planet wheel 45 rotates, the first bevel gear 46 also rotates, so that a second bevel gear 47 connected with the second mechanical arm 2 is driven to rotate, the wrist is turned over, and the handheld mortar pot 59 is also turned over.

The swing amplitude of the second mechanical arm 2 can be changed by adjusting the swing angle of the third shifting fork 41; the swing center of the arm can be adjusted by loosening the compression nut 48; the forward and reverse screws 43 of the pull rod can be adjusted to change the bending degree of the arm and the overturning angle of the wrist; referring to the small drawing in fig. 4A, the relative positions of the screws a49 and B50 and the support arm of the sun wheel 44 are adjusted, so that the turning angle of the slurry pot 59 can be rapidly adjusted by controlling the time that the sun wheel 44 rotates together with the planet wheel 45 and the time that the planet wheel 45 rotates independently, and the slurry in the pot is poured out.

In the embodiment of the invention, the robot is provided with a robot head 24, the neck of the robot head 24 is fixedly connected to a head shaking loop bar 51 through a head support 52, the head shaking loop bar 51 is in chain transmission with the second mechanical arm 2, and the rotating angles of the head shaking loop bar 51 and the second mechanical arm 2 are the same.

A voice playing component is arranged in the robot head 24, and simulation voice is stored in the voice playing component. A fifth cam 25 and a roller 26 are arranged in the robot head 24, an upper tooth 28, a lower tooth 29 and a swing rod 30 are arranged at the mouth of the robot, the upper tooth 28 is hinged with one end of the swing rod 30, the lower tooth 29 is fixedly connected with the other end of the swing rod 30, the fifth cam 25 is connected with an output shaft of a fourth motor 61, the roller 26 is in transmission connection with the fifth cam 25, and the roller 26 is hinged with the upper tooth 28 and the swing rod 30 through a roller shaft 27 sleeved with a spring; the concave shape of the fifth cam 25 in the rotation direction corresponds to the playing tempo of the simulated voice.

When the rotating shaft 55 drives the second mechanical arm 2 to swing to take out and pour pulp, the first chain wheel 59 connected with the rotating shaft together drives the second chain wheel 58 to swing through the chain 57, and the second chain wheel 58 is fixedly connected with the swing sleeve rod 51, so that the head 24 of the robot fixed on the swing sleeve rod 51 also swings left and right, and the technical effect of 'head following manual' is realized.

In the embodiment of the invention, the voice can be 'please taste the robot to grind the soybean milk at the present time', the opening and closing movement of the mouth of the robot is enabled to correspond to the voice playing rhythm character of 'please taste the robot to grind the soybean milk at the present time' by limiting the shape of the fifth cam 25, and visual and auditory effects of the voice sent from the population of the robot are given to people.

In the embodiment of the invention, the human-shaped shell is sleeved outside the robot body.

The parameters of each cam of the invention are as follows:

in the embodiment of the invention, the vending of freshly ground soybean milk can be carried out by combining the patent number (ZL 201510189863.2) of the invention patent of Stone grinding robot, as shown in figure 6: the invention relates to 7 motors in total, wherein a pulping motor D1 is a 1.5KW single-phase motor, a pulp-residue separation motor D2 is a 0.6KW alternating-current single-phase motor, a pulp pumping motor D3 is an 80W alternating-current single-phase motor, a first motor D4 is a 120W single-phase speed regulating motor, a second motor D5 is a 120W single-phase speed regulating motor, a third motor D6 is a 250W single-phase speed regulating motor, and a fourth motor D7 is a 7V micro motor.

A 220V power live wire L enters and is connected to the left end of the plugboard through a fuse R0 and a main air switch K0, the right end of the plugboard is directly connected with a ground wire, D7 and a recorder 53 are connected with the plugboard through plugs, one wire of the D7 is connected with a proximity switch J5, a loudspeaker 54 of the recorder 53 is taken out of the recorder 53 and is installed in a robot head, one lead is cut off and is respectively connected to two ends of a contactor normally open contact C3, the proximity switch J5 is closed after soybean milk is poured fully, the D7 is switched on, meanwhile, the contactor normally open contact C3 is also closed, the loudspeaker 54 is switched on to start speaking, and the proximity position of the proximity switch is changed;

d1, D2 and D3 are respectively connected with a live wire through air switches K1, K2 and K3, and can be started as long as the switches are closed;

d4, D5 and D6 are all speed-regulating motors, the speed-regulating motors are provided with speed-regulating switches K4, K5 and K6, speed regulation is possible only by opening the switches, each motor is connected with three control switches in parallel, S1, S2 and S3 are manual switches, J1, J2 and J3 are normally-closed proximity switches, T1, T2 and T3 are coin-operated code-swiping switches, and the manual switches are used for debugging the machine and preventing the fault of the coin-operated code-swiping switches;

when the switch K4 is opened and adjusted to a design position, 24 revolutions per minute, the switch S1 is manually pressed, current flows into a coil of a motor D4 from the switch K4 through S1, the motor D4 rotates forwards, a proximity switch restores to be normally closed, and a hand is released S1 to continue rotating, as shown in figure 1, when soybean milk is sucked into a cavity and reaches 300ml, a wedge iron at one end of a piston rod 5 presses a travel switch 35 downwards, a contactor coil is electrified, a normally open contact C1 of the contactor is closed, the contactor is continuously in a closed state, the normally closed C4 connected to a forward rotation line is normally opened, the forward rotation is stopped, a normally open C2 on a parallel connection line is closed, the D4 is changed from forward rotation to reverse rotation, a drawing gear 33 drives a drawing rack 34 to drive a piston 4 to move rightwards, and the soybean milk in the cavity of a pump body 3 is extruded to flow;

similarly, the switch K5 is turned on, the rotating speed is adjusted to the design position, the rotation speed is 38 revolutions per minute, S2 is manually pressed, D5 is manually rotated, and the paper cup 16 is separated through each transmission mechanism and falls into the first position of the first mechanical arm 1 to be subjected to pulp receiving; similarly, the switch K6 is turned on, the speed is adjusted to 5 rpm (12 seconds are needed from cup taking, pulp pouring to returning), the switch S3 is pressed, the D6 rotates, a series of actions such as cup taking, pulp pouring and the like are realized, and a user is waited to take a cup for drinking after the operation is completed.

The invention provides a beverage selling robot, which realizes the whole process of supplying beverages, supplying paper cups and pouring the beverages into the paper cups under the control of a controller, does not need manual operation, and greatly saves time and labor.

The previous description of the disclosed embodiments is provided to enable any person skilled in the art to make or use the present invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other embodiments without departing from the spirit or scope of the invention. Thus, the present invention is not intended to be limited to the embodiments shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. A beverage marketing robot, comprising:

the robot comprises a robot body, wherein a first mechanical arm (1) and a second mechanical arm (2) are movably connected to the robot body, the first mechanical arm (1) is movably arranged between a first position and a second position, and the second mechanical arm (2) is movably arranged between a third position and a fourth position;

the liquid supply pump comprises a pump body (3), and a piston (4) and a piston rod (5) which are arranged in a cavity of the pump body (3), wherein a liquid inlet (6) and a liquid outlet (7) are arranged on the side wall of the pump body (3) in a penetrating manner, the liquid inlet (6) is communicated with a beverage source, the liquid outlet (7) is communicated with a beverage storage part, and the beverage conveying amount of each time is set to be the capacity of one paper cup; the beverage storage part is fixedly connected with the free end of the second mechanical arm (2); one end of the piston rod (5) is fixedly connected with the piston (4), the other end of the piston rod (5) penetrates through an end cover of the pump body (3) and extends to the outside of the pump body (3), the other end of the piston rod (5) is in transmission connection with a first motor, and the first motor is electrically connected with a control center;

a paper cup feeder, the paper cup feeder comprising: the paper cup guide frame (10), the first shifting fork (11), the second shifting fork (12), and the first gear (13), the second gear (14) and the third gear (15) which are meshed in sequence; a plurality of paper cups (16) are longitudinally stacked in the paper cup guide frame (10), and the tip of the first shifting fork (11) and the tip of the second shifting fork (12) are respectively inserted to the upper side and the lower side of the upper edge of the paper cup (16) at the lowest part; the first shifting fork and the second shifting fork move alternately; a first cam (17) is fixedly arranged on the side surface of the first gear (13), a second cam (18) is fixedly arranged on the side surface of the third gear (15), the first cam (17) is in transmission connection with the second shifting fork (12), the second cam (18) is in transmission connection with the first shifting fork (11), the center of the second gear (14) is connected with an output shaft of a second motor, and the second motor is electrically connected with the control center; the paper cup feeder is provided with a paper cup outlet, a plurality of paper cups (16) are stored in the paper cup feeder, and the paper cup outlet corresponds to the first position of the first mechanical arm (1);

the control center is in communication connection with the first mechanical arm (1), the second mechanical arm (2) and the paper cup feeder, the first mechanical arm (1) is controlled to move between a first position and a second position, the second mechanical arm (2) moves between a third position and a fourth position, and the paper cup feeder is controlled to feed the paper cups to an outlet of a paper cup (16);

a fourth gear (19), a fifth gear (20) and a sixth gear (21) which are meshed in sequence are arranged in the robot body; the center of the fifth gear (20) is connected with an output shaft of a third motor, the third motor is electrically connected with the control center, a third cam (22) is fixedly arranged on the side surface of the fourth gear (19), a fourth cam (23) is fixedly arranged on the side surface of the sixth gear (21), the third cam (22) is in transmission connection with the second mechanical arm (2), and the fourth cam (23) is in transmission connection with the first mechanical arm (1); the wheel centers of the fourth gear (19), the fifth gear (20) and the sixth gear (21) are on the same straight line;

wherein the third motor rotates to drive the fifth gear (20) to drive the fourth gear (19) and the sixth gear (21), and the third cam (22) and the fourth cam (23) rotate; the third cam connecting rod (39) drives the third shifting fork (41), the fourth cam connecting rod (40) drives the fourth shifting fork (42), and the length of the driven ends of the third cam connecting rod (39) and the fourth cam connecting rod (40) is adjusted to change the swing angles of the third shifting fork (41) and the fourth shifting fork (42);

the second mechanical arm (2) and a third shifting fork (41) are fixed at the upper end and the lower end of the same rotating shaft (55), and the third shifting fork (41) and the second mechanical arm (2) have the same swing angle; when the second mechanical arm (2) swings inwards to pour the soybean milk, the pull rod (62) pushes the second mechanical arm (2) to bend, and the forward and reverse screws (43) of the pull rod (62) are adjusted to ensure that the spout of the soybean milk pot (59) can pour the soybean milk into the paper cup (16); a sun wheel (44) which can rotate in a limiting manner is fixed at the elbow of the second mechanical arm (2), a planet wheel (45) is movably sleeved at the position connected with the sun wheel (44), a first bevel gear (46) is coaxially and fixedly connected below the planet wheel (45), and when the planet wheel (45) rotates, the first bevel gear (46) also rotates to drive a second bevel gear (47) connected with the second mechanical arm (2) to rotate, so that the wrist is turned over, and a handheld slurry pot (59) is also turned over; the sun wheel (44) is controlled to rotate together with the planet wheel (45), and the overturning angle of the slurry pot (59) can be rapidly adjusted with the time when the planet wheel (45) rotates independently, so that the slurry in the slurry pot (59) is guaranteed to be poured out.

2. The beverage marketing robot of claim 1, further comprising: and the payment system is in communication connection with the control center.

3. A beverage marketing robot according to claim 1, characterized in that the liquid inlet (6) is provided with a liquid inlet one-way valve (8) and the liquid outlet (7) is provided with a liquid outlet one-way valve (9).

4. A beverage marketing robot according to claim 1, characterized in that the robot has a robot head (24), the neck of the robot head (24) is fixedly connected with an oscillating bar (51), and the oscillating bar (51) is chain-drive connected with the second mechanical arm (2).

5. The beverage selling robot according to claim 4, wherein a voice playing component is arranged in the robot head (24), and simulation voice is stored in the voice playing component.

6. The beverage selling robot according to claim 5, characterized in that a fifth cam (25) and a roller (26) are arranged in the robot head (24), an upper tooth (28), a lower tooth (29) and a swing rod (30) are arranged at the mouth of the robot head (24), the upper tooth (28) is hinged to one end of the swing rod (30), the lower tooth (29) is fixedly connected to the other end of the swing rod (30), the fifth cam (25) is connected to an output shaft of a fourth motor (61), the roller (26) is in transmission connection with the fifth cam (25), and the roller (26) is hinged to the upper tooth (28) and the swing rod (30) through a roller shaft (27) sleeved with a spring; the fifth cam (25) is used for controlling the opening and closing of the upper teeth (28) and the lower teeth (29) to correspond to the playing rhythm of the simulated voice.

7. The beverage selling robot according to claim 1, wherein a human-shaped shell is sleeved outside the robot body.