CN109830059B - Automatic milk tea cup putting and taking device - Google Patents
Automatic milk tea cup putting and taking device Download PDFInfo
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- CN109830059B CN109830059B CN201910110624.1A CN201910110624A CN109830059B CN 109830059 B CN109830059 B CN 109830059B CN 201910110624 A CN201910110624 A CN 201910110624A CN 109830059 B CN109830059 B CN 109830059B
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Abstract
The automatic milk tea cup putting and taking device comprises: the lateral side of the cylindrical supporting frame is provided with a milk tea cup placing side and a milk tea cup taking side, the outer edge of the bottom of the cylindrical supporting frame is fixedly placed in and taken out of the horizontal conveying platform, the two ends of the supporting frame at the outer edge of the top of the cylindrical supporting frame are respectively fixedly placed in and taken out of the manipulator device, and the inner bottom of the cylindrical supporting frame is fixedly provided with a rotating platform with a milk tea cup fixing support; the controller controls the conveyor placed on the horizontal conveying platform to operate, so that the milk tea cup on the conveyor moves along with the conveyor, the camera shoots the bar code on the milk tea cup when the milk tea cup moves to the tail end, the controller identifies the bar code on the milk tea cup and determines the number of the current milk tea cup, the manipulator device is controlled to grab the milk tea cup and place the milk tea cup on the milk tea cup fixing support, the milk tea cup rotates on the rotating platform to the milk tea cup taking-out side, the manipulator device is controlled to take out the milk tea cup and place the milk tea cup on the conveyor taken out of the horizontal conveying platform, the manipulator device is controlled to operate, and the milk tea cup on the manipulator device moves to the.
Description
Technical Field
The invention relates to the technical field of milk tea cup taking, in particular to an automatic milk tea cup putting and taking device.
Background
At present, milk tea is manufactured manually, and the milk tea cup is moved manually. The prior art has the following defects:
1. when customers have more customers, each milk tea cup is manually operated, the speed is slow, the efficiency is low, and human errors usually occur in identifying the bar codes in the milk tea cups, which are usually caused by vagus.
2. When a person comes into direct contact with the milky tea cup, bacteria (caused by cough and the like) of a milky tea maker may be brought into the milky tea cup.
Disclosure of Invention
Aiming at the problems and the defects in the prior art, the invention provides a novel automatic milk tea cup putting and taking device.
The invention solves the technical problems through the following technical scheme:
the invention provides an automatic milk tea cup putting and taking device which is characterized by comprising a cylindrical supporting frame, wherein the side edge of the cylindrical supporting frame is provided with a milk tea cup putting side and a milk tea cup taking side, the outer edge of the bottom of the cylindrical supporting frame is respectively positioned at the milk tea cup putting side and the milk tea cup taking side and is fixedly provided with a putting horizontal conveying platform and a taking horizontal conveying platform, the putting horizontal conveying platform and the taking horizontal conveying platform are respectively fixedly provided with a conveying device, the side edge at the tail end of the conveying device is fixedly provided with a camera, the outer edge of the top of the cylindrical supporting frame is fixedly provided with a supporting frame, the two ends of the supporting frame are respectively fixedly provided with a putting manipulator device and a taking manipulator device, the putting manipulator device is arranged in the milk tea cup putting side, the taking manipulator device is arranged in the milk tea cup taking side, the cylindrical supporting frame is fixedly provided with a controller, the bottom of the interior of the cylindrical supporting frame is fixedly provided with a rotating platform, and the edge of the rotating platform is fixedly provided with a milk tea cup fixing support.
The controller is used for controlling the conveyor placed on the horizontal conveying platform to operate, so that the milk tea cups placed on the conveyor move along with the conveyor, when the milk tea cups move to the tail end of the conveyor, the corresponding cameras shoot the bar codes on the milk tea cups and transmit the bar codes to the controller, the controller identifies the bar codes on the milk tea cups and determines the serial numbers of the current milk tea cups, the controller controls the placing manipulator device positioned above to grab the current milk tea cups and place the current milk tea cups into the milk tea cup fixing support, the current milk tea cups rotate on the rotating platform to the milk tea cup taking-out side, the controller controls the taking manipulator device positioned above to take out the current milk tea cups and place the current milk tea cups on the conveyor taken out of the horizontal conveying platform, and the controller controls the conveyor taken out of the horizontal conveying platform to operate, so that the current milk tea cups placed.
Preferably, the conveying device adopts a conveying belt device, and the conveying belt device is fixed on the corresponding horizontal conveying platform through a vertical supporting leg.
Preferably, baffles are fixed on both sides of the conveying belt device.
Preferably, the periphery of the cylindrical support frame is sealed by decorative plates except for the milk tea cup placing side and the milk tea cup taking side.
Preferably, a cylindrical support frame is fixed at the bottom of the cylindrical support frame.
Preferably, rotary platform includes motor, polygon fixed plate and circular platform, the polygon fixed plate is fixed in tube-shape braced frame's bottom, the column braced frame is arranged in to the motor, motor and polygon fixed plate fixed connection, polygon fixed plate and circular platform are worn to establish by the output shaft of motor, circular platform's circumference border evenly is fixed with a plurality of connecting rods, and the end fixing of each branch has milk tea cup fixed bolster, and the bottom of each branch is fixed with the track pulley, tube-shape braced frame's bottom is fixed with circular track, the track pulley sliding fit is on circular track.
Preferably, rotary platform still includes bearing bracket and pressure bearing, bearing bracket is fixed in on the polygon fixed plate, pressure bearing arranges bearing bracket in on, the output shaft of motor wears to establish polygon fixed plate, bearing bracket, pressure bearing and circular platform's center pin in proper order.
Preferably, the placing mechanical arm device and the taking mechanical arm device both comprise a horizontal moving mechanism, a vertical moving mechanism and a mechanical arm, wherein the vertical moving mechanism is arranged on the horizontal moving mechanism, and the mechanical arm is arranged on the vertical moving mechanism.
The controller is used for controlling the horizontal moving mechanism to move so that the vertical moving mechanism and the manipulator move left and right after the bar code on the milk tea cup is identified, and controlling the vertical moving mechanism to move so that the manipulator moves up and down, so that the manipulator is positioned right above the current milk tea cup.
The controller is used for controlling the manipulator to grab the current milk tea cup and controlling the horizontal moving mechanism and the vertical moving mechanism to move so as to place the current milk tea cup into the milk tea cup fixing support.
On the basis of the common knowledge in the field, the above preferred conditions can be combined randomly to obtain the preferred embodiments of the invention.
The positive progress effects of the invention are as follows:
the invention has novel structure, high efficiency, safety, reliability and high appearance quality. The moving process of the milk tea cup is completely automated, and the whole moving process is not polluted artificially. The camera code reading function greatly reduces the probability of mistaken identification of the milk tea cup, which is particularly important when a large amount of milk tea is made. The whole moving process can greatly accelerate the milk tea making speed along with the continuous feeding of the milk tea cup, and the consumer experience is improved.
Drawings
Fig. 1 is a perspective view of an automated milk tea cup loading and unloading device according to a preferred embodiment of the present invention.
Fig. 2 is a schematic structural diagram of a transmission device according to a preferred embodiment of the invention.
Fig. 3a, 3b and 4 are schematic structural views of a rotary platform according to a preferred embodiment of the present invention.
Fig. 5 is a schematic structural diagram of a loading robot device and a loading robot device according to a preferred embodiment of the present invention.
Fig. 6 a-6 e are schematic diagrams of the flow of placing the right side of the milk tea cup and taking out the left side of the milk tea cup according to the preferred embodiment of the invention.
Fig. 7 is a horizontal sectional view of the automated milk tea cup putting in and taking out device according to the preferred embodiment of the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, 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 some, but not all, embodiments of the present invention. All other embodiments, which can be obtained by a person skilled in the art without any inventive step based on the embodiments of the present invention, are within the scope of the present invention.
As shown in fig. 1, the present embodiment provides an automated milk tea cup placing and taking device, which includes a cylindrical supporting frame 1 and a cylindrical supporting frame 2, wherein the cylindrical supporting frame 2 is fixed at the bottom of the cylindrical supporting frame 1. The side of tube-shape braced frame 1 has been seted up milk tea cup and has been put into the side and milk tea cup and take out the side, as in fig. 1, the right side of tube-shape braced frame 1 is milk tea cup and puts into side 3, the left side of tube-shape braced frame 1 is milk tea cup and takes out side 4, all sealed through decorative board 15 except that milk tea cup puts into side 3 and milk tea cup and takes out side 4 around tube-shape braced frame 1.
The milk tea cup taking-in and taking-out device is characterized in that a putting-in horizontal conveying platform 5 and a taking-out horizontal conveying platform 6 are fixed to the outer sides of the bottom of the cylindrical supporting frame 1 and located on a milk tea cup putting-in side 3 and a milk tea cup taking-out side 4 respectively, a conveying device 12 is fixed to each of the putting-in horizontal conveying platform 5 and the taking-out horizontal conveying platform 6, a camera 7 is fixed to the end side of the conveying device 12, a supporting frame 8 is fixed to the top outer edge of the cylindrical supporting frame 1, a putting-in manipulator device 9 and a taking-out manipulator device 10 are fixed to the two ends of the supporting frame 8 respectively, the putting-in manipulator device 9 is arranged in the milk tea cup putting-in side 3, the taking-out manipulator device 10 is arranged in the milk tea cup taking-out side 4, a controller is fixed to the cylindrical supporting frame 1, and a rotating.
As shown in fig. 2, the conveying device 12 is a conveyor belt device, the conveyor belt device is fixed on the corresponding horizontal conveying platform through a vertical supporting leg 13, and baffles 14 are fixed on both sides of a conveyor belt of the conveyor belt device.
As shown in fig. 3a, 3b and 4, the rotary platform 11 includes a motor 111, a polygonal fixing plate 112, a bearing bracket 113, a pressure bearing 114 and a circular platform 115, the polygonal fixing plate 112 is fixed at the bottom of the cylindrical support frame 1, the motor 111 is disposed in the cylindrical support frame 2, the motor 111 is fixedly connected to the polygonal fixing plate 112, the bearing bracket 113 is fixed on the polygonal fixing plate 112, the pressure bearing 114 is disposed on the bearing bracket 113, an output shaft of the motor 111 sequentially penetrates through central shafts of the polygonal fixing plate 112, the bearing bracket 113, the pressure bearing 14 and the circular platform 115, sixteen connecting rods 116 are uniformly fixed at the circumferential edge of the circular platform 115, a milk cup fixing bracket 117 is fixed at the end of each connecting rod 116, a rail pulley 118 is fixed at the bottom of each connecting rod 116, a circular rail 119 is fixed at the bottom of the cylindrical support frame 1, the track pulley 118 is slidably mounted on a circular track 119.
As shown in fig. 5, each of the put-in robot apparatus 9 and the take-out robot apparatus 10 includes a horizontal movement mechanism 91, a vertical movement mechanism 92, and a robot 93, the vertical movement mechanism 92 being disposed on the horizontal movement mechanism 91, and the robot 93 being disposed on the vertical movement mechanism 92.
The working principle of the automatic milk tea cup putting and taking device is described in detail as follows:
referring to fig. 6 a-6 e, the milk tea cups are first placed by the milk tea maker in the right position a of the conveyor means of the device on the horizontal conveyor platform 5. The controller controls the conveyor device placed on the horizontal conveying platform 5 to operate, the milk tea cups placed on the conveyor device move along with the conveyor device, then the milk tea cups are conveyed to the left position B through the conveyor belt, the camera 7 shoots the bar codes on the milk tea cups and transmits the bar codes to the controller, and the controller identifies the bar codes on the milk tea cups and determines the serial numbers of the current milk tea cups. The controller controls the placing mechanical arm device located above to work, specifically, the controller controls the horizontal moving mechanism 91 to move so that the vertical moving mechanism 92 and the mechanical arm 93 move left and right, and controls the vertical moving mechanism 92 to move so that the mechanical arm 93 moves up and down, so that the mechanical arm 93 is located right above the current milk tea cup, the controller controls the mechanical arm 93 to grab the current milk tea cup, and the milk tea cup moves to the position C. The controller controls the horizontal moving mechanism 91 and the vertical moving mechanism 92 to move so that the current milk tea cup is placed into the milk tea cup fixing bracket 117, the milk tea cup is in the position D at the moment, and then the manipulator returns to wait for the next grabbing.
When the milk tea cup moves anticlockwise to a position E in the rotary platform 11, the milk tea cup is taken out by the manipulator on the left side and is placed in the conveyor belt on the left side. The left camera reads the serial number of the taken milk tea cup, transmits the serial number to a position F and waits for a milk tea maker to take out the serial number.
Fig. 7 is a horizontal section of the placing and removing device, and it can be seen that the teat cup is moved from position a to position B, through the rotary platform to position E, and finally to position F. And finishing the whole placing and taking-out process of the milk tea cup.
The moving process of the milk tea cup is completely automated, and the whole moving process is not polluted artificially. The camera code reading function greatly reduces the probability of mistaken identification of the milk tea cup, which is particularly important when a large amount of milk tea is made. The whole moving process can greatly accelerate the milk tea making speed along with the continuous feeding of the milk tea cup, and the consumer experience is improved.
While specific embodiments of the invention have been described above, it will be appreciated by those skilled in the art that these are by way of example only, and that the scope of the invention is defined by the appended claims. Various changes and modifications to these embodiments may be made by those skilled in the art without departing from the spirit and scope of the invention, and these changes and modifications are within the scope of the invention.
Claims (6)
1. The automatic milk tea cup putting-in and taking-out device is characterized by comprising a cylindrical supporting frame, wherein the side edge of the cylindrical supporting frame is provided with a milk tea cup putting-in side and a milk tea cup taking-out side, the outer sides of the bottom of the cylindrical supporting frame, which are respectively positioned on the milk tea cup putting-in side and the milk tea cup taking-out side, are fixedly provided with a putting-in horizontal conveying platform and a taking-out horizontal conveying platform, the putting-in horizontal conveying platform and the taking-out horizontal conveying platform are respectively fixedly provided with a conveying device, the tail end side of the conveying device is fixedly provided with a camera, the outer edge of the top of the cylindrical supporting frame is fixedly provided with a supporting frame, the two ends of the supporting frame are respectively fixedly provided with a putting-in mechanical arm device and a taking-out mechanical arm device, the putting-in mechanical arm device is arranged in the milk tea cup putting-in side, the taking-out mechanical arm device is arranged in the, a rotary platform is fixed at the bottom inside the cylindrical supporting frame, and a milk tea cup fixing support is fixed at the edge of the rotary platform;
the controller is used for controlling the conveyor placed on the horizontal conveying platform to operate, so that the milk tea cups placed on the conveyor move along with the conveyor, when the milk tea cups move to the tail ends of the conveyor, the corresponding cameras shoot the bar codes on the milk tea cups and transmit the bar codes to the controller, the controller identifies the bar codes on the milk tea cups and determines the serial numbers of the current milk tea cups, the controller controls the placing manipulator device positioned above to grab the current milk tea cups and place the current milk tea cups into the milk tea cup fixing support, the current milk tea cups rotate on the rotating platform to the milk tea cup taking-out side, the controller controls the taking manipulator device positioned above to take out the current milk tea cups and place the current milk tea cups on the conveyor taken out of the horizontal conveying platform, and the controller controls the conveyor taken out of the horizontal conveying platform to operate, so that the current milk tea cups placed;
a cylindrical support frame is fixed at the bottom of the cylindrical support frame;
rotary platform includes motor, polygon fixed plate and circular platform, the polygon fixed plate is fixed in tube-shape braced frame's bottom, the motor is arranged in the column braced frame, motor and polygon fixed plate fixed connection, polygon fixed plate and circular platform are worn to establish by the output shaft of motor, circular platform's circumference border evenly is fixed with a plurality of connecting rods, and the end fixing of each branch has milk tea cup fixed bolster, and the bottom of each branch is fixed with the track pulley, tube-shape braced frame's bottom is fixed with circular track, the track pulley cunning is joined in marriage on circular track.
2. The automated milky tea cup putting and taking device of claim 1, wherein the conveying device is a conveyor belt device, and the conveyor belt device is fixed on the corresponding horizontal conveying platform through vertical supporting feet.
3. The automated milky tea cup putting and taking device as claimed in claim 2, wherein baffles are fixed on both sides of the conveyor belt device.
4. The automated milky tea cup putting-in and taking-out device according to claim 1, wherein the periphery of the cylindrical support frame is sealed by a decorative plate except for the milky tea cup putting-in side and the milky tea cup taking-out side.
5. The automated milk tea cup placing and taking device according to claim 1, wherein the rotary platform further comprises a bearing support and a pressure bearing, the bearing support is fixed on the polygonal fixing plate, the pressure bearing is arranged on the bearing support, and an output shaft of the motor sequentially penetrates through the polygonal fixing plate, the bearing support, the pressure bearing and a central shaft of the circular platform.
6. The automated milky tea cup putting in and out device of claim 1, wherein each of the putting in and taking out manipulator device comprises a horizontal moving mechanism, a vertical moving mechanism and a manipulator, wherein the vertical moving mechanism is disposed on the horizontal moving mechanism, and the manipulator is disposed on the vertical moving mechanism;
the controller is used for controlling the horizontal moving mechanism to move so that the vertical moving mechanism and the manipulator move left and right after the bar code on the milk tea cup is identified, and controlling the vertical moving mechanism to move so that the manipulator moves up and down, so that the manipulator is positioned right above the current milk tea cup;
the controller is used for controlling the manipulator to grab the current milk tea cup and controlling the horizontal moving mechanism and the vertical moving mechanism to move so as to place the current milk tea cup into the milk tea cup fixing support.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910110624.1A CN109830059B (en) | 2019-02-12 | 2019-02-12 | Automatic milk tea cup putting and taking device |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910110624.1A CN109830059B (en) | 2019-02-12 | 2019-02-12 | Automatic milk tea cup putting and taking device |
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| CN109830059A CN109830059A (en) | 2019-05-31 |
| CN109830059B true CN109830059B (en) | 2021-02-05 |
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| CN201910110624.1A Active CN109830059B (en) | 2019-02-12 | 2019-02-12 | Automatic milk tea cup putting and taking device |
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Families Citing this family (3)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN110200505A (en) * | 2019-07-04 | 2019-09-06 | 深圳远荣智能制造股份有限公司 | A kind of full-automatic drink making apparatus of industrial robot |
| CN111113440A (en) * | 2019-12-12 | 2020-05-08 | 中国科学院深圳先进技术研究院 | Automatic milk tea robot |
| CN115316845A (en) * | 2022-03-28 | 2022-11-11 | 台州学院 | Bionic octopus type milk tea processing device |
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| CN207678756U (en) * | 2017-10-27 | 2018-08-03 | 江门市神川自动化设备有限公司 | A kind of egg tart skin automatic moulding machine |
| CN207861380U (en) * | 2018-02-08 | 2018-09-14 | 浙江新德宝机械有限公司 | Dixie cup or paper bowl collection device |
Family Cites Families (5)
| Publication number | Priority date | Publication date | Assignee | Title |
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| US20110049180A1 (en) * | 2006-03-09 | 2011-03-03 | The Coca-Cola Company | Micro-Ingredient Based Dispenser with User Data Storage Mediums |
| CN202828225U (en) * | 2012-09-13 | 2013-03-27 | 泉州市科盛包装机械有限公司 | Tobacco automatic identification packing machine |
| CN206219182U (en) * | 2016-08-22 | 2017-06-06 | 上海乐宝日化股份有限公司 | A kind of double-round filling apparatus |
| CN107323743B (en) * | 2017-06-30 | 2018-12-25 | 中山市翔实机械设备有限公司 | A kind of automatic milk-tea production equipment |
| CN208102396U (en) * | 2018-04-19 | 2018-11-16 | 温州市途麦机械有限公司 | A kind of capsule cup bottle placer |
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2019
- 2019-02-12 CN CN201910110624.1A patent/CN109830059B/en active Active
Patent Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN207678756U (en) * | 2017-10-27 | 2018-08-03 | 江门市神川自动化设备有限公司 | A kind of egg tart skin automatic moulding machine |
| CN207861380U (en) * | 2018-02-08 | 2018-09-14 | 浙江新德宝机械有限公司 | Dixie cup or paper bowl collection device |
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| CN109830059A (en) | 2019-05-31 |
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