CN110638331A

CN110638331A - Automatic milk tea machine

Info

Publication number: CN110638331A
Application number: CN201910714351.1A
Authority: CN
Inventors: 张胡升
Original assignee: Guangdong Zhiyuan Robot Technology Co Ltd
Current assignee: Guangdong Zhiyuan Robot Technology Co Ltd
Priority date: 2019-08-03
Filing date: 2019-08-03
Publication date: 2020-01-03

Abstract

The invention relates to an automatic milk tea machine which comprises a conveying mechanism, a cup taking mechanism, a feeding mechanism and an upper cover mechanism. The conveying mechanism comprises a rack and a moving module, the rack is provided with a plurality of stations, the stations comprise a feeding station and an upper cover station, and the moving module is used for transferring the cups among the stations. The cup taking mechanism comprises a cup holder and a cup taking assembly, the cup holder is used for storing cups, and the cup taking assembly is used for delivering the cups stored in the cup holder to the conveying mechanism. The feeding mechanism is used for adding milk tea raw materials to the cup positioned at the feeding station. The upper cover mechanism comprises a cover storage unit and a pickup unit, the cover storage unit is used for storing the cover, and the pickup unit is used for installing the cover stored by the cover storage unit on a cup positioned on the upper cover station. Therefore, the automatic milk tea machine can automatically finish the operations of cup taking, feeding and capping, realizes automatic milk tea making and improves the production efficiency.

Description

Automatic milk tea machine

Technical Field

The invention relates to the technical field of catering machines, in particular to an automatic milk tea machine.

Background

The milk and the tea are fused to produce the milk tea with milk flavor and tea aroma. The milk tea has the fragrance of milk tea in China, India, England, Singapore, Malaysia and other places in the world, has various tastes, and is favored by different people. Such as indian milk tea, known as special flavors with mosalas; hong Kong milky tea is known as silk stocking milky tea; taiwan pearl milk tea also has unique characteristics. The milk tea has double nutrition of milk and tea, is one of the common food, and is popular in the world.

The milk tea is made by the steps of taking a cup, discharging liquid raw materials, covering the cup with a cover and the like. The traditional milk tea is made manually, and automatic production can not be realized by a machine.

Disclosure of Invention

Therefore, the automatic milk tea machine is needed to solve the problem that milk tea cannot be automatically produced, and can automatically complete cup taking, feeding and capping operations, so that automatic milk tea making is realized, and the production efficiency is improved.

An automatic milk tea machine comprising:

the conveying mechanism comprises a rack and a moving module, the rack is provided with a plurality of stations, the stations comprise a feeding station and an upper cover station, and the moving module is used for transferring the cups among the stations;

a cup taking mechanism comprising a cup holder for storing a cup and a cup taking assembly for delivering a cup stored in the cup holder to the conveying mechanism;

the feeding mechanism is used for adding milk tea raw materials to the cup positioned at the feeding station; and

the upper cover mechanism comprises a cover storage unit and a pickup unit, the cover storage unit is used for storing the cover, and the pickup unit is used for installing the cover stored by the cover storage unit on the cup positioned on the upper cover station.

The automatic milk tea machine is used for making milk tea, and the process comprises the following steps that the cup taking mechanism delivers empty cups to the conveying mechanism to finish cup taking operation; the mobile module of the conveying mechanism can convey the cup to the feeding station, so that the feeding mechanism can add the milk tea raw material to the cup to complete the feeding operation; the moving module of the conveying mechanism conveys the cup added with the raw materials to the upper cover station, and the picking unit of the upper cover mechanism covers the cup cover on the cup to complete the upper cover operation. Therefore, the automatic milk tea machine can automatically finish the operations of cup taking, feeding and capping, realizes automatic milk tea making and improves the production efficiency.

In one embodiment, the cup taking assembly comprises a cup taking clamp, a horizontal module and a vertical module, wherein the cup taking clamp is installed on the horizontal module, the horizontal module can drive the cup taking clamp to move along the horizontal direction, the horizontal module is installed on the vertical module, and the vertical module can drive the horizontal module to move along the vertical direction.

In one embodiment, the moving module comprises a first driving piece, a first positioning plate provided with a first half hole and a second positioning plate provided with a second half hole, the first half hole and the second half hole correspond in position, and the first driving piece drives the first positioning plate and the second positioning plate to close and separate; when the first positioning plate and the second positioning plate are folded, the first half hole and the second half hole enclose a clamping hole for clamping a cup.

In one embodiment, each moving module is provided with two clamping holes, and the interval between the two clamping holes is larger than or equal to the interval between two adjacent work stations.

In one embodiment, the number of the moving modules is more than two, each moving module is sequentially arranged along the conveying direction of the conveying mechanism, and each moving module is used for transferring the cups between two adjacent stations.

In one embodiment, the rack is further provided with a stirring station located between the feeding station and the upper cover station, the automatic milky tea machine further comprises a stirring mechanism installed beside the stirring station, the stirring mechanism comprises a vertical moving assembly and a stirring assembly installed on the vertical moving assembly, the stirring assembly comprises a second driving piece and a stirring rod, and the second driving piece is used for driving the stirring rod to rotate.

In one embodiment, the stirring mechanism further comprises a horizontal moving assembly mounted on the frame, the frame is further provided with a cleaning barrel, the horizontal moving assembly is arranged between the cleaning barrel and the stirring station, and the vertical moving assembly is mounted on the horizontal moving assembly.

In one embodiment, the upper part of the cleaning barrel is provided with a clean water inlet, and the lower part of the cleaning barrel is provided with a waste water outlet; the inner wall of the cleaning barrel is also provided with an inclined plane which gradually becomes lower towards the waste water outlet side.

In one embodiment, the rack is further provided with an ice adding station positioned at the upstream of the upper cover station, and the automatic milk tea machine further comprises an ice adding mechanism positioned beside the ice adding station and used for adding ice blocks to the cups.

In one embodiment, the ice adding mechanism comprises an ice storage bin and a quantitative ice discharging unit; the ice storage bin is provided with a feeding port and a discharging port, the stirring unit is installed in the ice storage bin, and the quantitative ice discharging unit comprises a third driving piece and a pushing piece installed in the ice storage bin; the third driving piece drives the pushing piece to work, so that the pushing piece pushes ice blocks in the ice storage bin to the discharge hole quantitatively.

In one embodiment, the ice adding mechanism further comprises a stirring unit installed in the ice storage bin, the stirring unit comprises two stirring paddles with opposite rotation directions, and the stirring paddles are located on two sides of the pushing member.

In one embodiment, the cover loading mechanism comprises a cover storage unit and a picking unit, the picking unit comprises a moving part and a picking part installed on the moving part, and the moving part drives the picking part to move between the cover storage unit and the cover loading station.

In one embodiment, the upper cover mechanism further includes a positioning unit, the positioning unit includes a bottom plate, a guide member, a limiting member, and a fourth driving member, the bottom plate is mounted on the frame, the guide member and the limiting member are respectively located at two sides of the bottom plate, the fourth driving member is connected to the guide member, and the fourth driving member is configured to drive the guide member to move toward a direction close to or away from the limiting member.

In one embodiment, the pick-up comprises a rotating arm, a suction cup and a pneumatic finger; the middle part of the rotating arm is rotatably arranged on the moving part, the sucking disc and the pneumatic fingers are arranged at two ends of the rotating arm, the pneumatic fingers are used for grabbing or releasing the cup, and the moving part can drive the pneumatic fingers to move to a meal taking place.

Drawings

FIG. 1 is a schematic structural diagram of an automatic milk tea machine according to an embodiment of the present invention;

FIG. 2 is a schematic structural diagram of a cup taking mechanism of the automatic milky tea machine in FIG. 1;

FIG. 3 is a schematic structural diagram of an ice adding mechanism of the automatic milky tea machine in FIG. 1;

FIG. 4 is a top view of FIG. 3;

FIG. 5 is a schematic structural diagram of a feeding mechanism of the automatic milky tea machine in FIG. 1;

FIG. 6 is a front view of FIG. 5;

FIG. 7 is a schematic structural diagram of a stirring mechanism of the automatic milky tea machine in FIG. 1;

FIG. 8 is a schematic view of the installation of the cover mechanism of the automatic milky tea machine in FIG. 1;

FIG. 9 is a schematic structural view of the cover mechanism of FIG. 8;

FIG. 10 is a schematic view of a guide ring of the capping mechanism of FIG. 9;

FIG. 11 is a schematic view of the stacking plate of the capping mechanism of FIG. 9;

FIG. 12 is a schematic view of the positioning unit of the cover mechanism of FIG. 8;

fig. 13 is a schematic structural view of a conveying mechanism of the automatic milky tea machine in fig. 1.

11. Cup, 12, a cup cover, 13, a milk tea liquid raw material container, 100, a conveying mechanism, 110, a frame, 111, a feeding station, 112, an upper cover station, 113, an icing station, 114, a stirring station, 120, a moving module, 121, a first driving member, 122, a first positioning plate, 1221, a first half hole, 123, a second positioning plate, 1231, a second half hole, 200, a cup taking mechanism, 210, a cup holder, 211, a storage channel, 220, a cup taking assembly, 221, a cup taking clamp, 2211, a cup taking claw, 2212, a cup taking flexible finger, 222, a horizontal module, 223, a vertical module, 300, a feeding mechanism, 310, a control valve, 320, a confluence plate, 321, a material inlet, 322, a feeding port, 323, a high-pressure air inlet, 324, a high-pressure air outlet, 330, a pump body, 400, an upper cover mechanism, 410, a cover storage unit, 411, a first support, 412, a stacking part, 413, a guide column, 414, A guide ring 415, a stacking plate 416, a positioning groove 420, a picking unit 421, a moving part 422, a picking part 423, a rotating arm 424, a suction cup 425, a pneumatic finger 426, a second bracket 440, a positioning unit 441, a bottom plate 442, a guide 443, a limiting member 444, a fourth driving member 445, a first inclined plate 446, a second inclined plate 447, a strip-shaped hole 500, an ice adding mechanism 510, an ice storage bin 511, a material inlet 512, a material outlet 520, a quantitative ice discharging unit 521, a pushing member 522, an ice discharging hopper 523, a seventh driving member 524, a movable plate 531, a stirring paddle 600, a stirring mechanism 610, a vertical moving assembly 611, a first guide block 612, a fifth driving member 613, a second guide block 620, a stirring assembly 621, a second driving member 531, a 622, a stirring rod 623, a first guide rail 630 and a horizontal moving assembly, 631. a second guide rail 632, a sixth driving member 640, a cleaning barrel 641, a clean water inlet 642 and a waste water outlet.

Detailed Description

To facilitate an understanding of the invention, the invention will now be described more fully with reference to the accompanying drawings. Preferred embodiments of the present invention are shown in the drawings. This invention may, however, be embodied in many different forms and should not be construed as limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete.

It will be understood that when an element is referred to as being "secured to" another element, it can be directly on the other element or intervening elements may also be present. When an element is referred to as being "connected" to another element, it can be directly connected to the other element or intervening elements may also be present. In contrast, when an element is referred to as being "directly on" another element, there are no intervening elements present. As used herein, the terms "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," "clockwise," "counterclockwise," and the like are used in an orientation or positional relationship indicated in the drawings for the convenience and simplicity of description, and are not intended to indicate or imply that the referenced device or element must have a particular orientation, be constructed and operated in a particular orientation, and are therefore not to be construed as limiting the present invention. The terms "first", "second", "third", "fourth", "fifth", "sixth" and "seventh" in the present invention do not denote any particular quantity or order, but rather are used for distinguishing names.

In the present invention, unless otherwise expressly stated or limited, the first feature "on" or "under" the second feature may be directly contacting the first and second features or indirectly contacting the first and second features through an intermediate. Also, a first feature "on," "over," and "above" a second feature may be directly or diagonally above the second feature, or may simply indicate that the first feature is at a higher level than the second feature. A first feature being "under," "below," and "beneath" a second feature may be directly under or obliquely under the first feature, or may simply mean that the first feature is at a lesser elevation than the second feature.

Referring to fig. 1, an automatic milk tea machine includes a conveying mechanism 100, a cup taking mechanism 200, a feeding mechanism 300 and a cover mechanism 400.

Referring to fig. 13, the transfer mechanism 100 includes a frame 110 and a moving module 120. The rack 110 is provided with a plurality of stations, the stations comprise a charging station 111 and an upper cover station 112, and the moving module 120 is used for transferring the cups 11 among the stations, so that the milk tea can sequentially complete the operations of cup taking, charging, upper cover and the like according to a certain sequence.

The cup taking mechanism 200 includes a cup holder 210 and a cup taking assembly 220. Cup holder 210 is used for storing cup 11, and cup taking assembly 220 is used for delivering cup 11 stored in cup holder 210 to conveying mechanism 100, so that the cup taking operation in the milk tea making process can be automatically completed. The charging mechanism 300 is used for adding milk tea raw materials to the cup 11 at the charging station 111, so that the charging operation in the milk tea making process can be automatically completed. The upper cover mechanism 400 comprises a cover storage unit 410 and a pickup unit 420, wherein the cover storage unit 410 is used for storing the cover 12, and the pickup unit 420 is used for mounting the cover 12 stored by the cover storage unit 410 on the cup 11 positioned at the upper cover station 112, so that the upper cover operation in the milk tea making process can be automatically completed.

The process of making milk tea by the automatic milk tea machine is that the cup taking mechanism 200 delivers the empty cup to the conveying mechanism 100 to finish the cup taking operation; the moving module 120 of the conveying mechanism 100 can convey the cup 11 to the charging station 111, so that the charging mechanism 300 can add the milk tea raw material to the cup 11 to complete the charging operation; the moving module 120 of the conveying mechanism 100 conveys the cup 11 with the raw material added to the capping station 112, and the picking unit 420 of the capping mechanism 400 caps the cup lid 12 on the cup 11, completing the capping operation. Therefore, the automatic milk tea machine can automatically finish the operations of cup taking, feeding and capping, realizes automatic milk tea making and improves the production efficiency.

With reference to fig. 1 and 2, the cup taking mechanism 200 delivers the empty cup to the conveying mechanism 100, and the cup taking mechanism 200 can be directly placed at the next processing station, so as to facilitate the next operation; alternatively, the cup taking mechanism 200 is placed at another position of the conveying mechanism 100, and the conveying mechanism 100 conveys the cup 11 to the next station according to the production flow.

In the process of taking a cup by the cup taking mechanism 200, the cup taking assembly 220 moves the cup 11 on the cup holder 210 to the conveying mechanism 100 by using a manipulator, a conveyor belt, a push rod, and the like.

Specifically, in connection with fig. 2, cup taking assembly 220 includes a cup taking fixture 221, a horizontal die set 222, and a vertical die set 223. Optionally, the cup taking clamp 221 is a cup taking pneumatic claw 2211 and a cup taking flexible finger 2212, and the cup taking pneumatic claw 2211 drives the cup taking flexible finger 2212 to open and close, so that the cup taking flexible finger 2212 clamps or releases the cup 11. The cup taking fixture 221 is mounted on the horizontal module 222, the horizontal module 222 can drive the fixture to move in the horizontal direction, the horizontal module 222 is mounted on the vertical module 223, and the vertical module 223 can drive the horizontal module 222 to move in the vertical direction.

One of the cup taking processes is that the cup holder 210 is placed above the cup taking clamp 221, the vertical module 223 drives the horizontal module 222 and the cup taking clamp 221 to move up to the position of the cup 11, and the cup taking clamp 221 clamps the cup 11 located at the lowest position of the cup holder 210. The vertical module 223 drives the horizontal module 222 to move down, so that the cup holder 221 holds the cup 11 off the cup holder 210. The horizontal module 222 drives the cup taking fixture 221 to move horizontally to the next station. Then, the cup taking assembly 220 is reset, or after the next station of the cup taking assembly 220 is finished, the cup taking clamp 221 is released from the cup 11 and reset.

Optionally, the cup holder 210 and the horizontal module 222 are mounted on the rack 110 by a mount.

Optionally, cup holder 210 is provided with a vertically disposed storage channel 211, and a plurality of cups 11 are stacked and stored in this storage channel 211. Wherein, the cup holder 210 may be provided with a plurality of storage channels 211 to increase the amount of stored cups. For example, as shown in FIG. 2, the cup holder 210 is provided with three storage channels 211 for stacking cups 11.

In one embodiment, and with reference to fig. 1 and 3, frame 110 is further provided with an icing station 113 upstream of capping station 112. For example, the ice adding station 113 may be disposed upstream of the charging mechanism 300. The automatic milk tea machine further comprises an ice adding mechanism 500 positioned beside the ice adding station 113, and the ice adding mechanism 500 is used for adding ice blocks to the cup 11. When the ice milk tea needs to be made, the ice milk tea machine can realize the ice adding operation through the ice adding mechanism 500, and the taste requirements of customers are met.

Specifically, in conjunction with fig. 3 and 4, the ice adding mechanism 500 includes an ice storage bin 510 and a metered ice discharge unit 520. The ice bin 510 is provided with a feeding port 511 and a discharging port 512, and the quantitative ice discharging unit 520 comprises a third driving member and a pushing member 521 installed in the ice bin 510. The third driving member drives the pushing member 521 to work, so that the pushing member 521 quantitatively pushes the ice cubes in the ice storage bin 510 to the discharge port 512. Wherein, the ice cubes enter the ice storage bin 510 through the feeding port 511, and the third driving member drives the pushing member 521 to work, so as to output the ice cubes from the discharging port 512. Because the pushing amount of the pushing member 521 for pushing the ice cubes each time is fixed, the third driving member can control the pushing times of the pushing member 521, so that the pushing total amount of the ice cubes is controlled, quantitative ice discharging is realized, the amount of the ice cubes can be accurately added, and different requirements of different milk tea on the ice amount are met.

Optionally, the ice adding mechanism 500 further includes a stirring unit installed in the ice bin 510. The ice blocks are easy to harden into blocks at low temperature, so that the agglomerated ice blocks are not easy to discharge or the discharge amount is unstable. And the stirring unit is used for stirring the ice cubes in the ice storage bin 510 to ensure quantitative ice discharge.

Alternatively, the stirring unit comprises two stirring paddles 531 with opposite rotation directions. The paddles 531 are located on both sides of the pusher 521.

Alternatively, the third drive member may drive the pusher 521 to rotate, flip, or translate. The pusher 521 may be an auger, a bucket with a fixed capacity, or a scraping cartridge with a fixed capacity. For example, the third drive member drives the bucket to turn, so that the bucket fixedly scoops a certain amount of ice cubes from the inside of the ice bin 510 to the discharge port 512 at a time. For another example, the third driving member drives the scraping box to linearly reciprocate, so that the scraping box fixedly takes a certain amount of ice at a time and translates to the discharging port 512.

Optionally, the third driving member is a stepping motor, and the stepping motor can control the number of times of the pushing member 521 according to the received pulse signal.

Optionally, the quantitative ice discharging unit 520 further includes an ice discharging funnel 522, the ice discharging funnel 522 is located below the discharging hole 512, and the bottom of the ice discharging funnel 522 is the ice discharging station. Further, the quantitative ice discharging unit 520 further includes a seventh driving member 523 and a movable plate 524, the movable plate 524 is movably installed at the discharge port 512, the seventh driving member 523 is connected with the movable plate 524, and the seventh driving member 523 drives the movable plate 524 to open or close the discharge port 512. The seventh driving member 523 can be an air cylinder, a motor or an oil cylinder.

In one embodiment, in conjunction with fig. 1 and 5, the charging mechanism 300 includes a control valve 310, a manifold plate 320, and a pump body 330 connected in series. Control valve 310, manifold 320, and pump body 330 are all mounted to frame 110. One or more than one control valve 310 is provided, and the inlet of the control valve 310 is used for communicating with the milk tea liquid raw material container 13. The milk tea liquid raw material can also be arranged on the frame 110. Optionally, the manifold plate 320 is provided with the supply ports 321 corresponding to the number of the control valves 310, and the supply port 322 of the manifold plate 320 is communicated with the inlet of the pump body 330. The supply port 321 is connected to the control valve 310 via a pipe (not shown), and the supply port 322 is connected to the inlet of the pump body 330 via a pipe (not shown). The outlet of the pump body 330 is used for injecting the mixed milk tea liquid raw material into the cup 11. Thus, the feeding mechanism 300 can add at least one raw material into the cup 11, and can adjust the mixing of different types of raw materials according to the order requirement, so as to output milk tea with various flavors and meet the requirements of customers. When only one required milk tea liquid raw material is needed, the corresponding single control valve 310 is opened, and the raw material is extruded into the confluence plate 320, enters the pump body 330 through the feeding port 322 and is finally injected into the cup 11 under the pressure driving of the pump body 330.

Alternatively, the pump body 330 is a fixed displacement pump, which can precisely control the amount of charge. The control valve 310 may be selected as a solenoid valve.

Optionally, with reference to fig. 5 and 6, the confluence plate 320 is further provided with a high pressure air inlet 323, the high pressure air inlet 323 is communicated with both the material inlet 321 and the material outlet 322, and the high pressure air inlet 323 is used for communicating with an external high pressure air source. After the discharging operation is finished every time, the high-pressure air inlet 323 of the confluence plate 320 is used for air inlet, high-pressure air can flow in the confluence plate 320 and is output through the high-pressure air outlet 324 or enters the pump body 330 and then is output from the outlet of the pump body 330, so that liquid residues in the confluence plate 320 and the pump body 330 are removed, and the problem of tainting odor is solved.

In one embodiment, in conjunction with fig. 1 and 7, the frame 110 is further provided with a stirring station 114 located between the feeding station 111 and the capping station 112. The automatic milk tea machine further comprises a stirring mechanism 600 installed beside the stirring station 114, the stirring mechanism 600 comprises a vertical moving assembly 610 and a stirring assembly 620 installed on the vertical moving assembly 610, the stirring assembly 620 comprises a second driving piece 621 and a stirring rod 622, and the second driving piece 621 is used for driving the stirring rod 622 to rotate so as to achieve sufficient mixing of raw materials in the cup 11.

Specifically, referring to fig. 7, the stirring mechanism 600 further includes a horizontal moving assembly 630 mounted to the frame 110, the frame 110 is further mounted with a cleaning barrel 640, the horizontal moving assembly 630 is disposed between the cleaning barrel 640 and the stirring station 114, and the vertical moving assembly 610 is mounted on the horizontal moving assembly 630. After the stirring rod 622 finishes stirring the previous cup 11, the stirring rod 622 extends into the cleaning barrel 640 through the horizontal moving assembly 630 and the vertical moving assembly 610, and the second driving piece 621 drives the stirring rod 622 to rotate so as to clean the stirring rod 622, thereby preventing different milk tea from tainting odor.

Optionally, the second driver 621 is a stepper motor. The stepping motor can accurately control the rotation of the stirring rod 622 through pulse signals, and then accurately control the stirring times.

Alternatively, the washing tub 640 is provided at an upper portion thereof with a fresh water inlet 641 and at a lower portion thereof with a waste water outlet 642. The inner wall of the washing tub 640 is also provided with an inclined surface which becomes gradually lower toward the waste water outlet 642 side. The inclined plane is arranged so that the waste liquid can automatically flow to the waste water outlet 642, and the waste liquid can be conveniently discharged.

Optionally, the vertical moving assembly 610 is used for driving the stirring assembly 620 to perform an up-and-down motion. One of the vertical moving assembly 610 and the stirring assembly 620 is provided with a first guide block 611, and the other is provided with a first guide rail 623 engaged with the first guide block 611. The stirring assembly 620 is provided with a first guide rail 623, and the vertical moving assembly 610 is provided with a first guide block 611. The arrangement of the first guide block 611 and the first guide rail 623 can guide the lifting and lowering movement of the stirring assembly 620, and at the same time, can support the stirring assembly 620.

Optionally, the vertical movement assembly 610 includes a fifth drive 612. The fifth driving member 612 is connected to the stirring assembly 620 to drive the stirring assembly 620 to move up and down. The stirring assembly 620 is driven by the fifth driving member 612 to move up and down, so that the stirring rod 622 can move in and out of the cup 11 or the washing tub 640. Wherein the fifth driver 612 may be a pen cylinder.

Alternatively, one of the vertical moving assembly 610 and the horizontal moving assembly 630 is provided with a second guide block 613, and the other is provided with a second guide rail 631 which is engaged with the second guide block 613. The vertical moving assembly 610 is provided with a second guide rail 631, and the horizontal moving assembly 630 is provided with a second guide block 613. The second guide block 613 and the second guide rail 631 are disposed to guide the vertical moving assembly 610 in a horizontal movement.

Optionally, the horizontal moving assembly 630 includes a sixth driving element 632, and the sixth driving element 632 is used for driving the second guide block 613 to reciprocate linearly along the second guide rail 631. The sixth driving member 632 may be a rodless cylinder or a motor.

In one embodiment, in conjunction with fig. 1 and 8, the capping mechanism 400 includes a storage unit 410 and a pick-up unit 420. The pickup unit 420 includes a moving part 421 and a pickup part 422 mounted on the moving part 421. The moving part 421 moves the pickup part 422 between the cap storage unit 410 and the cap-up station 112.

When the pickup portion 422 moves to the lid storage unit 410, the pickup portion 422 picks up the lid 12. When the picking part 422 moves to the upper cover station 112, the picking part 422 can cover the cup cover 12 on the cup 11 positioned on the upper cover station 112, so that automatic upper cover operation is realized, the labor cost is saved, the working efficiency is improved, and the milk tea making time is shortened.

Optionally, referring to fig. 1, 8 and 9, lid storage unit 410 includes a first support 411 and a plurality of lid stacking portions 412 mounted on first support 411. More than two cup lid stacking portions 412 may increase the amount of cup lid 12 stored.

Optionally, lid stacking portion 412 includes a plurality of guide posts 413. A plurality of guide posts 413 are arranged in series along the outer contour of the lid 12 to form a storage space for a stack of lids 12. The guide post 413 is enclosed according to the outer contour of the cup cover 12, so that the cup covers 12 placed in the storage space are stacked orderly, the cup covers 12 cannot fall to the west, the cup covers 12 are limited, the cup covers 12 can be picked up accurately by the pickup unit 420 conveniently, and good positioning is provided for the subsequent cup covers 12 to be accurately arranged on the cup 11.

Optionally, referring also to FIG. 10, lid stacking portion 412 may further include a guide ring 414. The guide ring 414 is provided with mounting holes corresponding one-to-one to the guide posts 413. The guide ring 414 is fixed to the top of the guide post 413 through a mounting hole. The inner side surface of the guide ring 414 is matched with the outer contour of the cup cover 12, so that the cup cover 12 can be attached and abutted against the inner side surface of the guide ring 414 when leaving the cup cover stacking part 412, and the position of the cup cover 12 is adjusted and positioned, so that the subsequent cup cover 12 can be accurately covered on the cup 11.

Optionally, the guide ring 414 is open on one side and has an open structure.

Optionally, guide ring 414 may be provided with a detection unit (not shown) for detecting the number of lids 12 picked up, so as to count whether lids 12 are still stored in lid stack 412, and to instruct pickup unit 420 whether a next lid stack 412 needs to be picked up; alternatively, the current stack height is calculated based on detecting the number of cups 12 picked, and the picking travel distance of the picking unit 420 is directed.

Optionally, referring also to fig. 11, the lid storage unit 410 further includes a lid stacking plate 415 mounted between the first bracket 411 and the lid stacking portion 412. Stack plate 415 is provided with mounting locations that correspond one-to-one with lid stacks 412. The installation position is provided with a positioning groove 416 matched with the cup cover 12, so that the cup cover 12 positioned at the bottom can be stably placed under the limitation of the positioning groove 416, the whole stack of the cup covers 12 is orderly stacked, the positioning is accurate, the cup cover 12 can be accurately picked up by the picking unit 420, and the subsequent cup covers 12 can be accurately covered on the cup 11.

Optionally, the pickup 422 includes a rotating arm 423, a suction cup 424, and a pneumatic finger 425. The middle part of the rotating arm 423 is rotatably installed on the moving part 421, the suction cup 424 and the pneumatic finger 425 are installed at two ends of the rotating arm 423, the pneumatic finger 425 is used for grabbing or releasing the cup 11, and the moving part 421 can drive the pneumatic finger 425 to move to the meal taking place. During the actual use, the sucking disc 424 is earlier established the bowl cover 12 lid on cup 11, then removal portion 421 drives sucking disc 424 and leaves cup 11, and after the rotatory 180 degrees of swinging boom 423, pick up portion 422 descends, and pneumatic finger 425 just can snatch the cup 11 of having covered bowl cover 12 to carry to the station of having a dinner. Therefore, the upper cover device not only can automatically and accurately cover, but also can realize automatic meal delivery.

Wherein the suction cup 424 can avoid damaging the cup cover 12, particularly the paper cup cover 12. Optionally, the suction cup 424 is a silicone suction cup 424. The pneumatic fingers 425 are flexible fingers.

Optionally, the pickup unit 420 further includes a second bracket 426 for mounting the moving part 421. The moving unit 421 is a six-axis robot. It is understood that the moving part 421 can also adopt a three-axis translation mode to realize the movement of the pickup part 422 in a three-dimensional space.

Optionally, in conjunction with fig. 8, 9, and 12, the cover mechanism 400 further includes a positioning unit 440. The positioning unit 440 includes a bottom plate 441, a guide 442, a limiting member 443, and a fourth driving member 444, wherein the bottom plate 441 is mounted on the frame 110, the guide 442 and the limiting member 443 are respectively located at two sides of the bottom plate 441, the fourth driving member 444 is connected to the guide 442, and the fourth driving member 444 is used for driving the guide 442 to move toward or away from the limiting member 443. The lid 12 is positioned by the positioning unit 440 and the lid 12 is moved to the lid station 112 by the pick-up unit 420. The lid 12 is placed between the guide 442 and the retaining part 443, and the driving part drives the guide 442 to move close to the retaining part 443 until the guide 442 abuts against the lid 12, so that the lid 12 is clamped and fixed by the guide 442 and the retaining part 443 to achieve accurate positioning, which facilitates the lid 12 to be accurately picked up by the picking part 422, and achieves accurate lid-mounting operation.

Specifically, the guide 442 includes a first swash plate 445 and a second swash plate 446 connected to each other. The interval between the first sloping plate 445 and the second sloping plate 446 gradually increases in a direction approaching the stopper 443. The first inclined plate 445 and the second inclined plate 446 are respectively abutted against two sides of the cup cover 12 to realize the positioning of the cup cover 12 in two directions. When the first inclined plate 445 and the second inclined plate 446 come into contact with the lid 12, they gradually come into point contact with the lid 12, and damage to the lid 12 can be avoided.

The limiting member 443 is fixed on the bottom plate 441, and the bottom plate 441 may be provided with a strip-shaped hole 447, so that the limiting member 443 can be installed in the strip-shaped hole 447 in a position-adjustable manner, and the positioning position can be adjusted. Optionally, the retaining member 443 is a retaining bolt, and the fourth driving member 444 is a dual rod cylinder drive.

In one embodiment, referring to fig. 1, 8 and 13, the moving module 120 includes a first driving member 121, a first positioning plate 122 having a first half-hole 1221, and a second positioning plate 123 having a second half-hole 1231, the first half-hole 1221 and the second half-hole 1231 are located correspondingly, and the first driving member 121 drives the first positioning plate 122 and the second positioning plate 123 to move together and apart. When the first positioning plate 122 and the second positioning plate 123 are folded, the first half-hole 1221 and the second half-hole 1231 enclose a clamping hole for clamping the cup 11. The moving module 120 can clamp or release the cup 11 through the clamping hole and move between the stations of the conveying mechanism 100, so that the cup 11 can be conveyed between the stations.

Alternatively, each moving module 120 has two clamping holes, and the interval between the two clamping holes is greater than or equal to the interval between two adjacent stations. In the process of reciprocating each moving module 120 between two adjacent stations, the former clamping hole can reciprocate between the first station and the second station, and the latter clamping hole can reciprocate between the second station and the third station. Thus, each moving module 120 can transfer cups 11 between three adjacent stations, and the working range is widened.

Optionally, there are more than two moving modules 120. The moving modules 120 are arranged in sequence along the conveying direction of the conveying mechanism 100, and each moving module 120 is used for transferring the cups 11 between two adjacent stations. When the movable module 120 is more than two, the catering machine can process at a plurality of stations simultaneously, so that the production efficiency is improved.

To achieve intermittent feeding, more than two moving modules 120 are employed. For example, when the previous moving module 120 is at the ice adding station 113, the next moving module 120 sends the cup 11 completed at the charging station 111 to the next station, so that the operation is circulated, and the intermittent conveying is realized.

The technical features of the embodiments described above may be arbitrarily combined, and for the sake of brevity, all possible combinations of the technical features in the embodiments described above are not described, but should be considered as being within the scope of the present specification as long as there is no contradiction between the combinations of the technical features.

The above-mentioned embodiments only express several embodiments of the present invention, and the description thereof is more specific and detailed, but not construed as limiting the scope of the invention. It should be noted that, for a person skilled in the art, several variations and modifications can be made without departing from the inventive concept, which falls within the scope of the present invention. Therefore, the protection scope of the present patent shall be subject to the appended claims.

Claims

1. The automatic milk tea machine is characterized by comprising:

2. The automatic milky tea maker as claimed in claim 1, wherein the cup taking assembly comprises a cup taking clamp, a horizontal module and a vertical module, the cup taking clamp is mounted on the horizontal module, the horizontal module can drive the cup taking clamp to move in a horizontal direction, the horizontal module is mounted on the vertical module, and the vertical module can drive the horizontal module to move in a vertical direction.

3. The automatic milk tea machine according to claim 1, wherein the moving module comprises a first driving member, a first positioning plate provided with a first half hole and a second positioning plate provided with a second half hole, the first half hole and the second half hole correspond in position, and the first driving member drives the first positioning plate and the second positioning plate to close and separate; when the first positioning plate and the second positioning plate are folded, the first half hole and the second half hole enclose a clamping hole for clamping a cup.

4. The automatic milk tea machine according to claim 3, characterized in that each moving module has two clamping holes, and the interval between the two clamping holes is greater than or equal to the interval between two adjacent work stations.

5. The automatic milk tea machine according to claim 1, characterized in that the number of the moving modules is more than two, the moving modules are sequentially arranged along the conveying direction of the conveying mechanism, and each moving module is used for transferring the cups between two adjacent stations.

6. The automatic milky tea machine as claimed in claim 1, wherein the frame is further provided with a stirring station located between the feeding station and the upper cover station, the automatic milky tea machine further comprises a stirring mechanism installed beside the stirring station, the stirring mechanism comprises a vertical moving assembly and a stirring assembly installed on the vertical moving assembly, the stirring assembly comprises a second driving member and a stirring rod, and the second driving member is used for driving the stirring rod to rotate.

7. The automatic milky tea maker as claimed in claim 6, wherein the stirring mechanism further comprises a horizontal moving assembly mounted to the frame, the frame further having a washing tub mounted thereto, the horizontal moving assembly being disposed between the washing tub and the stirring station, the vertical moving assembly being mounted to the horizontal moving assembly.

8. The automatic milky tea machine as claimed in claim 7, wherein the upper part of the washing barrel is provided with a clear water inlet, and the lower part is provided with a waste water outlet; the inner wall of the cleaning barrel is also provided with an inclined plane which gradually becomes lower towards the waste water outlet side.

9. The automatic milky tea machine as claimed in claim 1, wherein the frame is further provided with an ice adding station upstream of the upper cover station, and the automatic milky tea machine further comprises an ice adding mechanism beside the ice adding station, and the ice adding mechanism is used for adding ice blocks to the cup.

10. The automatic milk tea machine according to claim 9, wherein the ice adding mechanism comprises an ice storage bin and a quantitative ice discharging unit; the ice storage bin is provided with a feeding port and a discharging port, the stirring unit is installed in the ice storage bin, and the quantitative ice discharging unit comprises a third driving piece and a pushing piece installed in the ice storage bin; the third driving piece drives the pushing piece to work, so that the pushing piece pushes ice blocks in the ice storage bin to the discharge hole quantitatively.

11. The automatic milk tea machine according to claim 10, wherein the ice adding mechanism further comprises a stirring unit installed in the ice storage bin, the stirring unit comprises two stirring paddles with opposite rotation directions, and the stirring paddles are located on two sides of the pushing member.

12. The automatic milky tea machine as claimed in any one of claims 1 to 11, wherein the upper cover mechanism comprises a cover storage unit and a pick-up unit, the pick-up unit comprises a moving part and a pick-up part mounted on the moving part, and the moving part drives the pick-up part to move between the cover storage unit and the upper cover station.

13. The automatic milk tea machine according to claim 12, wherein the upper cover mechanism further comprises a positioning unit, the positioning unit comprises a bottom plate, a guide member, a limiting member and a fourth driving member, the bottom plate is mounted on the machine frame, the guide member and the limiting member are respectively located on two sides of the bottom plate, the fourth driving member is connected with the guide member, and the fourth driving member is used for driving the guide member to move towards a direction close to or far away from the limiting member.

14. The automatic milky tea machine of claim 12, wherein the pickup portion includes a rotating arm, a suction cup and a pneumatic finger; the middle part of the rotating arm is rotatably arranged on the moving part, the sucking disc and the pneumatic fingers are arranged at two ends of the rotating arm, the pneumatic fingers are used for grabbing or releasing the cup, and the moving part can drive the pneumatic fingers to move to a meal taking place.