CN110974006A - Robot milk tea machine - Google Patents
Robot milk tea machine Download PDFInfo
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- CN110974006A CN110974006A CN201911361739.4A CN201911361739A CN110974006A CN 110974006 A CN110974006 A CN 110974006A CN 201911361739 A CN201911361739 A CN 201911361739A CN 110974006 A CN110974006 A CN 110974006A
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- milk tea
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- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47J—KITCHEN EQUIPMENT; COFFEE MILLS; SPICE MILLS; APPARATUS FOR MAKING BEVERAGES
- A47J31/00—Apparatus for making beverages
- A47J31/40—Beverage-making apparatus with dispensing means for adding a measured quantity of ingredients, e.g. coffee, water, sugar, cocoa, milk, tea
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- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47J—KITCHEN EQUIPMENT; COFFEE MILLS; SPICE MILLS; APPARATUS FOR MAKING BEVERAGES
- A47J31/00—Apparatus for making beverages
- A47J31/44—Parts or details or accessories of beverage-making apparatus
- A47J31/4403—Constructional details
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- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47J—KITCHEN EQUIPMENT; COFFEE MILLS; SPICE MILLS; APPARATUS FOR MAKING BEVERAGES
- A47J31/00—Apparatus for making beverages
- A47J31/44—Parts or details or accessories of beverage-making apparatus
- A47J31/46—Dispensing spouts, pumps, drain valves or like liquid transporting devices
- A47J31/461—Valves, e.g. drain valves
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- Engineering & Computer Science (AREA)
- Food Science & Technology (AREA)
- Apparatus For Making Beverages (AREA)
Abstract
The invention discloses a robot milk tea machine which comprises a rack, a mechanical arm mechanism, a cup dropping mechanism, a milk tea bucket mechanism, a pearl adding mechanism, an ice making mechanism, a stirring mechanism, a sealing mechanism, an air compressor and a control box, wherein the mechanical arm mechanism is arranged on the rack; the cup dropping mechanism is used for providing a milk tea cup; the milk tea barrel mechanism is used for quantitatively providing milk tea; the pearl adding mechanism is used for quantitatively providing pearls; the ice making mechanism is used for quantitatively providing ice blocks; the stirring mechanism is used for stirring the milk tea; the sealing mechanism is used for completing the sealing action of the milk tea cup; the mechanical arm mechanism is used for transferring milk tea cups; the control box is used for controlling the operation of the equipment; the air compressor is respectively connected with the mechanical arm mechanism and the cup falling mechanism and used for providing an air source. The automatic milk tea making machine realizes full-automatic milk tea making, is more accurate in feeding, shortens the milk tea making time, is high in efficiency, saves the labor cost, is long in service life, is convenient to modify and move, and is convenient to popularize.
Description
Technical Field
The invention relates to the technical field of milk tea machines, in particular to a robot milk tea machine.
Background
At present, the milk tea is popular at home and abroad as a beverage suitable for all people; however, the existing milk tea can be made only through a series of production steps, and a milk tea shop only manually makes the milk tea, so that the milk tea making speed is low, and the milk tea making efficiency is low; with the development of science and technology, the robot technology has developed relatively mature and can replace manual work to complete a series of actions, but the combination of the robot and milk tea making is not realized in the market at present, so that a robot milk tea machine is needed to be provided for introducing milk tea shops to replace manual work and for exhibition in venues.
Disclosure of Invention
The invention aims to overcome the defects of the prior art and provides a robot milky tea machine.
The technical scheme of the invention is as follows: a robotic milky tea maker, comprising: the milk tea maker comprises a rack, a mechanical arm mechanism, a cup dropping mechanism, a milk tea bucket mechanism, a pearl adding mechanism, an ice making mechanism, a stirring mechanism, a sealing mechanism, an air compressor and a control box; the cup dropping mechanism is arranged on a panel of the rack and is used for providing a milk tea cup; the milk tea bucket mechanism is arranged on the panel at one side of the cup falling mechanism and is used for providing milk tea; the pearl adding mechanism is arranged on the panel at one side of the milk tea barrel mechanism and is used for providing pearls; the ice making mechanism is arranged on the panel at one side of the pearl adding mechanism and is used for providing ice blocks; the stirring mechanism is arranged on the panel at one side of the ice making mechanism and is used for stirring milk tea; the sealing mechanism is arranged on the panel at one side of the stirring mechanism and is used for sealing the milk tea cup; the mechanical arm mechanism is arranged on a panel at one side of the sealing mechanism and used for transferring the milk tea cup; the control box is arranged on a bottom plate of the rack below the mechanical arm mechanism and used for controlling equipment to run; the air compressor is arranged on the bottom plate on one side of the control box and is respectively connected with the mechanical arm mechanism and the cup falling mechanism and used for providing an air source.
Preferably, the mechanical arm mechanism consists of a six-axis mechanical arm and a pneumatic clamping jaw; the six-axis mechanical arm is arranged on the panel, is electrically connected with the control box and is controlled by the control box to realize six-axis motion; the pneumatic clamping jaw is installed in six arms, the pneumatic clamping jaw with air compressor is connected, just the pneumatic clamping jaw still with the control box electricity is connected.
Preferably, the cup dropping mechanism comprises a support, a rotating device, a cup dropping device and a plurality of cup cylinders; the bracket is arranged on the panel, and a cup outlet hole is formed in a top plate of the bracket; the rotating device is rotatably arranged on the top plate and is electrically connected with the control box; the plurality of cup cylinders are uniformly distributed in the rotating device, a plurality of milk tea cups are placed in each cup cylinder in advance, and cup falling holes are formed in the positions, corresponding to the cup cylinders, of the rotating device; the cup falling device is arranged in the support and is electrically connected with the control box.
Preferably, the rotating device consists of a turntable, a synchronous gear, a first motor and a synchronous belt; the cup falling holes are formed in the positions, corresponding to the cup cylinders, of the rotary table, the rotary table is further provided with a connecting column, the rotary table can be rotatably installed on the top plate around the axis of the rotary table through the connecting column, and the bottom of the connecting column penetrates out of the top plate downwards and is arranged in the support; the synchronous gear is fixedly arranged at the bottom of the connecting column; the first motor is arranged below the top plate on one side of the synchronous gear, is electrically connected with the control box, and is provided with a transmission gear on an output shaft; the synchronous belt is arranged on the synchronous gear and the transmission gear.
Preferably, the cup falling device consists of an air cylinder and a clamp; the cylinder is arranged on the top plate below the synchronous belt, is connected with the air compressor and is also electrically connected with the control box; the clamp is arranged on the output shaft of the air cylinder below the cup outlet hole, and inclined planes are arranged on the left side and the right side of the clamp and used for separating the two milk tea cups.
Preferably, the cup dropping mechanism further comprises a sensor; the sensor is arranged on the top plate above the clamp and is electrically connected with the control box, and the sensor is used for detecting whether the milk tea cups in the cup cylinders above the cup holes are used up in real time and feeding back signals to the control box.
Preferably, the milk tea bucket mechanism comprises a milk tea bucket; the milk tea bucket is arranged on the panel at one side of the cup falling mechanism, milk tea is prepared in the milk tea bucket in advance, and a water outlet is formed in one side of the milk tea bucket facing the mechanical arm mechanism; the water outlet is provided with a flowmeter electromagnetic valve which is electrically connected with the control box.
Preferably, the pearl adding mechanism comprises a top cover, a base, a supporting barrel, a second motor, a first feeding device and a storage barrel; the base is arranged on the panel at one side of the milk tea bucket mechanism; the supporting barrel is arranged on the base, and a discharge hole is formed in one side, facing the mechanical arm mechanism, of the supporting barrel; the first feeding device is arranged in the supporting barrel, and the discharge end of the first feeding device is connected with the discharge port and used for quantitatively conveying the pearls; the second motor is arranged outside the supporting barrel on the opposite side of the discharging side of the first feeding device, and an output shaft of the second motor is connected with the first feeding device; the storage barrel is arranged above the first feeding device and is used for storing pearls, the bottom of the storage barrel is connected with the first feeding device, and a material receiving hole is formed in the position, corresponding to the bottom of the storage barrel, of the first feeding device; the top cover is detachably mounted on the top of the storage barrel through buckling connection.
Preferably, the first feeding device consists of a first screw rod and a bin; the storage bin is arranged in the supporting barrel and is connected with the bottom of the storage barrel, the storage bin is provided with the material receiving hole corresponding to the bottom of the storage barrel, a connecting pipe is arranged on one side of the storage bin, which faces the discharge port, and the storage bin is communicated with the discharge port through the connecting pipe; first hob can rotate around self axle center install in the feed bin, just the one end of first hob stretches into in the connecting tube, the other end of first hob is worn out the feed bin and with the output shaft of second motor is connected.
Preferably, the stirring mechanism consists of a mounting frame, a fourth motor and a stirring rod; the mounting frame is mounted on the panel at one side of the ice making device; the fourth motor is vertically arranged at the top of the mounting rack and provided with a relay, and the relay is electrically connected with the control box and the fourth motor respectively; the stirring rod is installed on an output shaft of the fourth motor.
By adopting the scheme, the invention has the following beneficial effects:
1. compared with the prior art, the automatic milk tea making machine has the advantages that the milk tea making machine can make milk tea fully automatically, the milk tea making machine is more accurate in feeding, shortens the milk tea making time, is high in efficiency, saves labor cost, is long in service life, is convenient to modify and move, and is convenient to popularize;
2. the application of flowmeter solenoid valve in the preferred scheme effectively ensures that the milk tea output amount is fixed every time, and the accuracy is high.
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 some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the structures shown in the drawings without creative efforts.
FIG. 1 is a schematic perspective view of the present invention;
FIG. 2 is a schematic perspective view of the robotic arm mechanism of the present invention;
FIG. 3 is a cross-sectional view of a three-dimensional structure of the cup dropping mechanism of the present invention;
FIG. 4 is a cross-sectional view of a three-dimensional configuration of the pearl adding mechanism of the present invention;
fig. 5 is a schematic perspective view of the stirring mechanism of the present invention.
The implementation, functional features and advantages of the objects of the present invention will be further explained with reference to the accompanying drawings.
Detailed Description
The invention is described in detail below with reference to the figures and the specific embodiments.
Referring to fig. 1 to 5, the present invention provides a robot milky tea maker, including: the milk tea making machine comprises a frame 1, a mechanical arm mechanism 2, a cup dropping mechanism 3, a milk tea bucket mechanism 4, a pearl adding mechanism 5, an ice making mechanism 6, a stirring mechanism 7, a sealing mechanism 8, an air compressor 9 and a control box 10; the cup dropping mechanism 3 is arranged on the panel 101 of the rack 1 and is used for providing a milk tea cup; the milk tea bucket mechanism 4 is arranged on the panel 101 at one side of the cup falling mechanism 3 and is used for providing milk tea; the pearl adding mechanism 5 is arranged on the panel 101 at one side of the milk tea barrel mechanism 4 and is used for providing pearls; the ice making mechanism 6 is arranged on the panel 101 at one side of the pearl adding mechanism 5 and is used for providing ice blocks; the stirring mechanism 7 is arranged on the panel 101 at one side of the ice making mechanism 6 and is used for stirring milk tea; the sealing mechanism 8 is arranged on the panel 101 at one side of the stirring mechanism 7 and is used for sealing the milk tea cup; the mechanical arm mechanism 2 is arranged on the panel 101 at one side of the sealing mechanism 8 and used for transferring the milk tea cup; the control box 10 is arranged on a bottom plate 102 of the rack 1 below the mechanical arm mechanism 2 and used for controlling equipment to operate; the air compressor 9 is installed on the bottom plate 102 at one side of the control box 10, and the air compressor 9 is respectively connected with the mechanical arm mechanism 2 and the cup dropping mechanism 3 for providing an air source.
The mechanical arm mechanism 2 consists of a six-axis mechanical arm 201 and a pneumatic clamping jaw 202; the six-axis mechanical arm 201 is mounted on the panel 101, the six-axis mechanical arm 201 is electrically connected with the control box 10, and the six-axis mechanical arm 201 is controlled by the control box 10 to realize six-axis motion; the pneumatic clamping jaw 202 is installed in the six-axis mechanical arm 201, the pneumatic clamping jaw 202 is connected with the air compressor 9, the pneumatic clamping jaw 202 is further electrically connected with the control box 10, the six-axis mechanical arm 201 is controlled through the control box 10 to drive the pneumatic clamping jaw 202 to move to a preset position during application, and the control box 10 controls the pneumatic clamping jaw 202 to clamp or loosen the milk tea cup.
The cup falling mechanism 3 comprises a bracket 301, a rotating device, a cup falling device and four cup cylinders 302; the bracket 301 is mounted on the panel 101 at one side of the six-axis mechanical arm 201, and a through cup outlet hole is formed in a top plate of the bracket 301; the rotating device is rotatably arranged on the top plate and is electrically connected with the control box 10; the four cup cylinders 302 are uniformly arranged in the rotating device, a plurality of milk tea cups are placed in each cup cylinder 302 in advance, and a through cup falling hole is formed in the rotating device corresponding to each cup cylinder 302; the cup falling device is arranged in the bracket 301 and is electrically connected with the control box 10; when in use, the control box 10 controls the rotating device to drive the cup barrel 302 to rotate to the position above the cup outlet hole, and the control box 10 controls the cup falling device to take off a milk tea cup;
the rotating device consists of a turntable 303, a synchronous gear 304, a first motor 305 and a synchronous belt 306; the cup falling holes are formed in the positions, corresponding to the cup barrels 302, of the rotary disc 303, connecting columns are further arranged on the rotary disc 303, the rotary disc 303 can be rotatably mounted on the top plate around the axis of the rotary disc 303 through the connecting columns, and the bottoms of the connecting columns penetrate out of the top plate downwards and are arranged in the supports 301; the synchronous gear 304 is fixedly arranged at the bottom of the connecting column; the first motor 305 is installed below the top plate on one side of the synchronous gear 304, specifically, the first motor 305 is a stepping motor, the first motor 305 is electrically connected with the control box 10, and an output shaft of the first motor 305 is provided with a transmission gear; the synchronous belt 306 is arranged on the synchronous gear 304 and the transmission gear and used for transmission; when the cup cylinder switching mechanism is used, the first motor 305 drives the synchronous belt 306 to rotate through the transmission gear connected with the first motor, the synchronous belt 306 drives the synchronous gear 304 to rotate, the synchronous gear 304 drives the rotary disc 303 to rotate around the axis of the synchronous gear 304 through the connecting column connected with the synchronous gear, and therefore the action of switching the cup cylinder 302 is completed;
the cup falling device consists of a cylinder 307 and a clamp 308; the cylinder 307 is mounted on the top plate below the synchronous belt 306, specifically, the cylinder 307 is a dual-shaft push rod cylinder 307, the cylinder 307 is connected with the air compressor 9, and the cylinder 307 is further electrically connected with the control box 10; the clamp 308 is arranged on the output shaft of the cylinder 307 below the cup outlet hole, and inclined planes are arranged in the middle of the left side and the right side of the clamp 308 and used for separating the two milk tea cups; when in use, the clamp 308 is driven by the cylinder 307 to move back and forth, so that the action of the milk taking teacup is finished;
the cup falling mechanism 3 further comprises a sensor; the sensor is arranged on the top plate above the clamp 308 and is electrically connected with the control box 10, and is used for detecting whether milk tea cups in the cup cylinder 302 above the cup hole are used up in real time and feeding back signals to the control box 10, so that the control box 10 controls the rotating device to realize the function of automatically switching the cup cylinder 302.
The milk tea barrel mechanism 4 comprises a milk tea barrel; the milk tea bucket is arranged on the panel 101 at one side of the bracket 301, milk tea is prepared in the milk tea bucket in advance, and a water outlet is formed in one side of the milk tea bucket facing the six-axis mechanical arm 201; the water outlet is provided with a flowmeter electromagnetic valve which is electrically connected with the control box 10, and the control box 10 controls the flowmeter electromagnetic valve to be opened and closed during use, so that the milk tea is controlled.
The pearl adding mechanism 5 comprises a top cover 501, a base 502, a supporting barrel 503, a second motor 504, a first feeding device and a storage barrel 505; the base 502 is mounted on the panel 101 at one side of the milk tea bucket; the supporting barrel 503 is mounted on the base 502, the supporting barrel 503 is a hollow structure, and a discharge hole is formed in one side of the supporting barrel 503 facing the six-axis mechanical arm 201; the first feeding device is arranged in the supporting barrel 503, and the discharge end of the first feeding device is connected with the discharge hole and is used for quantitatively conveying the pearls; the second motor 504 is installed outside the supporting barrel 503 on the opposite side of the discharging side of the first feeding device, specifically, the second motor 504 is a stepping motor, and an output shaft of the second motor 504 is connected with the first feeding device; the storage barrel 505 is arranged above the first feeding device and is mounted on the support barrel 503, the storage barrel 505 is of a hollow structure and is used for storing pearls, the bottom of the storage barrel 505 is connected with the first feeding device, and a material receiving hole is formed in the position, corresponding to the bottom of the storage barrel 505, of the first feeding device; the top cover 501 is detachably mounted at the top of the storage barrel 505 in a buckling connection mode, pearls can be added into the storage barrel 505 by taking away the top cover 501 when the storage barrel is used, and a dustproof and pollution-proof effect can be achieved when the top cover 501 is buckled at the top of the storage barrel 505;
the first feeding device consists of a first screw rod 506 and a storage bin 507; the storage bin 507 is installed in the supporting barrel 503, the storage bin 507 is of a hollow structure, the storage bin 507 is connected with the bottom of the storage barrel 505, the storage bin 507 is provided with the material receiving hole corresponding to the bottom of the storage barrel 505, a connecting pipe is arranged on one side of the storage bin 507 facing the discharge port, and the storage bin 507 is communicated with the discharge port through the connecting pipe; the first spiral rod 506 can be rotatably installed in the storage bin 507 around the axis of the first spiral rod, one end of the first spiral rod 506 extends into the connecting pipe, and the other end of the first spiral rod 506 penetrates through the storage bin 507 and is connected with an output shaft of the second motor 504; when the pearl feeding device is used, pearls flow into the material receiving hole to be fed into the material receiving bin 507, the first spiral rod 506 is driven to rotate around the axis of the pearls through the second motor 504, the pearls in the material receiving hole are driven to enter the connecting pipe through the first spiral rod 506, and therefore the pearls flow into the milk tea cup placed below the material outlet through the material outlet, automatic pearl feeding is completed, the rotating number of turns of the first spiral rod 506 can be accurately controlled due to the fact that the stepping motor is used as a power source, the output amount of the pearls is fixed at each time, the pearl feeding device is more accurate than manual pearl feeding, and the pearl feeding speed is also improved.
The ice making mechanism 6 consists of an ice making device for making the ice cubes, an ice storage device for storing the ice cubes and a second feeding device; the second feeding device is arranged on the panel 101 at one side of the base 502 and is used for feeding the ice blocks from the ice storage device to milk tea cups placed below the second feeding device;
the ice making device is provided with a water inlet pipe for realizing water inlet by being externally connected with a water tap;
the ice storage device is of a hollow structure, a discharging hole is formed in the bottom of the ice making device, and the ice making device sends made ice blocks into the ice storage device through the discharging hole when in use;
the second feeding device consists of an ice storage, a second screw rod and a third motor; the ice house is arranged on the panel 101 at one side of the base 502, is of a hollow structure, is provided with an ice inlet at the joint with the ice storage device, and is provided with an ice outlet pipe at one side facing the six-axis mechanical arm 201; the third motor is installed outside the ice storage on the opposite side of the ice outlet pipe, specifically, the third motor is a stepping motor, and the third motor is electrically connected with the control box 10; the second screw rod can rotate around the axis of the second screw rod and is arranged in the ice storage, one end of the second screw rod penetrates through the ice storage and is connected with an output shaft of the third motor, the other end of the second screw rod extends into the ice outlet pipe, when the ice storage is used, ice blocks flow into the ice storage from the ice inlet, the second screw rod is driven to rotate around the axis of the second screw rod through the third motor and is driven to enter the connecting pipe through the second screw rod, so that the ice blocks flow into a milk tea cup placed below the ice outlet pipe through the ice outlet pipe, the action of automatically adding the ice blocks is completed, and the rotating number of turns of the second screw rod can be accurately controlled due to the fact that the stepping motor is used as a power source, the fixed output amount of the ice blocks at each time is ensured, the ice blocks are more accurate compared with manual ice block adding, and the speed of adding the ice;
and the bottom of the ice house is also provided with a drain pipe for discharging waste water.
The stirring mechanism 7 consists of a mounting frame 701, a fourth motor 702 and a stirring rod 703; the mounting rack 701 is mounted on the panel 101 at one side of the ice bank; the fourth motor 702 is vertically installed at the top of the mounting frame 701, specifically, the fourth motor 702 is an alternating current motor, and the fourth motor 702 is provided with a relay which is electrically connected with the control box 10 and the fourth motor 702 respectively; the stirring rod 703 is mounted on an output shaft of the fourth motor 702, and when the milk tea cup is used, the stirring rod 703 is driven to rotate by the fourth motor 702, and the stirring action of the milk tea in the milk tea cup is completed by the stirring rod 703.
The sealing mechanism 8 adopts a full-automatic sealing machine, the full-automatic sealing machine is electrically connected with the control box 10, and the full-automatic sealing machine is controlled by the control box 10 to complete the sealing action of the milk tea cup during use.
The bottom of the machine frame 1 is provided with a plurality of horse wheels 103, which is convenient for moving the equipment.
The working process and principle of the invention are as follows: after the equipment is powered on and started, the six-axis mechanical arm 201 drives the pneumatic clamping jaw 202 to move to the position below the clamp 308, the control box 10 sends a control signal to the cup dropping mechanism 3, so that the cylinder 307 drives the clamp 308 to finish the cup taking action, and the taken milk tea cup is clamped by the pneumatic clamping jaw 202; then, the pneumatic clamping jaw 202 moves the milk tea cup to the lower part of the water outlet of the milk tea bucket under the driving of the six-axis mechanical arm 201 connected with the pneumatic clamping jaw, the control box 10 sends a control signal to the flow meter electromagnetic valve, so that the flow meter electromagnetic valve is opened, milk tea in the milk tea bucket flows into the milk tea cup through the water outlet, when the flow meter electromagnetic valve monitors that the flow reaches a preset standard, the flow meter electromagnetic valve feeds back a signal to the control box 10, and the control box 10 sends an instruction to control the flow meter electromagnetic valve to be closed, so that the action of automatically adding; then, the pneumatic clamping jaw 202 moves the milk tea cup to the lower part of a discharge hole of the pearl adding mechanism 5 under the driving of the six-axis mechanical arm 201 connected with the pneumatic clamping jaw, the control box 10 sends a control signal to the second motor 504, the second motor 504 is started to drive the first screw rod 506 connected with the second motor to send pearls into the connecting pipe, the pearls flow into the milk tea cup through the discharge hole, and the second motor 504 stops after rotating for a preset number of turns to finish the automatic pearl adding action; then, the pneumatic clamping jaw 202 moves the milk tea cup to the lower part of an ice outlet pipe of the ice making mechanism 6 under the driving of a six-axis mechanical arm 201 connected with the pneumatic clamping jaw, the control box 10 sends a control signal to a third motor, the third motor is started to drive a second screw rod connected with the third motor to send ice blocks into the ice outlet pipe, the ice blocks flow into the milk tea cup through the ice outlet pipe, and the third motor stops after rotating for a preset number of turns to finish the action of automatically adding the ice blocks; then, the pneumatic clamping jaw 202 moves the milk tea cup to the lower part of the stirring rod 703 under the driving of the six-axis mechanical arm 201 connected with the pneumatic clamping jaw, the control box 10 sends a control signal to the fourth motor 702, the fourth motor 702 is started to drive the stirring rod 703 connected with the fourth motor to rotate in the milk tea cup, and the fourth motor 702 stops after rotating for a preset number of turns, so that the automatic stirring action is completed; then, the pneumatic clamping jaws 202 move the milk tea cup to the upper part of the full-automatic sealing machine through the driving of the six-axis mechanical arm 201 connected with the pneumatic clamping jaws 202, the pneumatic clamping jaws 202 are loosened, the milk tea cup falls into the full-automatic sealing machine, the control box 10 sends a control signal to the full-automatic sealing machine, the full-automatic sealing machine is started to seal the milk tea cup, the milk tea cup is ejected out after the sealing is finished, the milk tea cup is clamped through the pneumatic clamping jaws 202, the pneumatic clamping jaws 202 are driven by the six-axis mechanical arm 201 to move the milk tea cup to a material taking position, the manufactured milk tea can be taken out after the pneumatic clamping jaws 202 are loosened, and at the moment, the six-axis mechanical arm 201; and the process is circulated.
Compared with the prior art, the invention has the following beneficial effects:
1. compared with the prior art, the automatic milk tea making machine has the advantages that the milk tea making machine can make milk tea fully automatically, the milk tea making machine is more accurate in feeding, shortens the milk tea making time, is high in efficiency, saves labor cost, is long in service life, is convenient to modify and move, and is convenient to popularize;
2. the application of flowmeter solenoid valve in the preferred scheme effectively ensures that the milk tea output amount is fixed every time, and the accuracy is high.
The present invention is not limited to the above preferred embodiments, and any modifications, equivalent substitutions and improvements made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (10)
1. The utility model provides a robot milk tea machine which characterized in that includes: the milk tea maker comprises a rack, a mechanical arm mechanism, a cup dropping mechanism, a milk tea bucket mechanism, a pearl adding mechanism, an ice making mechanism, a stirring mechanism, a sealing mechanism, an air compressor and a control box; the cup dropping mechanism is arranged on a panel of the rack and is used for providing a milk tea cup; the milk tea bucket mechanism is arranged on the panel at one side of the cup falling mechanism and is used for providing milk tea; the pearl adding mechanism is arranged on the panel at one side of the milk tea barrel mechanism and is used for providing pearls; the ice making mechanism is arranged on the panel at one side of the pearl adding mechanism and is used for providing ice blocks; the stirring mechanism is arranged on the panel at one side of the ice making mechanism and is used for stirring milk tea; the sealing mechanism is arranged on the panel at one side of the stirring mechanism and is used for sealing the milk tea cup; the mechanical arm mechanism is arranged on a panel at one side of the sealing mechanism and used for transferring the milk tea cup; the control box is arranged on a bottom plate of the rack below the mechanical arm mechanism and used for controlling equipment to run; the air compressor is arranged on the bottom plate on one side of the control box and is respectively connected with the mechanical arm mechanism and the cup falling mechanism and used for providing an air source.
2. The robotic milky tea maker of claim 1, wherein the robotic arm mechanism is comprised of a six-axis robotic arm and a pneumatic gripper; the six-axis mechanical arm is arranged on the panel, is electrically connected with the control box and is controlled by the control box to realize six-axis motion; the pneumatic clamping jaw is installed in six arms, the pneumatic clamping jaw with air compressor is connected, just the pneumatic clamping jaw still with the control box electricity is connected.
3. The robot milk tea machine of claim 1, wherein the cup dropping mechanism comprises a support, a rotating device, a cup dropping device and a plurality of cup cylinders; the bracket is arranged on the panel, and a cup outlet hole is formed in a top plate of the bracket; the rotating device is rotatably arranged on the top plate and is electrically connected with the control box; the plurality of cup cylinders are uniformly distributed in the rotating device, a plurality of milk tea cups are placed in each cup cylinder in advance, and cup falling holes are formed in the positions, corresponding to the cup cylinders, of the rotating device; the cup falling device is arranged in the support and is electrically connected with the control box.
4. The robot milky tea maker according to claim 3, wherein the rotating means is composed of a turntable, a synchronous gear, a first motor and a synchronous belt; the cup falling holes are formed in the positions, corresponding to the cup cylinders, of the rotary table, the rotary table is further provided with a connecting column, the rotary table can be rotatably installed on the top plate around the axis of the rotary table through the connecting column, and the bottom of the connecting column penetrates out of the top plate downwards and is arranged in the support; the synchronous gear is fixedly arranged at the bottom of the connecting column; the first motor is arranged below the top plate on one side of the synchronous gear, is electrically connected with the control box, and is provided with a transmission gear on an output shaft; the synchronous belt is arranged on the synchronous gear and the transmission gear.
5. The robotic milky tea maker of claim 4, wherein the cup dropping device is comprised of a cylinder and a clamp; the cylinder is arranged on the top plate below the synchronous belt, is connected with the air compressor and is also electrically connected with the control box; the clamp is arranged on the output shaft of the air cylinder below the cup outlet hole, and inclined planes are arranged on the left side and the right side of the clamp and used for separating the two milk tea cups.
6. The robotic milky tea machine of claim 5, wherein the cup dropping mechanism further comprises a sensor; the sensor is arranged on the top plate above the clamp and is electrically connected with the control box, and the sensor is used for detecting whether the milk tea cups in the cup cylinders above the cup holes are used up in real time and feeding back signals to the control box.
7. The robotic milky tea machine of claim 1, wherein the milky tea bucket mechanism includes a milky tea bucket; the milk tea bucket is arranged on the panel at one side of the cup falling mechanism, milk tea is prepared in the milk tea bucket in advance, and a water outlet is formed in one side of the milk tea bucket facing the mechanical arm mechanism; the water outlet is provided with a flowmeter electromagnetic valve which is electrically connected with the control box.
8. The robot milky tea maker as claimed in claim 1, wherein the pearl adding mechanism comprises a top cover, a base, a supporting barrel, a second motor, a first feeding device and a storage barrel; the base is arranged on the panel at one side of the milk tea bucket mechanism; the supporting barrel is arranged on the base, and a discharge hole is formed in one side, facing the mechanical arm mechanism, of the supporting barrel; the first feeding device is arranged in the supporting barrel, and the discharge end of the first feeding device is connected with the discharge port and used for quantitatively conveying the pearls; the second motor is arranged outside the supporting barrel on the opposite side of the discharging side of the first feeding device, and an output shaft of the second motor is connected with the first feeding device; the storage barrel is arranged above the first feeding device and is used for storing pearls, the bottom of the storage barrel is connected with the first feeding device, and a material receiving hole is formed in the position, corresponding to the bottom of the storage barrel, of the first feeding device; the top cover is detachably mounted on the top of the storage barrel through buckling connection.
9. The robotic milky tea machine of claim 8, wherein the first feeding device is comprised of a first screw rod and a bin; the storage bin is arranged in the supporting barrel and is connected with the bottom of the storage barrel, the storage bin is provided with the material receiving hole corresponding to the bottom of the storage barrel, a connecting pipe is arranged on one side of the storage bin, which faces the discharge port, and the storage bin is communicated with the discharge port through the connecting pipe; first hob can rotate around self axle center install in the feed bin, just the one end of first hob stretches into in the connecting tube, the other end of first hob is worn out the feed bin and with the output shaft of second motor is connected.
10. The robot milky tea maker according to claim 1, wherein the stirring mechanism is composed of a mounting frame, a fourth motor and a stirring rod; the mounting frame is mounted on the panel at one side of the ice making device; the fourth motor is vertically arranged at the top of the mounting rack and provided with a relay, and the relay is electrically connected with the control box and the fourth motor respectively; the stirring rod is installed on an output shaft of the fourth motor.
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| CN201911361739.4A CN110974006A (en) | 2019-12-26 | 2019-12-26 | Robot milk tea machine |
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| CN201911361739.4A CN110974006A (en) | 2019-12-26 | 2019-12-26 | Robot milk tea machine |
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| CN110974006A true CN110974006A (en) | 2020-04-10 |
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