CN111096389A

CN111096389A - Milk tea and ice cream integrated machine and milk tea ice cream manufacturing method

Info

Publication number: CN111096389A
Application number: CN201911249435.9A
Authority: CN
Inventors: 张胡升; 李志文
Original assignee: Guangdong Zhiyuan Robot Technology Co Ltd
Current assignee: Guangdong Zhiyuan Robot Technology Co Ltd
Priority date: 2019-10-10
Filing date: 2019-12-09
Publication date: 2020-05-05

Abstract

The invention relates to a milk tea and ice cream all-in-one machine and a milk tea ice cream manufacturing method. The milk tea and ice cream all-in-one machine comprises an ice cream unit, a milk tea unit, a double-arm robot and a container taking box; the milk tea unit is used for making milk tea finished products; the double-arm robot is arranged between the ice cream unit and the milk tea unit, comprises a left arm and a right arm, and can operate the ice cream unit and the milk tea unit according to the requirements of a user; get the packing box setting in the place ahead of double-armed robot, double-armed robot can place ice cream finished product and milk tea finished product in getting the packing box. The milk tea and ice cream all-in-one machine disclosed by the invention is smaller in floor area, higher in manufacturing efficiency, convenient to take and use, more convenient and faster, and higher in user experience.

Description

Milk tea and ice cream integrated machine and milk tea ice cream manufacturing method

Technical Field

The invention relates to the technical field of catering robots, in particular to a milk tea and ice cream all-in-one machine and a milk tea and ice cream manufacturing method.

Background

The ice cream and the milk tea are deeply loved by consumers as daily food. At present, most of ice cream and milk tea have different making points and selling points respectively, and equipment capable of automatically making and selling milk tea and ice cream is lacked in the market. If the ice cream machine and the milk tea machine are respectively placed at the same place to realize simultaneous making and selling, the problems of large occupied area, troublesome goods taking operation and the like exist.

Disclosure of Invention

Based on the milk tea and ice cream integrated machine and the milk tea and ice cream manufacturing method, milk tea and ice cream can be manufactured and sold simultaneously, the occupied area is small, and the milk tea and ice cream integrated machine is convenient to take.

In order to achieve the purpose, the invention adopts the following technical scheme:

an all-in-one machine with milk tea and ice cream comprises:

the milk tea making device comprises an ice cream unit and a milk tea unit, wherein the ice cream unit is used for making ice cream finished products, and the milk tea unit is used for making milk tea finished products;

the double-arm robot is arranged between the ice cream unit and the milk tea unit, comprises a left arm and a right arm and is configured to control the ice cream unit and the milk tea unit according to the requirements of a user;

get the packing box, set up in the place ahead of double-armed robot, double-armed robot can with the ice cream finished product with the milk tea finished product is placed get in the packing box.

The invention has the beneficial effects that: the ice cream unit and the milk tea unit are arranged together, so that the overall size of the milk tea and ice cream all-in-one machine is reduced, the occupied area of the milk tea and ice cream all-in-one machine is smaller, and the milk tea and ice cream all-in-one machine is convenient to popularize and use; the double-arm robot is arranged between the ice cream unit and the milk tea unit to replace manpower and is used for operating the ice cream unit and the milk tea unit according to the requirements of users; the double-arm robot comprises a left arm and a right arm, can simultaneously manufacture ice cream finished products and milk tea finished products, and has higher manufacturing efficiency; the ice cream product and the milk tea product that the preparation was accomplished are placed in the packing box of getting in double-armed robot the place ahead, and convenience of customers takes, improves the convenience that the user used milk tea ice cream all-in-one.

As a preferable scheme of the milk tea and ice cream all-in-one machine, the ice cream unit comprises an ice cream machine and a cup supply mechanism located on one side of the ice cream machine, and the left arm or the right arm is used for grabbing a cup provided by the cup supply mechanism and moving the grabbed cup to the lower part of the ice cream machine to obtain ice cream.

As a preferred scheme of the milk tea and ice cream all-in-one machine, the ice cream unit further comprises a sauce supply mechanism and a nut blanking mechanism which are arranged on one side of the ice cream machine, and the left arm or the right arm can selectively move to the position below the sauce supply mechanism to obtain slurry or the position below the nut blanking mechanism to obtain nuts after the ice cream is obtained.

As a preferred scheme of the milk tea and ice cream all-in-one machine, the sauce supply mechanism is provided with a plurality of sauce tanks for storing different sauces, and the nut blanking mechanism is provided with a plurality of nut tanks for storing different nuts so as to adapt to different user requirements.

As a preferred scheme of the milk tea and ice cream all-in-one machine, the cup supply mechanism comprises a cup cylinder and a cup discharging device, the cup is placed in the cup cylinder, and the left arm or the right arm grabs the cup at an outlet of the cup discharging device.

As an optimal scheme of the milk tea and ice cream all-in-one machine, the milk tea unit comprises a beverage machine, a cup sleeve supply mechanism and a cup cover supply mechanism, the cup sleeve supply mechanism and the cup cover supply mechanism are arranged on one side of the beverage machine, the left arm or the right arm is used for grabbing a cup sleeve provided by the cup sleeve supply mechanism, the left arm or the right arm is further used for sending the grabbed cup sleeve to the position below the beverage machine to obtain a beverage, and the left arm or the right arm is further used for grabbing a cup cover provided by the cup cover supply mechanism and buckling the cup cover on the cup.

As a preferable scheme of the milk tea and ice cream all-in-one machine, the milk tea unit further comprises an ice discharging machine which is positioned in front of the beverage machine, and the left arm or the right arm can be selectively moved to the position below the ice discharging machine to obtain ice cubes before being moved to the cup cover supply mechanism.

As an optimal scheme of milk tea ice cream all-in-one, milk tea unit still includes milk tea auxiliary material unloader, milk tea auxiliary material device includes two at least feed mechanism and first unloading pipe, every feed mechanism all includes the storage silo and divides the material driving piece, the storage silo is equipped with the feed inlet, divide the material driving piece be used for with auxiliary material in the storage silo is followed the feed inlet output, first unloading pipe is equipped with feed inlet and two at least feed inlets, the feed inlet with the feed inlet intercommunication, left arm or right arm can remove extremely the feed inlet acquires the milk tea auxiliary material.

As a preferred scheme of the milk tea and ice cream all-in-one machine, the milk tea unit further comprises a second discharging pipe, and two ends of the second discharging pipe are respectively communicated with the ice outlet of the ice discharging machine and the feeding hole of the first discharging pipe.

As a preferred scheme of the milk tea and ice cream all-in-one machine, the milk tea and ice cream all-in-one machine further comprises a show window, and the ice cream unit, the milk tea unit, the double-arm robot and the container are all arranged in the show window.

As a preferred scheme of milk tea ice cream all-in-one, get the packing box and include:

the bracket is provided with a guide rail;

the box body is arranged on the bracket and is provided with a goods taking port;

the goods taking door is in sliding fit with the guide rail and is used for opening or closing the goods taking opening; and the number of the first and second groups,

and the second driving piece is in driving connection with the goods taking door.

As the preferred scheme of a milk tea ice cream all-in-one, left arm and right arm all are equipped with gets a cup clamping jaw, it includes to get a cup clamping jaw:

the third driving piece is provided with a first movable part and a second movable part, and the first movable part and the second movable part can move close to or away from each other;

the first clamping jaw is connected with the first movable part; the second clamping jaw is connected with the second movable part, the first clamping jaw and the second clamping jaw can limit a containing cavity for containing the cup body, and the cavity wall of the containing cavity is a conical surface matched with the cup body.

The invention also provides a milk tea ice cream making method, which comprises the following steps:

acquiring a user order instruction;

the double-arm robot clamps the cup and transmits the cup to the ice cream unit and/or the milk tea unit;

controlling the ice cream unit to make an ice cream finished product according to the user order instruction and/or controlling the milk tea unit to make a milk tea finished product according to the user order instruction;

the double-arm robot clamps the ice cream finished product or the milk tea finished product and conveys the ice cream finished product or the milk tea finished product into a container.

According to the milk tea ice cream manufacturing method, the milk tea and the ice cream are manufactured through the milk tea ice cream all-in-one machine, the milk tea ice cream all-in-one machine is provided with the ice cream unit and the milk tea unit together, the overall size of the milk tea ice cream all-in-one machine is reduced, the occupied area of the milk tea ice cream all-in-one machine is smaller, and the milk tea ice cream all-in-one machine; the double-arm robot is arranged between the ice cream unit and the milk tea unit to replace manpower and is used for operating the ice cream unit and the milk tea unit according to the requirements of users; the left arm and the right arm of the double-arm robot can be used for simultaneously making ice cream finished products and milk tea finished products, so that the making efficiency is higher; the ice cream product and the milk tea product that the preparation was accomplished are placed in the packing box of getting in double-armed robot the place ahead, and convenience of customers takes, improves the convenience that the user used milk tea ice cream all-in-one.

As a preferred scheme of the milk tea ice cream making method, when the user order instruction includes a milk tea order, the milk tea ice cream making method includes the following steps:

the right arm of the double-arm robot clamps a milk tea cup provided by the cup sleeve supply mechanism and conveys the milk tea cup to the lower part of the milk tea machine of the milk tea unit;

the beverage machine injects a tea bottom into the milk tea cup;

the milk tea cup is clamped by the right arm and is conveyed to a discharging opening of the milk tea auxiliary material discharging device, and the milk tea auxiliary material discharging device injects milk tea auxiliary materials and/or ice blocks into the milk tea cup;

the right arm grabs the cup cover provided by the cup cover supply mechanism and buckles the cup cover on the milk tea cup to obtain a milk tea finished product;

the right arm clamps the milk tea finished product and conveys the milk tea finished product into the container.

As a preferred scheme of the milk tea ice cream making method, when the user order instruction includes an ice cream order, the milk tea ice cream making method includes the following steps:

the left arm of the double-arm robot clamps the ice cream cup provided by the cup supply mechanism and conveys the ice cream cup to the lower part of an ice cream machine of the ice cream unit;

the ice cream machine injects ice cream into the ice cream cup;

the left arm moves the ice cream cup to the position below the sauce supply mechanism and obtains the pulp and/or the left arm moves the ice cream cup to the position below the nut blanking mechanism and obtains the nut to obtain the finished ice cream product;

the left arm conveys the finished ice cream product into the container.

Drawings

FIG. 1 is a top view of an embodiment of a milk tea and ice cream all-in-one machine;

FIG. 2 is a schematic structural diagram of the milk tea and ice cream all-in-one machine shown in FIG. 1;

FIG. 3 is a schematic structural diagram of another embodiment of the milk tea and ice cream all-in-one machine;

FIG. 4 is a schematic structural view of a milk tea accessory blanking device according to an embodiment;

FIG. 5 is a schematic structural view of a milk tea accessory blanking device shown in FIG. 4;

FIG. 6 is a schematic structural view of a first feeding mechanism of the tea auxiliary material blanking device shown in FIG. 4;

FIG. 7 is a schematic view of an embodiment of a pick box;

FIG. 8 is a schematic illustration of the pick box of FIG. 7 with the box body omitted;

FIG. 9 is a schematic view of the body of the pick box shown in FIG. 7;

FIG. 10 is a top view of an embodiment of a cup taking jaw;

FIG. 11 is an isometric view of the cup-removing jaw shown in FIG. 10;

fig. 12 is a schematic structural diagram of a cup taking robot according to an embodiment.

Description of reference numerals:

1. an ice cream unit; 11. an ice cream machine; 12. a cup supply mechanism; 121. a cup cylinder; 122. a cup dropping device; 13. a sauce supply mechanism; 14. a nut blanking mechanism; 141. a nut jar; 2. a milk tea unit; 21. a beverage machine; 22. a cup holder supply mechanism; 23. a cup cover supply mechanism; 24. discharging an ice machine; 25. a first feeding mechanism; 251. a first storage bin; 252. a cover body; 253. a first driving member; 254. dividing an impeller; 255. a photoelectric sensing plate; 256. mounting a plate; 257. a bearing seat; 27. a first blanking pipe; 271. a first feed port; 272. a second feed port; 273. a third feed inlet; 274. a feeding port; 28. a second blanking pipe; 26. a third feeding mechanism; 261. a second storage bin; 262. a peristaltic pump; 263. a third blanking pipe; 3. a two-arm robot; 31. a left arm; 32. a right arm; 33. taking a cup clamping jaw; 330. a third driving member; 331. a guide rail; 332. a first slider; 333. a first cushion block; 334. a second slider; 335. a second cushion block; 341. a first jaw; 342. a second jaw; 343. an accommodating chamber; 344. a conical surface; 350. a photosensor; 351. a groove; 4. taking a container; 410. a support; 411. a guide rail; 412. a mounting surface; 413. a cross beam; 414. a sliding plate; 420. a box body; 421. a goods taking port; 422. a projection; 423. avoiding holes; 430. a second driving member; 431. a connecting plate; 432. mounting a plate; 433. a reinforcing plate; 440. a goods taking door; 441. and (4) a human-computer interface.

Detailed Description

In order to make the aforementioned objects, features and advantages of the present invention comprehensible, embodiments accompanied with figures are described in detail below. In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present invention. This invention may, however, be embodied in many different forms and should not be construed as limited to the embodiments set forth herein, but rather should be construed as broadly as the present invention is capable of modification in various respects, all without departing from the spirit and scope of the present invention.

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. The terms "vertical," "horizontal," "left," "right," "up," "down," and the like as used herein are for illustrative purposes only and do not denote a unique embodiment.

Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs. The terminology used in the description of the invention herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. As used herein, the term "and/or" includes any and all combinations of one or more of the associated listed items.

The terms "first" and "second" used herein do not denote any particular order or quantity, but rather are used to distinguish one element from another.

As shown in fig. 1 to 3, the present embodiment provides an all-in-one machine with milk tea and ice cream, which includes an ice cream unit 1, a milk tea unit 2, a double-arm robot 3 and a delivery box 4; wherein the ice cream unit 1 is used for making ice cream finished products, and the milk tea unit 2 is used for making milk tea finished products; the double-arm robot 3 is arranged between the ice cream unit 1 and the milk tea unit 2, the double-arm robot 3 comprises a left arm 31 and a right arm 32, and the ice cream unit 1 and the milk tea unit 2 can be operated according to the requirements of a user; get packing box 4 and set up in the place ahead of double-armed robot 3, double-armed robot 3 can place ice cream finished product and milk tea finished product in getting packing box 4.

Preferably, the ice cream unit 1 and the milk tea unit 2 can be enclosed into a U-shaped space, so that the overall size of the milk tea and ice cream all-in-one machine is reduced, the occupied area of the milk tea and ice cream all-in-one machine is smaller, and the milk tea and ice cream all-in-one machine is convenient to popularize and use.

A double-arm robot 3 is arranged in a U-shaped space enclosed by the ice cream unit 1 and the milk tea unit 2 to replace manpower and is used for operating the ice cream unit 1 and the milk tea unit 2 according to the requirements of users; the double-arm robot 3 comprises a left arm 31 and a right arm 32, can simultaneously make ice cream finished products and milk tea finished products, and has higher making efficiency; the ice cream product and the milk tea product that the preparation was accomplished are placed in getting packing box 4 in 3 the place ahead of double-armed robot, and convenience of customers takes, improves the convenience that the user used milk tea ice cream all-in-one.

As shown in fig. 2, the ice cream unit 1 includes an ice cream machine 11 and a cup supply mechanism 12 located on one side of the ice cream machine 11, and a left arm 31 or a right arm 32 can grab a cup on the cup supply mechanism 12 and move to a position below the ice cream machine 11 to obtain ice cream.

The ice cream unit 1 further comprises a sauce supply mechanism 13 and a nut blanking mechanism 14 which are arranged on one side of the ice cream machine 11, and a left arm 31 or a right arm 32 can selectively move to the position below the sauce supply mechanism 13 or the nut blanking mechanism 14 after ice cream is obtained to obtain slurry or nuts. Preferably, the sauce supply mechanism 13 and the nut blanking mechanism 14 are arranged on one side of the ice cream machine 11 far away from the cup supply mechanism 12, so that the making sequence of the ice cream unit 1 is more consistent, and the milk tea and ice cream all-in-one machine is higher in efficiency.

The material supply mechanism is provided with a plurality of sauce tanks, and the nut blanking mechanism 14 is provided with a plurality of nut tanks 141 to adapt to different user demands.

The cup supply mechanism 12 includes a cup cylinder 121 and a lower cup 122, the cup is placed in the cup cylinder 121, and the left arm 31 or the right arm 32 grips the cup at the outlet of the lower cup 122.

The working process of the ice cream unit 1 is as follows: the left arm 31 or the right arm 32 firstly grabs the cup at the outlet of the cup dropping device 122 according to the requirement of the user; then moving the ice cream machine 11 to obtain ice cream; then selectively moving the pulp to the lower part of the sauce supply mechanism 13 or the kernel blanking mechanism 14 to obtain the pulp or the kernels; finally, the finished ice cream product is placed in the delivery box 4.

As shown in fig. 2, the milk tea unit 2 includes a beverage maker 21, a cup holder supply mechanism 22 and a cup lid supply mechanism 23, the cup holder supply mechanism 22 is disposed on one side of the beverage maker 21, and the left arm 31 or the right arm 32 can grip the cup holder at the cup holder supply mechanism 22, move to the position below the beverage maker 21 to obtain the beverage, and move to the cup lid supply mechanism 23 to obtain the cup lid and snap-fit the cup lid on the cup holder.

The milk tea unit 2 further comprises an ice discharger 24, the ice discharger 24 is positioned in front of the beverage machine 21, and a left arm 31 or a right arm 32 can be selectively moved to a position below the ice discharger 24 to obtain ice cubes before being moved to the lid supply mechanism 23.

Further, referring to fig. 4-6, the milk tea unit 2 may further include a milk tea auxiliary material feeding device for automatically adding auxiliary materials such as pearls, coconuts, and the like into milk tea. Specifically, milk tea auxiliary material unloader includes two at least feeding mechanism and first unloading pipe 27. Wherein, the feeding mechanism is used for supplying the auxiliary materials for the milk tea, and preferably, one feeding mechanism is used for supplying one auxiliary material for the milk tea. Specifically, each feeding mechanism comprises a storage bin and a material distribution driving piece. The storage silo is used for depositing the milk tea auxiliary material, and the storage silo is equipped with the feed opening and is used for the milk tea auxiliary material to flow, divides the material driving piece setting in feed opening department for the auxiliary material in the storage silo is exported from the feed opening by one. Preferably, the output of the auxiliary materials can be preset according to the requirement. The first discharging pipe 27 is used for conveying the milk tea auxiliary materials to the milk tea cup. Specifically, the first discharging pipe 27 is provided with a discharging opening 274 for discharging the auxiliary materials for milk tea, and at least two feeding openings for feeding the auxiliary materials. Further, a feed opening of the first blanking pipe 27 communicates with a feed mechanism feed opening.

Above-mentioned milk tea auxiliary material unloader is through setting up two at least feed mechanism of autonomous working each other on first unloading pipe 27 to make milk tea auxiliary material unloader can have the automatic unloading function that makes the independent unloading of milk tea auxiliary material or make the unloading of multiple auxiliary material simultaneously, compare in traditional manual interpolation milk tea auxiliary material, through the full-automatic unloading of milk tea auxiliary material unloader improve milk tea preparation efficiency, reduced the human cost. Simultaneously, at least two work material mechanisms are arranged on the first blanking pipe 27 together, and blanking is carried out by taking the first blanking pipe 27 as a main channel, so that the space is saved, and the blanking efficiency is improved. And through the mutual cooperation of control feeding mechanism, can produce different unloading effects. For example, a hybrid type blanking in which a plurality of auxiliary materials are mixed by controlling all the feeding mechanisms to simultaneously blank. Or the feeding mechanisms are controlled to feed materials in different time periods, so that different auxiliary materials are positioned in different layers in a layered mode.

Specifically, referring to fig. 4, the milk tea auxiliary material discharging device is provided with three feeding mechanisms, namely a first feeding mechanism 25, a second feeding mechanism and a third feeding mechanism 26. Correspondingly, the first discharging pipe 27 is provided with a first feeding hole 271, a second feeding hole 272 and a third feeding hole 273, the feeding port of the first feeding mechanism 25 is communicated with the first feeding hole 271, the feeding port of the second feeding mechanism is communicated with the second feeding hole 272, and the third feeding mechanism 26 is communicated with the third feeding port. Preferably, the first feeding mechanism 25, the second feeding mechanism and the third feeding mechanism 26 are respectively used for feeding different auxiliary materials, such as pearls, ice cubes, coconut or fruit pulp.

Specifically, referring to fig. 5 and 6, the first feeding mechanism 25 includes a first storage bin 251, a splitter wheel 254, and a first driving member 253. The first storage bin 251 is used for storing a first auxiliary material, preferably, the first auxiliary material may be pearls. The first storage bin 251 is provided with a first feed port (not shown) opposite to the first feed port 271. The sub-impeller 254 is rotatably disposed at the first feeding hole 271 and the sub-impeller 254 is drivingly connected to the first driving member 253, and the sub-impeller 254 is provided with at least two blades for feeding the first auxiliary raw material into the first feeding hole 271 one by one. Specifically, a certain interval is provided between two adjacent blades, and when the impeller 254 is not in operation, the impeller 254 blocks the first feed port, so as to prevent the first auxiliary material from flowing out of the first storage bin 251. When the auxiliary material feeding device works, the impeller 254 is driven to rotate by the first driving piece 253, and when the impeller 254 rotates by an angle between two adjacent blades, the first auxiliary material with corresponding components is pushed into the first feeding hole 271 by the blades, so that the first auxiliary material is fed into the first feeding hole 271 one by one. Preferably, the splitter wheel 254 is provided with six blades, which are evenly spaced in the circumferential direction of the splitter wheel 254. It should be noted that the first feeding mechanism 25 is not limited to supply pearls, and other auxiliary materials, such as nuts, coconuts, etc., can be supplied to the first feeding mechanism 25 by people.

With continued reference to fig. 6, the first feeding mechanism 25 further includes a mounting plate 256 and the cover 252, the mounting plate 256 is connected to the first discharging pipe 27, preferably, the mounting plate 256 is disposed at an end of the first discharging pipe 27 near the first feeding port 271, and the mounting plate 256 is welded to the first discharging pipe 27. The mounting plate 256 serves as a mounting base for the first feed mechanism 25. Specifically, the first driving member 253 is provided on the mounting plate 256, and the first driving member 253 is detachably mounted on the mounting plate 256 by a screw member such as a bolt, for example. The rotary shaft of the sub-impeller 254 is connected to the output shaft of the first driving member 253 via a coupling. Referring to fig. 1, the housing 252 is coupled to the mounting plate 256 and fits over the divider wheel 254 and the first drive member 253. The cover 252 is used to prevent impurities such as dust from contaminating the first auxiliary material in the first feeding mechanism 25, and further, as shown in fig. 1, the first storage bin 251 is disposed above the cover 252, and the first feeding port of the first storage bin 251 faces the impeller 254 and the first feeding port 271 of the first blanking pipe 27.

Further, referring to fig. 6, the first feeding mechanism 25 further includes two bearing seats 257, the two bearing seats 257 are disposed on the mounting plate 256 and located at two sides of the first feeding port 271, and two ends of the impeller 254 are rotatably connected to the two bearing seats 257 respectively. Preferably, both ends of the divided impeller 254 are respectively disposed on the bearing seats 257 by rolling bearings, so that the rotation of the divided impeller 254 is more smooth.

With continued reference to fig. 6, the first feeding mechanism 25 further includes a photo sensor (not shown) and a photo sensor board 255, and specifically, the photo sensor is electrically connected to the first driving member 253, so that the rotation and the stop of the first driving member 253 can be controlled by the monitoring of the photo sensor. The photoelectric sensing plate 255 is disposed opposite to the photoelectric sensor, and the photoelectric sensing plate 255 is used for shielding a light signal of the photoelectric sensor, thereby triggering the photoelectric sensor. Preferably, the photo sensor panel 255 is provided with a plurality of light barriers for triggering the photo sensors, and the plurality of light barriers are radially spaced. Further, the number of the light blocking pieces of the photo sensing plate 255 corresponds to the number of the blades of the minute impeller 254, and the photo sensing plate 255 rotates in synchronization with the minute impeller 254, for example, the photo sensing plate 255 is disposed on the rotation shaft of the minute impeller 254, thereby achieving the rotation in synchronization with the minute impeller 254. And since the number of the light blocking plates of the photo-electric sensing plate 255 is equal to the number of the blades of the segmented impeller 254, the angle between two adjacent light blocking plates is equal to the angle between two adjacent blades, and when the segmented impeller 254 rotates by an angle, the photo-electric sensor is triggered to control the first driving member 253 to stop rotating. When the optical signal of the photo sensor is not blocked by the light blocking sheet, the first driving member 253 keeps rotating, so that the rotation angle of the sub-vane wheel 254 can be accurately detected and controlled by matching the photo sensor with the photo sensing plate 255, and the sub-vane wheel 254 can be ensured to send out the first auxiliary material one by one.

Preferably, a lower ice maker 24 may be provided on the second feeding mechanism for supplying ice cubes. Specifically, referring to fig. 4, the second feeding mechanism further includes a second blanking pipe 28. The ice crusher 24 is used for making ice cubes, and in particular the ice crusher 24 is further provided with an ice outlet for ice cube output. Preferably, the ice maker 24 may be an ice maker that is commercially available. Further, two ends of the second discharging pipe 28 are respectively communicated with the ice outlet of the ice discharger 24 and the second feeding hole 272 of the first discharging pipe 27. Preferably, the second feeding hole 272 opens at a side of the first blanking pipe 27. The first and second discharging

pipes

27 and 28 are integrally formed in a "y" shape. Preferably, the first blanking pipe 27 and the second blanking pipe 28 are an integral pipe or the first blanking pipe 27 and the second blanking pipe 28 are an integral structure.

Referring to fig. 5, the third feeding mechanism 26 includes a second storage bin 261, a third feeding pipe 263 and a peristaltic pump 262, the second storage bin 261 is used for storing a second auxiliary material, and preferably, the second auxiliary material may be a milk tea auxiliary material with good fluidity, such as coconut granules, fruit pulp or mixed liquid. The second storage silo 261 is provided with a second feeding port, and two ends of the third discharging pipe 263 are respectively communicated with the second feeding port and the third feeding port 273, so as to convey the second auxiliary material in the second storage silo 261 into the first discharging pipe 27. The peristaltic pump 262 is disposed on the third discharging tube 263, and the peristaltic pump 262 is used for driving the second auxiliary material to be discharged. Preferably, the third feeding pipe 263 is a flexible pipe, and the third feeding pipe 263 is divided into two sections, one section of which is connected to the second feeding port and the feeding port of the peristaltic pump 262, and the other section of which is connected to the discharging port of the peristaltic pump 262 and the third feeding port 273. The peristaltic pump 262 alternately extrudes and releases the third discharging pipe 263 to form negative pressure in the third discharging pipe 263, and the second auxiliary material flows along with the negative pressure, so that the second auxiliary material is pumped. Preferably, the milk tea auxiliary material blanking device is provided with at least two third feeding mechanisms 26. For example, as shown in fig. 1, the milk tea auxiliary material discharging device is provided with two third feeding mechanisms 26, and the two third feeding mechanisms 26 respectively and independently work, so that the discharging efficiency of the second auxiliary material is improved.

Specifically, the access box 4 of one embodiment includes a bracket 410, a housing 420, an access door 440, and a second drive member 430. Wherein the bracket 410 is used as a mounting base, and the bracket 410 is provided with a guide rail 411. The box body 420 is used for storing food and beverage goods to ensure the sanitation of the food and beverage goods. The box 420 is provided with a pick-up opening 421 for a customer to pick up goods. The access door 440 is slidably engaged with the guide rail 411 for opening or closing the access opening 421. The second driving member 430 is drivingly connected to the access door 440, and is used for driving the access door 440 to slide along the guide rail 411, so that the access door 440 opens or closes the access opening 421.

Specifically, referring to fig. 7, two or more cases 420 may be disposed on the bracket 410, each case 420 is correspondingly disposed with two guide rails 411, the two guide rails 411 are disposed at intervals, and two sides of the access door 440 are respectively in sliding fit with the two guide rails 411. The second driving member 430 is disposed between the two guide rails 411, the second driving member 430 may be an air cylinder, and an output shaft of the air cylinder is connected to a bottom edge of the access door 440, so as to drive the access door 440 to move up and down, and further open or close the access opening 421.

The container 4 is provided with a guide rail 411 on the bracket 410, and the second driving element 430 drives the goods taking door 440 to slide on the slide rail, so as to open or close the goods taking opening 421. Compare with traditional mode switching through the upset door 440 of getting goods, the door 440 is got through gliding mode switching to get packing box 4 of this application to avoided getting goods door 440 to collide the commodity in box 420 at the upset in-process, improved the consumption experience of getting goods security and customer. And because the sliding type goods taking door 440 can be tightly attached to the wall of the box body 420 in the opening and closing movement, the operation space occupied by the goods taking door 440 is small, and further the whole structure of the goods taking box 4 is compact, and the space is saved. In addition, the opening and closing mode of the second driving piece 430 driving the goods taking door 440 to slide on the sliding rail is easier to realize and the opening and closing movement of the goods taking door 440 is smoother compared with the opening and closing mode of controlling the goods taking door 440 to turn.

Specifically, referring to fig. 7, the bracket 410 includes a mounting surface 412 and both ends of a rail 411 of a cross beam 413 disposed apart from the mounting surface 412 are disposed on the mounting surface 412 and the cross beam 413, respectively. Further, the case 420 is disposed on the mounting surface 412. Crossbeam 413 sets up in installation face 412 below to make guide rail 411 extend along vertical direction, and guide rail 411 is located the box 420 below, thereby get goods door 440 through the drive of second driving piece 430 and do the lift fortune along guide rail 411, make the free space of box 420 below obtain make full use of, saved the space, make get the packing box 4 structure more compact.

Further, referring to fig. 8-9, the housing 420 has a protrusion 422 extending beyond the mounting surface 412, and the access opening 421 is disposed on the protrusion 422, such as the access opening 421 is disposed on a side of the protrusion 422. The end face of the protrusion 422 close to the guide rail 411, that is, the bottom face of the protrusion 422 is provided with an avoiding hole 423 for the goods taking door 440 to pass through, so that the goods taking door 440 can be lifted inside the box body 420 through the avoiding hole 423, and the structure of the goods taking box 4 is more compact. Meanwhile, the frame of the goods taking door 440 moving inside the box body 420 can be shielded by the box body 420, and the influence of the goods taking door 440 on the overall appearance of the goods taking box 4 is avoided.

Referring to fig. 7, the cross beam 413 is provided with a fixing assembly, and the second driving member 430 is detachably disposed on the cross beam 413 through the fixing assembly, thereby facilitating replacement and installation of the second driving member 430. Specifically, the fixing assembly includes a connecting plate 431 and a mounting plate 432, the connecting plate 431 is connected to the beam 413 and attached to the surface of the beam 413, and preferably, the connecting plate 431 is connected to the beam 413 through a screw, such as a bolt. The mounting plate 432 is disposed at an angle to the connecting plate 431, the mounting plate 432 extends outwardly to protrude the cross beam 413, and the second driving member 430 is connected to the mounting plate 432. Preferably, the connection plate 431 is disposed perpendicular or approximately perpendicular to the installation, and a reinforcement plate 433 is disposed between the connection plate 431 and the installation plate 432, so as to enhance the connection stability of the connection plate 431 and the installation plate 432.

Referring to fig. 8, the pick-up box 4 further includes a sliding plate 414, and the sliding plate 414 is slidably disposed on the guide rail 411. The sliding plate 414 is used to connect with the access door 440 to make the lifting and lowering movement of the access door 440 smoother. Preferably, one end of the sliding plate 414 near the box body 420 can extend out of the guide rail 411, and one end of the sliding plate 414 near the box body 420 is connected to the bottom edge of the access door 440, so that the sliding plate 414 can push the access door 440 through the escape hole 423 to close or open the access opening 421 without extending the guide rail 411 to the top of the box body 420. Preferably, one end of the guide rail 411, which is away from the container 4, is provided with a first limiting portion, and the first limiting portion is used for abutting against the sliding plate 414 so as to prevent the sliding plate 414 from falling off the guide rail 411. Preferably, the first position-limiting portion is a protrusion that is disposed inside the guide rail 411 and extends outward. Further, the top of the goods taking door 440 is provided with a second limiting part, and the second limiting part is used for abutting against the top of the goods taking box 4 to prevent the goods taking door 440 from exceeding the stroke.

Further, referring to fig. 8, the goods-taking door 440 is provided with a human-machine interface 441 for human-machine interaction. In particular, the human-machine interface 441 may be a touch display screen. The human-machine interface 441 is electrically connected to the second driving member 430, so that the human-machine interface 441 can control the second driving member 430 to control the opening and closing of the access door 440. Further, the human-machine interface 441 can also be used for ordering by the user to obtain the order instruction of the user. Preferably, the size of the pick-up port 421 is matched with the size of the human-machine interface 441, so that the frame around the pick-up port 421 can cover the frame of the pick-up door 440, thereby improving the aesthetic property of the pick-up box 4.

Preferably, two pick-up boxes 4 are provided, one of which is arranged close to the ice cream unit 1 for placing the finished ice cream product; the other one is arranged close to the milk tea unit 2 and is used for placing milk tea finished products. In other embodiments, one of the container 4 can also be used for placing ice cream finished products or milk tea finished products which are not taken by users for a long time, so that the container 4 is prevented from being occupied for a long time and the taking of other users is prevented from being influenced.

Further, referring to fig. 10-12, the left arm 31 and the right arm 32 are each provided with a cup gripping jaw 33. Specifically, the cup taking jaw 33 includes a third driving member 330 and a jaw body. The third driving member 330 is in driving connection with the jaw body, and the third driving member 330 is used for driving the jaw body to clamp or unclamp the cup. Further, the clamping jaw body is provided with the chamber 343 that holds that is used for holding the cup, and the chamber wall that holds chamber 343 is the toper face 344 with cup assorted, and along the direction of gravity, holds that the diameter that holds chamber 343 is the diminishing trend, holds that chamber 343 is narrow structure about wide promptly to can match the cup that has the tapering better.

Further, the third driving member 330 is provided with a first movable portion and a second movable portion, and the first movable portion and the second movable portion can perform linear motion approaching to or departing from each other. The jaw body includes a first jaw 341 and a second jaw 342, and the first jaw 341 is connected to the first movable portion, so that the first movable portion can drive the first jaw 341 to move. The second jaw 342 is connected to the second movable portion so that the second movable portion can drive the second jaw 342 to move. Further, under the driving of the third driving element 330, the first clamping jaw 341 and the second clamping jaw 342 can form an open state far away from each other and a closed state close to each other, and in the closed state, the first clamping jaw 341 and the second clamping jaw 342 jointly define a containing cavity 343.

The cup taking clamping jaw 33 drives the first clamping jaw 341 and the second clamping jaw 342 to move close to or away from each other through the third driving part 330, so that automatic clamping and loosening operations on the cup body are realized, manual cup taking is replaced, and the production efficiency is improved. Because the contact surface of traditional clamping jaw and cup is the straight face generally to the cup generally has certain tapering, consequently when the cup was got to clamping jaw clamp, the clamping jaw was line contact with the cup, thereby has leaded to the clamping jaw great to the local atress of cup, and then has leaded to the cup to warp, makes the unable firm centre gripping cup of clamping jaw. And the cup gripping jaw 33 of this application sets up the chamber wall that holds the chamber 343 through what first clamping jaw 341 and second clamping jaw 342 limited formation to conical surface 344, and conical surface 344 can match conical cup better, when the centre gripping cup, gets cup gripping jaw 33 and cup and form a face contact, has enlarged the area of contact who gets cup gripping jaw 33 and cup, has avoided the deformation problem that too big lead to of cup local pressure for get cup gripping jaw 33 can more firmly centre gripping cup.

Specifically, referring to fig. 10, the third driving member 330 is further provided with a guide rail 331, and the first movable portion and the second movable portion are slidably engaged with the guide rail 331, so as to improve the motion stability of the first movable portion and the second movable portion. Further, the first movable portion includes a first sliding block 332 and a first cushion block 333, the first sliding block 332 is disposed on the guide rail 331, and the first sliding block 332 can be driven by the output shaft of the third driving member 330 to move along the guide rail 331. The first slider 332 is connected to the first jaw 341 by a first spacer 333. Preferably, two ends of the first cushion block 333 are detachably connected to the first sliding block 332 and the first clamping jaw 341, respectively. For example, the first clamping jaw 341, the first cushion block 333 and the first sliding block 332 are provided with threaded holes, and the first clamping jaw 341, the first cushion block 333 and the first sliding block 332 are connected together through detachable threaded members. Similarly, the second movable portion includes a second sliding block 334 and a second cushion block 335, the second sliding block 334 is also sleeved on the guide rail 331, and the second sliding block 334 can be driven by the output shaft of the third driving member 330 to move along the guide rail 331. Second slider 334 is connected to second jaw 342 by a second spacer block 335. Preferably, the second pad 335 is detachably connected at its two ends to the second slider 334 and the second jaw 342, respectively. For example, second jaw 342, second head block 335, and second slider 334 are each provided with a threaded hole, and second jaw 342, second head block 335, and second slider 334 are connected together by removable screws.

Preferably, the third driving member 330 is an electric cylinder, and specifically, the electric cylinder is a modular product in which a servo motor and a lead screw are integrally designed, and the electric cylinder can drive the lead screw to rotate and convert the rotation into the linear motion of the first sliding block 332 and the second sliding block 334 through the servo motor. An electric cylinder is used as the third driving member 330, and the electric cylinder can accurately control the opening and closing distance between the first movable portion and the second movable portion. Compare in the traditional clamping jaw that adopts the cylinder, the opening and shutting distance between on the first clamping jaw 341 and the second clamping jaw 342 can be controlled through the electric jar to the cup clamping jaw 33 of getting of this application to can be better compatible not unidimensional cup.

Referring to fig. 11, the cup taking jaw 33 further includes a photosensor 350, and the photosensor 350 is provided on the first jaw 341 or the second jaw 342. The photoelectric sensor 350 is used for detecting the cup body and preventing the cup taking clamping jaw 33 from directly taking ice cream or ice cream without taking the cup. Specifically, a mounting portion is provided on the first clamping jaw 341 or the second clamping jaw 342, and the photoelectric sensor 350 is detachably disposed on the mounting portion, so that the photoelectric sensor 350 can be replaced and detached more conveniently. Preferably, the mounting portion is a groove 351, and the photosensor 350 is disposed in the groove 351. For example, the first jaw 341 is provided with a groove 351, and the photosensor 350 is embedded in the groove 351. Alternatively, the groove 351 is formed on the second jaw 342, and the photosensor 350 is embedded in the groove 351. Through inlaying photoelectric sensor 350 and establishing in recess 351 to avoided photoelectric sensor 350 and cup outer wall collision when getting the cup, and then avoided the cup by extrusion deformation.

With continued reference to fig. 10, the cup taking clamping jaw 33 has an open state and a closed state, and in the closed state, the clamping jaw body is in an arc-shaped structure, and a central angle corresponding to the arc-shaped structure is greater than 180 °, so that the first clamping jaw 341 and the second clamping jaw 342 can clamp the cup body. Further, the central angle corresponding to the circular arc-shaped structure is smaller than 360 degrees, so that the cup taking clamping jaw 33 can be suitable for cups with different sizes.

Preferably, as shown in fig. 3, in this embodiment, the milk tea and ice cream all-in-one machine further includes a show window 5, and the ice cream unit 1, the milk tea unit 2, the double-arm robot 3 and the container 4 are all disposed in the show window 5, so that the milk tea and ice cream all-in-one machine is sanitary and more attractive.

Further, the application also provides a method for manufacturing milk tea or ice cream by applying the milk tea and ice cream all-in-one machine of any one embodiment. Specifically, the milk tea ice cream production method of one embodiment comprises the following steps:

s110, acquiring a user order instruction;

specifically, the user can order the container through the human-machine interface 441 of the container 4, such as single-point milk tea or single-point ice cream or simultaneously order milk tea and ice cream. The human-machine interface 441 produces instructions according to the user's order and transmits them to the ice cream unit 1 and/or to the ice cream unit 1.

S120, the double-arm robot 3 clamps the cup and transmits the cup to the ice cream unit 1 and/or the milk tea unit 2;

specifically, the two-arm robot 3 controls the left arm 31 or the right arm 32 individually according to the user order instruction to send the milk tea cup or the ice cream to the milk tea unit 2 or the ice cream unit 1, respectively. Alternatively, the double-arm robot 3 controls the left arm 31 and the right arm 32 simultaneously to feed the milk tea cup and the ice cream to the milk tea unit 2 and the ice cream unit 1, respectively.

And S130, controlling the ice cream unit 1 to make ice cream finished products according to the user order instruction and/or controlling the milk tea unit 2 to make milk tea finished products according to the user order instruction.

And S140, the double-arm robot 3 clamps ice cream finished products or milk tea finished products and conveys the ice cream finished products or milk tea finished products to the container taking box 4.

According to the milk tea ice cream manufacturing method, the milk tea and the ice cream are manufactured through the milk tea ice cream all-in-one machine, the milk tea ice cream all-in-one machine is provided with the ice cream unit 1 and the milk tea unit 2, the overall size of the milk tea ice cream all-in-one machine is reduced, the occupied area of the milk tea ice cream all-in-one machine is smaller, and the milk tea ice cream all-in-one machine is; the double-arm robot 3 arranged between the ice cream unit 1 and the milk tea unit 2 replaces manpower and is used for operating the ice cream unit 1 and the milk tea unit 2 according to the requirements of users; moreover, the left arm 31 and the right arm 32 of the double-arm robot 3 can be used for simultaneously making ice cream finished products and milk tea finished products, so that the making efficiency is higher; the ice cream product and the milk tea product that the preparation was accomplished are placed in getting packing box 4 in 3 the place ahead of double-armed robot, and convenience of customers takes, improves the convenience that the user used milk tea ice cream all-in-one.

Specifically, when a user places a milk tea order, namely the user order instruction comprises a milk tea order, the milk tea ice cream making method comprises the following steps:

s210, the right arm 32 of the double-arm robot 3 clamps the milk tea cup provided by the cup sleeve supply mechanism 22 and conveys the milk tea cup to the lower part of the beverage machine 21 of the milk tea unit 2;

s220, the beverage machine 21 injects a tea bottom into the milk tea cup;

specifically, the beverage machine 21 draws corresponding tea bottoms from different tea buckets through diaphragm pumps (not shown) according to different milk tea varieties ordered by users, and injects the tea bottoms into the milk tea cup.

S230, the right arm 32 clamps the milk tea cup and transmits the milk tea cup to a discharging port 274 of the milk tea auxiliary material discharging device, and the milk tea auxiliary material discharging device injects milk tea auxiliary materials and/or ice blocks into the milk tea cup;

specifically, the milk tea auxiliary material feeding device can control different feeding mechanisms to add auxiliary materials to the milk tea cups according to the selection of a user. For example, the first discharging mechanism of the milk tea auxiliary material discharging device quantitatively adds pearls to the milk tea cups through the first driving piece 253 and the impeller 254. The second discharge mechanism adds ice cubes to the milky tea cup through the ice discharge machine 24 and the second discharge tube 28. The third feeding mechanism adds coconut particles and the like to the milky tea cup through the peristaltic pump 262 and the third feeding tube 263.

S240, the right arm 32 grabs the cup cover provided by the cup cover supply mechanism 23 and buckles the cup cover on the milk tea cup to obtain a milk tea finished product;

and S250, the right arm 32 clamps the milk tea finished product and conveys the milk tea finished product to the container 4 for the user to pick up the milk tea finished product.

Specifically, when a user places an order for ice cream, namely when the order instruction of the user comprises an ice cream order, the milk tea ice cream making method comprises the following steps:

s310, the left arm 31 of the double-arm robot 3 clamps the ice cream cup provided by the cup supply mechanism 12 and conveys the ice cream cup to the lower part of the ice cream machine 11 of the ice cream unit 1;

s320, the ice cream machine 11 injects ice cream into the ice cream cup;

specifically, the ice cream machine 11 can dose the ice cream into the ice cream.

S330, the left arm 31 moves the ice cream cup to the position below the sauce supply mechanism 13 to obtain the pulp, and/or the left arm 31 moves the ice cream cup to the position below the nut blanking mechanism 14 to obtain the nut so as to obtain the finished ice cream product;

in particular, the left-hand arm 31 can selectively move the ice cream under the sauce supply mechanism 13 and/or under the nut blanking mechanism 14 depending on whether jam or nut is selected. Further, the sauce supply mechanism 13 can pump the sauce in the sauce freezer (not shown) by a sauce peristaltic pump (not shown). The nut blanking mechanism 14 can quantitatively add nuts such as peanut, sesame and the like into the ice cream cup by adopting a screw rod feeding principle. And finally, adding the jam and/or the nuts to obtain the finished ice cream.

The left-hand arm 31 transfers the finished ice cream product into the pick-up box 4 for pick-up by the user S340.

It should be noted that, when the user puts the milk tea and the ice cream at the same time, the milk tea and ice cream all-in-one machine simultaneously executes the steps S210 to S250 and the steps S310 to S340, which are not described herein again.

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 utility model provides a milk tea ice cream all-in-one which characterized in that includes:

the milk tea ice cream comprises an ice cream unit (1) and a milk tea unit (2), wherein the ice cream unit (1) is used for making ice cream finished products, and the milk tea unit (2) is used for making milk tea finished products;

a double-arm robot (3) arranged between the ice cream unit (1) and the milk tea unit (2), wherein the double-arm robot (3) comprises a left arm (31) and a right arm (32) and is configured to control the ice cream unit (1) and the milk tea unit (2) according to the requirements of a user;

get packing box (4), set up in the place ahead of double-armed robot (3), double-armed robot (3) can with the ice cream finished product with the milk tea finished product is placed get in the packing box (4).

2. The all-in-one machine with milk tea and ice cream according to claim 1, characterized in that the ice cream unit (1) comprises an ice cream machine (11) and a cup supply mechanism (12) positioned on one side of the ice cream machine (11), and the left arm (31) or the right arm (32) is used for grabbing a cup supplied by the cup supply mechanism (12) and moving the grabbed cup below the ice cream machine (11) to obtain ice cream.

3. The all-in-one machine with milk tea and ice cream according to claim 2, characterized in that the ice cream unit (1) further comprises a sauce supply mechanism (13) and a nut blanking mechanism (14) which are arranged at one side of the ice cream machine (11), and the left arm (31) or the right arm (32) can be selectively moved to the position below the sauce supply mechanism (13) to obtain pulp or moved to the position below the nut blanking mechanism (14) to obtain nuts after obtaining the ice cream.

4. The milk tea and ice cream all-in-one machine as claimed in claim 3, wherein the sauce supply mechanism (13) is provided with a plurality of sauce tanks for storing different sauces, and the nut blanking mechanism (14) is provided with a plurality of nut tanks (141) for storing different nuts.

5. The milk tea and ice cream all-in-one machine according to claim 2, wherein the cup supply mechanism (12) comprises a cup cylinder (121) and a cup feeder (122), the cup is placed in the cup cylinder (121), and the left arm (31) or the right arm (32) grabs the cup at an outlet of the cup feeder (122).

6. The milk tea and ice cream all-in-one machine according to claim 1, further comprising a show window (5), wherein the ice cream unit (1), the milk tea unit (2), the double-arm robot (3) and the container (4) are all placed in the show window (5).

7. The milk tea and ice cream all-in-one machine is characterized in that the milk tea unit (2) comprises a beverage machine (21), a cup sleeve supply mechanism (22) and a cup cover supply mechanism (23), wherein the cup sleeve supply mechanism (22) and the cup cover supply mechanism (23) are arranged on one side of the beverage machine (21), the left arm (31) or the right arm (32) is used for grabbing a cup sleeve provided by the cup sleeve supply mechanism (22), sending the grabbed cup sleeve to the lower portion of the beverage machine (21) to obtain a beverage, grabbing a cup cover provided by the cup cover supply mechanism (23) and buckling the cup cover on the cup sleeve containing the beverage.

8. The milk tea and ice cream all-in-one machine according to claim 7, wherein the milk tea unit (2) further comprises an ice discharger (24), the ice discharger (24) is located in front of the beverage machine (21), and the left arm (31) or the right arm (32) can be selectively moved to below the ice discharger (24) to obtain ice cubes before being moved to the lid supply mechanism (23).

9. The milk tea and ice cream all-in-one machine is characterized in that the milk tea unit (2) further comprises a milk tea auxiliary material discharging device, the milk tea auxiliary material discharging device comprises at least two feeding mechanisms and a first discharging pipe (27), each feeding mechanism comprises a storage bin and a material distribution driving piece, the storage bin is provided with a feeding port, the material distribution driving piece is used for outputting the auxiliary materials in the storage bin from the feeding port, the first discharging pipe (27) is provided with a discharging port (274) and at least two feeding ports, the feeding ports are communicated with the feeding ports, and the left arm (31) or the right arm (32) can move to the discharging port to obtain the milk tea auxiliary materials.

10. The milk tea and ice cream all-in-one machine is characterized in that the milk tea unit (2) further comprises a second discharging pipe (28), and two ends of the second discharging pipe (28) are respectively communicated with an ice outlet of the ice discharging machine (24) and a feeding hole of the first discharging pipe.

11. The milk tea and ice cream all-in-one machine according to claim 8, wherein the container (4) comprises:

the support (410) is provided with a guide rail (411);

the box body (420) is arranged on the bracket (410), and the box body (420) is provided with a goods taking opening (421);

the goods taking door (440) is in sliding fit with the guide rail (411) and is used for opening or closing the goods taking opening (421); and the number of the first and second groups,

a second drive member (430) in driving connection with the access door (440).

12. The milk tea and ice cream all-in-one machine according to claim 8, wherein the left arm (31) and the right arm (32) are both provided with a cup taking clamping jaw (33), and the cup taking clamping jaw (33) comprises:

the third driving piece (330), the said third driving piece (330) has first movable part and second movable part, said first movable part and said second movable part can be close to each other or move away from each other;

a first jaw (342) and a second jaw (343), the first jaw (342) being connected to the first movable portion; the second clamping jaw (343) is connected with the second movable part, the first clamping jaw (342) and the second clamping jaw (343) can define a containing cavity (343) for containing a cup body, and the cavity wall of the containing cavity (343) is a conical surface (344) matched with the cup body.

13. The method for making the milk tea ice cream is characterized by comprising the following steps of:

acquiring a user order instruction;

the double-arm robot (3) clamps the cup and transmits the cup to the ice cream unit (1) and/or the milk tea unit (2);

controlling the ice cream unit (1) to make ice cream finished products according to the user order instruction and/or controlling the milk tea unit (2) to make milk tea finished products according to the user order instruction;

the double-arm robot (3) clamps the ice cream finished product or the milk tea finished product and conveys the ice cream finished product or the milk tea finished product into a container (4).

14. The milk tea ice cream making method according to claim 13, wherein when the user order instruction includes a milk tea order, the milk tea ice cream making method comprises the steps of:

a right arm (32) of the double-arm robot (3) clamps a milk tea cup provided by a cup sleeve supply mechanism (22) and conveys the milk tea cup to the lower part of a beverage machine (21) of the milk tea unit (2);

the beverage machine (21) injects a tea bottom into the milk tea cup;

the right arm (32) clamps the milk tea cup and conveys the milk tea cup to a discharging opening of the milk tea auxiliary material discharging device, and the milk tea auxiliary material discharging device injects milk tea auxiliary materials and/or ice blocks into the milk tea cup;

the right arm (32) grabs the cup cover provided by the cup cover supply mechanism (23) and buckles the cup cover on the milk tea cup to obtain a milk tea finished product;

the right arm (32) clamps the milk tea finished product and conveys the milk tea finished product into the container (4).

15. The milk tea ice cream making method according to claim 13, wherein when the user order instruction includes an ice cream order, the milk tea ice cream making method comprises the steps of:

the left arm (31) of the double-arm robot (3) clamps the ice cream cup provided by the cup supply mechanism (12) and conveys the ice cream cup to the lower part of an ice cream machine (11) of the ice cream unit (1);

the ice cream machine (11) injects ice cream into the ice cream cup;

the left arm (31) moves the ice cream cup to the position below the sauce supply mechanism (13) and obtains the pulp and/or the left arm (31) moves the ice cream cup to the position below the nut blanking mechanism (14) and obtains the nut to obtain the finished ice cream product;

the left arm (31) transfers the finished ice cream product into the extraction box (4).