CN111891475A - Automatic carrying system for milk tea cups - Google Patents
Automatic carrying system for milk tea cups Download PDFInfo
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- CN111891475A CN111891475A CN202010775873.5A CN202010775873A CN111891475A CN 111891475 A CN111891475 A CN 111891475A CN 202010775873 A CN202010775873 A CN 202010775873A CN 111891475 A CN111891475 A CN 111891475A
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- 241001122767 Theaceae Species 0.000 title claims abstract description 239
- 239000008267 milk Substances 0.000 title claims abstract description 233
- 210000004080 milk Anatomy 0.000 title claims abstract description 233
- 235000013336 milk Nutrition 0.000 title claims abstract description 233
- 230000007246 mechanism Effects 0.000 claims description 243
- 230000005540 biological transmission Effects 0.000 claims description 24
- 230000033001 locomotion Effects 0.000 claims description 13
- 238000009434 installation Methods 0.000 claims description 4
- 239000000463 material Substances 0.000 claims description 3
- 238000000926 separation method Methods 0.000 claims description 2
- 238000000034 method Methods 0.000 abstract description 17
- 238000001514 detection method Methods 0.000 description 8
- 238000007789 sealing Methods 0.000 description 7
- 238000004519 manufacturing process Methods 0.000 description 3
- 230000003044 adaptive effect Effects 0.000 description 2
- 238000003756 stirring Methods 0.000 description 2
- 238000013473 artificial intelligence Methods 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 239000003795 chemical substances by application Substances 0.000 description 1
- 230000008014 freezing Effects 0.000 description 1
- 238000007710 freezing Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 239000000843 powder Substances 0.000 description 1
- 239000002994 raw material Substances 0.000 description 1
- 235000015067 sauces Nutrition 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 1
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65B—MACHINES, APPARATUS OR DEVICES FOR, OR METHODS OF, PACKAGING ARTICLES OR MATERIALS; UNPACKING
- B65B43/00—Forming, feeding, opening or setting-up containers or receptacles in association with packaging
- B65B43/42—Feeding or positioning bags, boxes, or cartons in the distended, opened, or set-up state; Feeding preformed rigid containers, e.g. tins, capsules, glass tubes, glasses, to the packaging position; Locating containers or receptacles at the filling position; Supporting containers or receptacles during the filling operation
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65B—MACHINES, APPARATUS OR DEVICES FOR, OR METHODS OF, PACKAGING ARTICLES OR MATERIALS; UNPACKING
- B65B43/00—Forming, feeding, opening or setting-up containers or receptacles in association with packaging
- B65B43/42—Feeding or positioning bags, boxes, or cartons in the distended, opened, or set-up state; Feeding preformed rigid containers, e.g. tins, capsules, glass tubes, glasses, to the packaging position; Locating containers or receptacles at the filling position; Supporting containers or receptacles during the filling operation
- B65B43/46—Feeding or positioning bags, boxes, or cartons in the distended, opened, or set-up state; Feeding preformed rigid containers, e.g. tins, capsules, glass tubes, glasses, to the packaging position; Locating containers or receptacles at the filling position; Supporting containers or receptacles during the filling operation using grippers
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
- B65G47/74—Feeding, transfer, or discharging devices of particular kinds or types
- B65G47/90—Devices for picking-up and depositing articles or materials
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
- B65G47/74—Feeding, transfer, or discharging devices of particular kinds or types
- B65G47/90—Devices for picking-up and depositing articles or materials
- B65G47/901—Devices for picking-up and depositing articles or materials provided with drive systems with rectilinear movements only
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
- B65G47/74—Feeding, transfer, or discharging devices of particular kinds or types
- B65G47/90—Devices for picking-up and depositing articles or materials
- B65G47/91—Devices for picking-up and depositing articles or materials incorporating pneumatic, e.g. suction, grippers
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
- B65G47/74—Feeding, transfer, or discharging devices of particular kinds or types
- B65G47/90—Devices for picking-up and depositing articles or materials
- B65G47/91—Devices for picking-up and depositing articles or materials incorporating pneumatic, e.g. suction, grippers
- B65G47/912—Devices for picking-up and depositing articles or materials incorporating pneumatic, e.g. suction, grippers provided with drive systems with rectilinear movements only
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G2201/00—Indexing codes relating to handling devices, e.g. conveyors, characterised by the type of product or load being conveyed or handled
- B65G2201/02—Articles
- B65G2201/0235—Containers
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Specific Conveyance Elements (AREA)
Abstract
The invention discloses an automatic milk tea cup conveying system which comprises a first conveying device used for conveying sent milk tea cups to a cup loading station, a second conveying device used for conveying milk tea cups in the first conveying device to a capping device, a finished product conveying device used for conveying finished milk tea cups out, and a third conveying device used for transferring milk tea cups in the second conveying device to the finished product conveying device. The automatic milk tea cup carrying system can be suitable for conveying different types of milk tea cups, and can be used for adaptively clamping the milk tea cups when the milk tea cups contain milk tea, so that the milk tea cups are prevented from inclining in the milk tea containing process.
Description
Technical Field
The invention relates to a milk tea machine, in particular to an automatic carrying system for milk tea cups.
Background
The existing tea shops are all manufactured manually, but the labor cost is increased day by day, and the selling time is limited by the working time of staff. With the arrival of the artificial intelligence era, robots are more and more popularized, but no robot milk tea machine exists in the current market, the current milk tea making is generally in a milk tea shop worker on-site making mode, the current milk tea making steps mainly comprise the steps of adding a water agent, adding powder, adding sauce, stirring, adding a milk cover, taking out of a cup and the like, the series of steps are completed by workers of the milk tea shop, and the repeated mechanical work can be solved by the robots. In addition, raw material addition errors and uneven stirring are easy to occur manually in the manufacturing process, and the problems of unsanitary processing process of store personnel and the like also occur.
Therefore, many automatic milk tea machines are available in the market, for example, the utility model patent application with application number 201911276201.3 discloses an "automatic milk tea robot", and the invention patent application with application publication number CN110638331A discloses an "automatic milk tea machine"; the automatic milk tea robot and the automatic milk tea machine can realize automatic processing of milk tea, so that the efficiency and the quality of milk tea making are improved.
However, in the milk tea manufacturing process, although the automatic milk tea robot and the automatic milk tea machine are provided with the clamping mechanisms to clamp the milk tea cup in the conveying process, for example, the clamping mechanisms of the automatic milk tea machine clamp the milk tea cup by driving the clamping plates to move oppositely through the air cylinders arranged at the two sides of the milk tea cup, and the clamping mechanisms move synchronously with the milk tea cup to clamp and convey the milk tea cup, so that the milk tea cup is prevented from shifting and turning on the side in the conveying process. However, the above-mentioned clamping mechanism has a complex structure, and the manufacturing cost and the debugging difficulty of the automatic milk tea machine are increased.
Disclosure of Invention
The automatic milk tea cup conveying system can convey milk tea cups to corresponding milk tea processing stations to complete various processing procedures, and is high in conveying speed and conveying efficiency.
The technical scheme for solving the technical problems is as follows:
an automatic milk tea cup conveying system comprises a first conveying device used for conveying sent milk tea cups to a cup loading station, a second conveying device used for conveying milk tea cups in the first conveying device to a capping device, a finished product conveying device used for conveying finished milk tea cups out, and a third conveying device used for transferring milk tea cups in the second conveying device to the finished product conveying device, wherein,
the first carrying device comprises a first machine frame, a milk tea cup clamping sleeve arranged on the first machine frame, a milk tea cup conveying mechanism used for driving the milk tea cup clamping sleeve to move, and a self-adaptive clamping mechanism used for enabling the milk tea cup clamping sleeve to self-adaptively clamp a milk tea cup at a material taking station, wherein the cross section of the milk tea cup clamping sleeve is gradually increased from bottom to top; the elastic clamping part is equally divided into a plurality of elastic clamping pieces arranged along the circumference by the plurality of grooves; the milk tea cup conveying mechanism comprises a conveying seat and a milk tea cup conveying driving mechanism for driving the conveying seat to move along the length direction of the first machine frame; the self-adaptive clamping mechanism comprises a rack arranged on the first rack, a gear arranged on the milk tea cup jacket and a linear driving mechanism used for driving the rack to move along the length direction vertical to the first rack, wherein the length direction of the rack is parallel to the length direction of the first rack, the gear is sleeved at the lower end of the milk tea cup jacket and matched with the rack, an inner ring of the gear is provided with an inner thread, and an outer thread matched with the inner thread is arranged on a fixing part of the milk tea cup jacket; the linear driving mechanism comprises a moving seat and a moving cylinder for driving the moving seat to move, wherein the rack is arranged on the moving seat, the moving cylinder is arranged on the first rack, and a telescopic rod of the moving cylinder is connected with the moving seat;
the second carrying device comprises a second rack, a carrying manipulator arranged on the second rack and a first transverse driving mechanism used for driving the carrying manipulator to move transversely, wherein the manipulator comprises an installation seat, a first clamping mechanism arranged on the installation seat and a first vertical driving mechanism used for driving the first clamping mechanism to move vertically, and the first clamping mechanism comprises two clamping jaws and a first clamping driving mechanism used for driving the two clamping jaws to clamp and release the milk tea cup;
the third carrying device comprises a third frame, a carrying mechanism arranged on the third frame and a second transverse driving mechanism used for driving the carrying mechanism to move transversely,
the conveying mechanism comprises a conveying seat, clamping seats arranged on the conveying seat, two groups of second clamping mechanisms arranged on the clamping seats and a second vertical driving mechanism used for driving the clamping seats to do vertical motion, wherein the two groups of second clamping mechanisms are respectively arranged on two sides of the clamping seats, and each group of second clamping mechanisms comprises a clamping piece and a second clamping cylinder used for driving the clamping piece to move; the second clamping cylinders in the two groups of second clamping driving mechanisms drive the clamping pieces to move oppositely, so that the milk tea cup is clamped; the second clamping cylinders in the two groups of second clamping driving mechanisms drive the clamping pieces to move reversely, so that the milk tea cups are loosened;
the carrying mechanism further comprises a supporting mechanism for supporting the bottom of the milk tea cup, the supporting mechanism comprises a supporting seat, a supporting plate arranged on the supporting seat, a third vertical driving mechanism for driving the supporting seat to vertically move and a supporting driving mechanism for driving the supporting plate to rotate so as to realize separation of the bottom of the milk tea cup, wherein the supporting seat is connected to the clamping seat in a sliding manner; the supporting plate is rotatably connected to the supporting seat and is positioned below the space between the two groups of second clamping mechanisms; the bearing drive mechanism is two sets of, and two sets of bearing drive mechanisms are located respectively the both sides of bearing board, and every bearing drive mechanism of group includes that bearing driving motor and setting are in bearing driving motor's the epaxial gyro wheel of bearing, wherein, the gyro wheel with connect through the connecting rod between the bearing board, connecting rod one end with the side of bearing board is rotated and is connected, the other end with the gyro wheel is connected.
Compared with the prior art, the invention has the following beneficial effects:
1. the first carrying device in the automatic milk tea cup carrying system can be suitable for conveying milk tea cups of different types, and can clamp the milk tea cups in a self-adaptive manner when the milk tea cups contain milk tea, so that the milk tea cups are prevented from inclining in the milk tea containing process.
2. According to the automatic milk tea cup conveying system, the first conveying device drives the rack to move along the direction perpendicular to the length direction of the first rack through the linear driving mechanism, so that the matching number of gear teeth in the rack and the gear is increased or reduced, the number of rotation turns of the gear is adjusted, the stroke of vertical movement of the gear is controlled, the clamping degree of the elastic clamping part in the milk tea cup clamping sleeve is adjusted, and milk tea cups of different specifications are clamped.
3. The second carrying device in the automatic milk tea cup carrying system can automatically seal the milk tea cups filled with milk tea, so that the efficiency is high, and the cost is saved. In addition, the second carrying device can also be applied to an automatic milk tea freezing machine, so that the milk tea making efficiency is improved.
4. When the milk tea cup is conveyed by the third conveying device in the automatic milk tea cup conveying system, the bottom of the milk tea cup is supported on the bearing plate, and two sides of the milk tea cup are respectively clamped by the two second clamping mechanisms, so that the stability of the milk tea cup in the conveying process can be ensured. In addition, when the clamping piece of the second clamping mechanism can not be perfectly matched with the outer side surface of the milk tea cup, the carrying of the milk tea cup can not be influenced. In addition, milk tea cups with different specifications (calibers) can be conveyed by the conveying mode, so that the inclusion of the automatic milk tea cup conveying system is improved.
5. When the milk tea cup is delivered to the third conveying device by the second conveying device, the bearing driving mechanisms positioned on two sides of the bearing plate drive the bearing plate to be kept in a horizontal state, then the milk tea cup is conveyed to a position between the two second clamping mechanisms by the second conveying device and placed on the bearing plate in the horizontal state, the milk tea cup is clamped by the two second clamping driving mechanisms, the specific clamping position can be adjusted by driving the clamping seat to vertically move through the third vertical driving mechanism, so that the milk tea cup can be conveyed to the third conveying device by the second conveying device without a transfer platform, and the milk tea cup is conveyed to the next designated station by the third conveying device, so that the conveying speed and the conveying efficiency are greatly improved.
Drawings
Fig. 1 to 4 are schematic structural views of a first embodiment of an automatic handling system for milk tea cups according to the present invention, wherein fig. 1 to 3 are schematic perspective structural views from three different viewing angles, and fig. 4 is a top view.
Fig. 5 to 8 are schematic structural views of the first handling device, wherein fig. 5 and 6 are schematic perspective structural views from two different viewing angles, fig. 7 is a side view, and fig. 8 is a top view.
Fig. 9 and 10 are schematic perspective views of the first handling device from two different viewing angles (the first frame is removed).
Fig. 11 is a perspective view of the linear driving mechanism.
Fig. 12 is a schematic perspective view of a milky tea cup holder.
Fig. 13-14 are perspective views of the second handling device and the capping device.
Fig. 15 is a perspective view of the second conveying device.
Fig. 16 is a schematic perspective view (partially) of the conveyance robot.
Fig. 17 is a perspective view of the capping device.
Fig. 18 is a schematic perspective view of the third transfer device (including the product line).
Fig. 19 to 20 are schematic perspective views of the third handling device, wherein fig. 20 is an exploded view.
Fig. 21-24 are schematic perspective views of the carrying mechanism from four different perspectives, wherein fig. 24 is an exploded view.
Figure 25 is a perspective view (partial) of the support mechanism.
Fig. 26 is a perspective view of the second clamping mechanism.
Detailed Description
The present invention will be described in further detail with reference to examples and drawings, but the present invention is not limited thereto.
Referring to fig. 1 to 26, the automatic milk tea cup handling system of the present invention includes a first handling device a for handling the dispensed milk tea cups to a cup loading station, a second handling device B for handling the milk tea cups in the first handling device a to a capping device 5B, a finished product conveying device 7 for conveying the finished milk tea cups out, and a third handling device C for transferring the milk tea cups in the second handling device B to the finished product conveying device 7.
The structures of the first conveying device a, the second conveying device B and the third conveying device C are described in detail below.
(1) First carrying device
Referring to fig. 5 to 12, the first carrying device a includes a first frame 1a, a milk tea cup holder 2a disposed on the first frame 1a, a milk tea cup conveying mechanism 3a for driving the milk tea cup holder 2a to move, and an adaptive clamping mechanism 4a for causing the milk tea cup holder 2a to adaptively clamp the milk tea cup at the material taking station.
Referring to fig. 5 to 12, the cross section of the milk tea cup holder 2a gradually increases from bottom to top, and the milk tea cup holder 2a includes a fixing portion 2-1a and an elastic clamping portion 2-2a disposed on the fixing portion 2-1a, wherein the elastic clamping portion 2-2a is provided with a groove 2-3a, and the groove 2-3a extends along the height direction of the elastic clamping portion 2-2 a.
Referring to fig. 5 to 12, the milk tea cup conveying mechanism 3a includes a conveying base 3-1a and a milk tea cup conveying driving mechanism for driving the conveying base 3-1a to move along a length direction of a first machine frame 1a, wherein the milk tea cup conveying driving mechanism includes a milk tea cup conveying motor 3-2a and a first screw rod transmission mechanism 3-3a, wherein the first screw rod transmission mechanism 3-3a includes a first screw rod and a first screw rod nut matched with the first screw rod, the first screw rod nut is installed on the conveying base 3-1a, the first screw rod is installed on the first machine frame 1a, and a length direction of the first screw rod is parallel to a length direction of the first machine frame 1 a; the milk tea cup conveying motor 3-2a is arranged on the first rack 1a, and a main shaft of the milk tea cup conveying motor 3-2a is connected with the first screw rod;
in addition, the milk tea cup conveying mechanism 3a further comprises a guide mechanism for guiding the conveying seat 3-1a, and the guide mechanism is a sliding block sliding rail mechanism, or a sliding block sliding groove mechanism, or a pulley sliding rail mechanism. By arranging the guide mechanism, the movement of the conveying seat 3-1a can be guided, so that the conveying precision is improved. In this embodiment, the guiding mechanism is a sliding block and sliding groove mechanism, wherein the conveying seat 3-1a is used as a sliding block in the sliding block and sliding groove mechanism, and the first frame 1a is provided with a sliding groove at a position opposite to the conveying seat 3-1a, and the sliding groove extends along the length direction of the first frame 1 a.
Referring to fig. 5 to 12, the adaptive clamping mechanism 4a includes a rack 4-1a disposed on the first frame 1a, a gear 4-2a disposed on the milk cup holder 2a, and a linear driving mechanism for driving the rack 4-1a to move along a direction perpendicular to the length direction of the first frame 1a, wherein the length direction of the rack 4-1a is parallel to the length direction of the first frame 1a, the gear 4-2a is sleeved on the lower end of the milk cup holder 2a and is engaged with the rack 4-1a, an inner ring of the gear 4-2a is provided with an internal thread, and a fixing portion 2-1a of the milk cup holder 2a is provided with an external thread engaged with the internal thread.
Referring to fig. 5-12, the linear driving mechanism comprises a moving base 4-4a and a moving cylinder 4-3a for driving the moving base 4-4a to move, wherein the rack 4-1a is mounted on the moving base 4-4a, the moving cylinder 4-3a is mounted on the first frame 1a, and the telescopic rod of the moving cylinder 4-3a is connected with the moving base 4-4 a; the linear driving mechanism further comprises two groups of sliding mechanisms 4-5a for guiding the movement of the rack 4-1a, wherein the two groups of sliding mechanisms 4-5a are respectively positioned at two sides of the moving cylinder 4-3 a; the sliding mechanism 4-5a is a sliding block and sliding rail mechanism.
Referring to fig. 5 to 12, the first conveying device further includes a plurality of detection sensors 5a disposed on the first frame 1a, and a plurality of detection pieces 6a disposed on the conveying base 3-1a, wherein the plurality of detection sensors 5a are arranged along a longitudinal direction of the first frame 1a, and the detection pieces 6a are located on a connection line of detection ports of the plurality of detection sensors 5 a.
In this embodiment, three detection sensors 5a are provided, and the three detection sensors 5a are respectively located at a cup placing station, a cup loading station and a cup taking station, wherein the cup placing station is a position where the cup taking device carries milk tea cups onto the first conveying device a, that is, a position where milk tea cups are handed over between the first conveying device a and a position where the milk tea cup conveying mechanism 3a carries milk tea cups onto the first conveying device a; the milk tea cup placing station is a position where the milk tea cup is placed with milk tea, and the cup taking station is a position where the milk tea cup with milk tea is carried to the cover sealing device D by the second carrying device B.
Referring to fig. 5 to 12, the first carrying means a further includes a detecting means 7a, and the detecting means 7a includes a camera for image-recognizing the gripping size of the paper cup holder 2 a. Before receiving the paper cup, carry out image recognition to paper cup jacket 2a through this camera, judge whether present paper cup jacket 2a presss from both sides tight size and the size phase-match of paper cup, guarantee normal transport work.
(2) And a second carrying device
Referring to fig. 13 to 17, the second carrier device B includes a second rack 1B, a carrier robot 2B provided on the second rack 1B, and a first lateral driving mechanism for driving the carrier robot 2B to move laterally, wherein the manipulator comprises a mounting seat 2-1b, a first clamping mechanism arranged on the mounting seat 2-1b and a first vertical driving mechanism 2-2b used for driving the first clamping mechanism to move vertically, wherein the first clamping mechanism comprises two clamping jaws 2-3b and a first clamping driving mechanism 2-4b used for driving the two clamping jaws 2-3b to clamp and release the milk tea cup, the first clamping driving mechanism 2-4b is a first clamping cylinder, the first clamping cylinder is a double-acting cylinder, and two driving ends of the double-acting cylinder are respectively connected with the two clamping jaws 2-3 b.
Referring to fig. 13-17, the first vertical driving mechanism 2-2b further includes a vertical cylinder, the vertical cylinder is mounted on the mounting seat 2-1b, and an expansion rod of the vertical cylinder is directly connected to the first clamping cylinder or is connected to the first clamping cylinder through a connecting plate.
Referring to fig. 13 to 17, the first transverse driving mechanism includes a first transverse driving motor 3b and a second lead screw transmission mechanism 4b, wherein the second lead screw transmission mechanism 4b includes a second lead screw and a second lead screw nut matched with the second lead screw, a length direction of the second lead screw is parallel to a length direction of the second frame 1b, and the second lead screw nut is mounted on the mounting base 2-1 b; the first transverse driving motor 3b is installed on the second rack 1b, and the main shaft is connected with the second screw rod.
Referring to fig. 13 to 17, the first horizontal driving mechanism further includes a horizontal guiding mechanism for guiding the horizontal movement of the mounting base 2-1b, and the first vertical driving mechanism 2-2b further includes a vertical guiding mechanism for guiding the vertical movement of the first clamping mechanism, wherein the horizontal guiding mechanism and the vertical guiding mechanism are slider-slide mechanism. Through setting up horizontal guiding mechanism and vertical guiding mechanism, can realize leading the transverse motion of carrying manipulator 2b and first fixture's vertical motion respectively to improve the transport precision.
Referring to fig. 13-17, the capping device 5b comprises a capping machine, and a conveying mechanism for conveying milk cups to a capping station of the capping machine is arranged on the capping machine, wherein the conveying mechanism of the capping machine comprises a conveying seat 5-1b and a conveying driving mechanism for driving the conveying seat 5-1b to move to the capping station, a containing groove 5-2b matched with the milk cups is arranged on the conveying seat 5-1b, the containing groove 5-2b vertically penetrates through the conveying seat 5-1b, and the diameter of the containing groove 5-2b is smaller than the maximum caliber of the milk cups; the mounting seat 2-1b is provided with a matching groove 5-3b matched with the clamping part of the clamping jaw 2-3b, and the matching groove 5-3b extends vertically upwards; the conveying driving mechanism adopts a mode of combining a motor and a second screw rod transmission mechanism, or adopts a mode of combining the motor and a gear rack transmission mechanism, or adopts a mode of driving by an air cylinder.
(3) And a third carrying device
Referring to fig. 18 to 26, the third carrying device C includes a third frame 1, a carrying mechanism provided on the third frame 1, and a second lateral driving mechanism 2 for driving the carrying mechanism to move laterally.
Referring to fig. 18-26, the carrying mechanism comprises a carrying seat 5-1, a clamping seat 6-1 arranged on the carrying seat 5-1, two groups of second clamping mechanisms 4 arranged on the clamping seat 6-1, and a second vertical driving mechanism 5 for driving the clamping seat 6-1 to move vertically, wherein the two groups of second clamping mechanisms 4 are respectively arranged on two sides of the clamping seat 6-1, and each group of second clamping mechanisms 4 comprises a clamping piece 4-2 and a second clamping cylinder 4-5 for driving the clamping piece 4-2 to move; second clamping cylinders 4-5 in the two groups of second clamping driving mechanisms drive the clamping pieces 4-2 to move oppositely, so that the milk tea cups are clamped; the second clamping cylinders 4-5 in the two groups of second clamping driving mechanisms drive the clamping pieces 4-2 to move reversely, so that the milk tea cups are loosened.
Referring to fig. 18 to 26, the second vertical driving mechanism 5 includes a second vertical motor 5-2 and a fourth screw transmission mechanism 5-3, which are disposed on the carrying seat 5-1, wherein the fourth screw transmission mechanism 5-3 includes a fourth screw and a fourth screw nut engaged with the fourth screw, and the fourth screw is disposed vertically; the main shaft of the second vertical motor 5-2 is connected with the fourth screw rod; the fourth screw nut is arranged on the clamping seat 6-1.
Referring to fig. 18-26, the carrying mechanism further comprises a supporting mechanism 3 for supporting the bottom of the teacup, the supporting mechanism 3 comprises a supporting seat 3-2, a supporting plate 3-1 arranged on the supporting seat 3-2, a third vertical driving mechanism 6 for driving the supporting seat 3-2 to move vertically, and a supporting driving mechanism for driving the supporting plate 3-1 to rotate vertically to separate the bottom of the teacup, wherein the supporting seat 3-2 is connected to the clamping seat 6-1 in a sliding manner; the supporting plate 3-1 is rotatably connected to the supporting seat 3-2 and is positioned below the second clamping mechanism 4; the bearing driving mechanisms are two groups, the two groups of bearing driving mechanisms are respectively positioned at two sides of the bearing plate 3-1, each group of bearing driving mechanisms comprises a bearing driving motor 3-3 and an idler wheel 3-5 arranged on a main shaft of the bearing driving motor 3-3, the idler wheel 3-5 is connected with the bearing plate 3-1 through a connecting rod 3-4, one end of the connecting rod 3-4 is rotatably connected with the side surface of the bearing plate 3-1, and the other end of the connecting rod is connected with the idler wheel 3-5.
Referring to fig. 18-26, the third vertical driving mechanism 6 comprises a third vertical motor 6-2 and a fifth screw transmission mechanism 6-3 arranged on the clamping seat 6-1, wherein the fifth screw transmission mechanism 6-3 comprises a fifth screw and a fifth screw nut matched with the fifth screw, and the fifth screw is arranged vertically; the main shaft of the third vertical motor 6-2 is connected with the fifth screw rod; the fifth screw nut is arranged on the bearing seat 3-2.
Referring to fig. 18-26, the second clamping mechanism 4 further includes a fine adjustment mechanism for fine adjustment of the clamping member 4-2, wherein the fine adjustment mechanism includes an adjustment seat 4-4 and an adjustment cylinder 4-1 disposed on the adjustment seat 4-4, and the adjustment seat 4-4 is connected to the telescopic rod of the second clamping cylinder 4-5; the clamping piece 4-2 is an elastic arc plate, the middle part of the elastic arc plate is fixed on the adjusting seat 4-4, and two ends of the elastic arc plate are respectively connected with the telescopic rod of the 4-3 adjusting cylinder 4-1 through movable rods.
By the arrangement of the structure, when the clamping piece 4-2 needs to be slightly adjusted, the adjusting cylinder 4-1 drives the movable rods 4-3 positioned at two sides of the elastic arc plate to move, and the middle part of the elastic arc plate is fixed on the adjusting seat 4-4, so that when the adjusting cylinder 4-1 drives two ends of the elastic arc plate to synchronously move, the radian of the elastic arc plate is changed accordingly, the elastic arc plate can be attached to the outer circular surfaces of milk tea cups with different diameters, and the milk tea cups with different specifications can be clamped.
Referring to fig. 18 to 26, the second transverse driving mechanism 2 includes a transverse motor 2-1 and a third screw transmission mechanism 2-2, which are disposed on a third frame 1, wherein the third screw transmission mechanism 2-2 includes a third screw and a third screw nut engaged with the third screw, and a length direction of the third screw is parallel to a length direction of the third frame 1; the main shaft of the transverse motor 2-1 is connected with the third screw rod; the third screw nut is mounted on the carrying seat 5-1.
In addition, the second transverse driving mechanism 2, the second vertical driving mechanism 5 and the third vertical driving mechanism 6 of the present invention further comprise a sliding mechanism, wherein the sliding mechanism of the second transverse driving mechanism 2 is installed between the carrying seat 5-1 and the third rack 1, and the sliding mechanism of the second vertical driving mechanism 5 is arranged between the carrying seat 5-1 and the clamping seat 6-1; the sliding mechanism of the third vertical driving mechanism 6 is arranged between the bearing seat 3-2 and the clamping seat 6-1; the sliding mechanism is a sliding block and sliding rail mechanism. By arranging the sliding mechanism, the transverse movement of the carrying seat 5-1 and the vertical movement of the clamping seat 6-1 and the bearing seat 3-2 can be guided, so that the carrying precision of the third carrying device C is improved.
The structure of the product conveying device 7 in this embodiment may be implemented by referring to an existing conveying line, and will not be described in detail here.
Referring to fig. 1-26, the automatic milk tea cup handling system of the present invention has the working principle:
firstly, the milk tea cups sent out are sequentially conveyed to a cup loading station by a first conveying device A for loading, and then conveyed to a cup taking station after the cup loading is finished, and conveyed to a capping device D by a second conveying device B for capping, wherein the specific conveying process of the first conveying device A is as follows:
the milk tea cup conveying motor 3-2a drives the first screw rod to rotate, so that the first screw rod nut, the conveying seat 3-1a connected with the first screw rod nut and the milk tea cup jacket 2a on the conveying seat 3-1a are driven to move to the cup placing position, and the milk tea cup conveying mechanism places the milk tea cup into the milk tea cup jacket 2 a; then, the milk tea cup conveying mechanism 3a drives the milk tea cup jacket 2a and the milk tea cup placed at the milk tea cup jacket 2a to move to a cup loading station along the length direction of the first machine frame 1a, in the process, a gear 4-2a at the lower end of the milk tea cup jacket 2a is matched with the rack 4-1a, and the gear 4-2a is driven by the milk tea cup conveying mechanism 3a to rotate, at the moment, the internal thread of the inner ring of the gear 4-2a and the external thread at the fixing part 2-1a of the milk tea cup jacket 2a are equivalent to a screw rod transmission mechanism, and the gear 4-2a is equivalent to a screw rod nut in the screw rod transmission mechanism, so that the gear 4-2a rotates and moves upwards at the same time, and the cross-sectional area of the elastic clamping part 2-2a at the upper end of the fixing part 2-1a of the milk tea cup jacket 2a is sequentially increased from bottom to top, therefore, the inner ring of the gear 4-2a can tighten the elastic clamping piece of the elastic clamping part 2-2a upwards, thereby realizing the self-adaptive clamping of the milk tea cup in the milk tea cup clamping sleeve 2 a. After the milk tea cups reach the cup filling station, the cup filling device pours the prepared milk tea into the milk tea cups, finally, the milk tea cup conveying mechanism 3a conveys the milk tea cups with milk tea to the cup taking station, the milk tea cups are conveyed to the cover sealing device D by the second conveying device B, and the cover sealing device D realizes the cover sealing of the milk tea cups.
In the process, the rack 4-1a can be driven by the linear driving mechanism to move along the direction vertical to the length direction of the first rack 1a, so that the matching number of gear teeth in the rack 4-1a and the gear 4-2a is increased or reduced, the rotating number of the gear 4-2a is adjusted, the stroke of the vertical movement of the gear 4-2a is controlled, the clamping degree of the elastic clamping part 2-2a in the milk tea cup clamping sleeve 2a is adjusted, and milk tea cups with different specifications are clamped.
Then, the second conveying device B conveys the milk tea cups with milk tea at the cup taking station to the capping device D for capping, and after capping is completed, the second conveying device B hands over the milk tea cups to the third conveying device C, and the specific conveying process of the second conveying device B is as follows:
the first transverse driving motor 3b drives the second screw rod to rotate, so that a second screw rod nut and a carrying manipulator 2b connected with the second screw rod nut are driven to transversely move, the carrying manipulator 2b moves to the position above the cup taking station, and milk tea cups containing milk tea are conveyed to the cup taking station through a milk tea cup conveying mechanism 3 a; the first vertical driving mechanism 2-2b drives the first clamping mechanism to move downwards, and the first clamping driving mechanism 2-4b drives the two clamping jaws 2-3b to clamp the milk tea cup, mainly to clamp the lower part of the edge of the milk tea cup; the first vertical driving mechanism 2-2b drives the milk tea cup to move upwards, the first transverse driving mechanism drives the carrying manipulator 2b to move to the sealing and covering device 5b, the milk tea cup is placed on the conveying seat 5-1b, the milk tea cup is matched with the containing groove 5-2b, and the edge of the milk tea cup is tightly abutted to the upper portion of the containing groove 5-2b of the conveying seat 5-1b, so that the sealing and covering device 5b can cover and cover the milk tea cup on the milk tea cup by taking the conveying seat 5-1b as a force point, and the milk tea cup is conveniently covered and covered on the milk tea cup by the sealing and covering device 5 b. The conveying driving mechanism drives the conveying seat 5-1b and the milk tea cup on the conveying seat 5-1b to move to the capping station, and the capping device 5b caps the milk tea cup on the milk tea cup. Then, the conveying driving mechanism drives the conveying seat 5-1B to move, so that the milk tea cups after being sealed are conveyed to the position of the second conveying device B, the first vertical driving mechanism 2-2b drives the first clamping mechanism to vertically move to the position below the brim of the milk tea cup, the first clamping driving mechanism 2-4b drives the two clamping jaws 2-3b to move, the clamping parts of the two clamping jaws 2-3b pass through the matching grooves 5-3b on the conveying seat 5-1b to be contacted with the outer wall of the milk tea cup, the first vertical driving mechanism 2-2b drives the first clamping mechanism to move upwards, so that the two clamping jaws 2-3b hook the lower part of the brim of the teacup, the milk-tea cup is thus removed from the capping device 5b and is transferred by the first transverse drive means into the third handling device C.
After the third carrying device C and the second carrying device B realize the handover of the milk tea cups, the third carrying device C carries the milk tea cups to the finished product conveying device 7, wherein the third carrying device C has the working process that:
the second transverse driving mechanism 2 drives the carrying mechanism to move, and when the second transverse driving mechanism 2 drives the carrying mechanism to reach a position where the carrying mechanism is connected with a second carrying device B, the bearing driving mechanism drives the bearing plate 3-1 to rotate to a horizontal state. Subsequently, the milk tea cup is placed on the supporting plate 3-1 below the two second clamping mechanisms 4 of the third conveying device C by the second conveying device B, and then the two clamping cylinders 4-5 of the two second clamping driving mechanisms respectively drive the two clamping pieces 4-2 to move oppositely, so that the milk tea cup is clamped. Subsequently, when the second transverse driving mechanism 2 drives the carrying mechanism to reach the upper part of the finished product conveying device 7, the carrying mechanism places the milk tea cups at the finished product conveying device 7. The specific process is as follows:
the second vertical motor 5-2 drives the fourth screw rod to rotate, so as to drive the fourth screw rod nut and the clamping seat 6-1 connected with the fourth screw rod nut to move downwards and ensure that the distance between the bottom of the milk tea cup and the finished product conveying device 7 is larger than the length of the bearing plate 3-1, and then the bearing driving motors 3-3 positioned on the two sides of the bearing plate 3-1 drive the rollers 3-5 to rotate, so as to drive the connecting rods 3-4 to rotate, so as to drive the bearing plate 3-1 to vertically rotate, so that the bearing plate 3-1 is kept in a vertical state, and therefore the milk tea cup is separated. Subsequently, the second vertical driving mechanism 5 continues to drive the clamping seat 6-1 to move downwards until the bottom of the milk tea cup is contacted with the conveying plane of the finished product conveying device 7; the second clamping cylinders 4-5 of the two second clamping driving mechanisms respectively drive the two clamping pieces 4-2 to do reverse motion to loosen the milk tea cup, so that the milk tea cup is placed at the finished product conveying device 7. Finally, the second vertical driving mechanism 5 and the third vertical driving mechanism 6 respectively drive the clamping seat 6-1 and the bearing seat 3-2 to return to the initial positions, and the second transverse driving mechanism 2 drives the carrying mechanism to carry repeatedly.
When the milk tea cups are placed at the finished product conveying device 7 by the third conveying device C, the finished product conveying device 7 conveys the milk tea cups to the designated collecting position, and thus, all conveying work of milk tea making is completed.
In addition, the third conveying device C is used for transferring the milky tea cups conveyed by the second conveying device B to the next finished product conveying device 7, and the third conveying device C can convey the milky tea cups at the previous processing station to the next processing station. The specific process is as follows:
the second vertical motor 5-2 drives the fourth screw rod to rotate, so as to drive the fourth screw rod nut and the clamping seat 6-1 connected with the fourth screw rod nut to move downwards until the milk tea cup to be carried is positioned between the clamping pieces 4-2 of the two second clamping mechanisms 4, then the second clamping cylinders 4-5 of the two second clamping driving mechanisms respectively drive the two clamping pieces 4-2 to move oppositely, so as to clamp the milk tea cup, and then the second vertical driving mechanism 5 drives the clamping seat 6-1 to move upwards, so as to drive the milk tea cup to move upwards; when the milk tea cup moves to a specific height, for example, after the distance between the milk tea cup and the designated cup taking position is greater than the length of the bearing plate 3-1, the bearing driving motors 3-3 positioned on the two sides of the bearing plate 3-1 drive the rollers 3-5 to rotate, so as to drive the connecting rods 3-4 to rotate, so as to drive the bearing plate 3-1 to vertically rotate to a horizontal state, so that the bearing plate 3-1 is positioned at the bottom of the milk tea cup to bear the milk tea cup. In the process, in order to ensure that the supporting plate 3-1 can smoothly support the bottom of the milk tea cup, the supporting mechanism 3 is further provided with a third vertical driving mechanism 6 for driving the supporting seat 3-2 to vertically move, and when a gap exists between the milk tea cup and the supporting plate 3-1, the third vertical motor 6-2 drives the fifth screw rod to rotate, so that the fifth screw rod nut and the supporting seat 3-2 connected with the fifth screw rod nut are driven to vertically move, and the supporting plate 3-1 can accurately support the cup bottom of the milk tea cup. And then the second transverse driving mechanism 2 drives the carrying mechanism to reach the next processing station, the carrying mechanism places the milk tea cups into the appointed station, and the specific cup placing process refers to the cup placing process of transferring the milk tea cups carried by the second carrying device B to the finished product conveying device 7.
Example 2
This example is different from example 1 in that: the milk tea cup conveying driving mechanism comprises a driving cylinder, a cylinder body of the driving cylinder is installed on the first rack 1a, and a telescopic rod of the driving cylinder is connected with the conveying seat 3-1.
The above description is a preferred embodiment of the present invention, but the present invention is not limited to the above description, and any other changes, modifications, substitutions, blocks and simplifications which do not depart from the spirit and principle of the present invention should be construed as equivalents thereof, and they are included in the scope of the present invention.
Claims (9)
1. An automatic milk tea cup conveying system is characterized by comprising a first conveying device used for conveying sent milk tea cups to a cup loading station, a second conveying device used for conveying milk tea cups in the first conveying device to a capping device, a finished product conveying device used for conveying finished milk tea cups out, and a third conveying device used for transferring milk tea cups in the second conveying device to the finished product conveying device,
the first carrying device comprises a first machine frame, a milk tea cup clamping sleeve arranged on the first machine frame, a milk tea cup conveying mechanism used for driving the milk tea cup clamping sleeve to move, and a self-adaptive clamping mechanism used for enabling the milk tea cup clamping sleeve to self-adaptively clamp a milk tea cup at a material taking station, wherein the cross section of the milk tea cup clamping sleeve is gradually increased from bottom to top; the elastic clamping part is equally divided into a plurality of elastic clamping pieces arranged along the circumference by the plurality of grooves; the milk tea cup conveying mechanism comprises a conveying seat and a milk tea cup conveying driving mechanism for driving the conveying seat to move along the length direction of the first machine frame; the self-adaptive clamping mechanism comprises a rack arranged on the first rack, a gear arranged on the milk tea cup jacket and a linear driving mechanism used for driving the rack to move along the length direction vertical to the first rack, wherein the length direction of the rack is parallel to the length direction of the first rack, the gear is sleeved at the lower end of the milk tea cup jacket and matched with the rack, an inner ring of the gear is provided with an inner thread, and an outer thread matched with the inner thread is arranged on a fixing part of the milk tea cup jacket; the linear driving mechanism comprises a moving seat and a moving cylinder for driving the moving seat to move, wherein the rack is arranged on the moving seat, the moving cylinder is arranged on the first rack, and a telescopic rod of the moving cylinder is connected with the moving seat;
the second carrying device comprises a second rack, a carrying manipulator arranged on the second rack and a first transverse driving mechanism used for driving the carrying manipulator to move transversely, wherein the manipulator comprises an installation seat, a first clamping mechanism arranged on the installation seat and a first vertical driving mechanism used for driving the first clamping mechanism to move vertically, and the first clamping mechanism comprises two clamping jaws and a first clamping driving mechanism used for driving the two clamping jaws to clamp and release the milk tea cup;
the third carrying device comprises a third frame, a carrying mechanism arranged on the third frame and a second transverse driving mechanism used for driving the carrying mechanism to move transversely,
the conveying mechanism comprises a conveying seat, clamping seats arranged on the conveying seat, two groups of second clamping mechanisms arranged on the clamping seats and a second vertical driving mechanism used for driving the clamping seats to do vertical motion, wherein the two groups of second clamping mechanisms are respectively arranged on two sides of the clamping seats, and each group of second clamping mechanisms comprises a clamping piece and a second clamping cylinder used for driving the clamping piece to move; the second clamping cylinders in the two groups of second clamping driving mechanisms drive the clamping pieces to move oppositely, so that the milk tea cup is clamped; the second clamping cylinders in the two groups of second clamping driving mechanisms drive the clamping pieces to move reversely, so that the milk tea cups are loosened;
the second clamping mechanism further comprises a fine adjustment mechanism for fine adjustment of the clamping piece, wherein the fine adjustment mechanism comprises an adjusting seat and an adjusting cylinder arranged on the adjusting seat, and the adjusting seat is connected with a telescopic rod of the clamping cylinder; the clamping piece is an elastic arc plate, the middle part of the elastic arc plate is fixed on the adjusting seat, and two ends of the elastic arc plate are respectively connected with the telescopic rod of the adjusting cylinder through movable rods;
the carrying mechanism further comprises a supporting mechanism for supporting the bottom of the milk tea cup, the supporting mechanism comprises a supporting seat, a supporting plate arranged on the supporting seat, a third vertical driving mechanism for driving the supporting seat to vertically move and a supporting driving mechanism for driving the supporting plate to rotate so as to realize separation of the bottom of the milk tea cup, wherein the supporting seat is connected to the clamping seat in a sliding manner; the supporting plate is rotatably connected to the supporting seat and is positioned below the space between the two groups of second clamping mechanisms; the bearing drive mechanism is two sets of, and two sets of bearing drive mechanisms are located respectively the both sides of bearing board, and every bearing drive mechanism of group includes that bearing driving motor and setting are in bearing driving motor's the epaxial gyro wheel of bearing, wherein, the gyro wheel with connect through the connecting rod between the bearing board, connecting rod one end with the side of bearing board is rotated and is connected, the other end with the gyro wheel is connected.
2. The automated milky tea cup handling system according to claim 1, wherein the milky tea cup conveying driving mechanism comprises a milky tea cup conveying motor and a first lead screw transmission mechanism, wherein the first lead screw transmission mechanism comprises a first lead screw and a first lead screw nut matched with the first lead screw, the first lead screw nut is mounted on the conveying seat, the first lead screw is mounted on the first frame, and the length direction of the first lead screw is parallel to the length direction of the first frame; the milk tea cup conveying motor is installed on the first machine frame, and a main shaft of the milk tea cup conveying motor is connected with the first screw rod.
3. The automated milky tea cup handling system according to claim 1, wherein the milky tea cup conveying and driving mechanism comprises a driving air cylinder, a cylinder body of the driving air cylinder is mounted on the first frame, and a telescopic rod of the driving air cylinder is connected with the conveying seat.
4. The automated milky tea cup handling system according to claim 1, wherein the first transverse driving mechanism comprises a transverse driving motor and a second lead screw transmission mechanism, wherein the second lead screw transmission mechanism comprises a second lead screw and a second lead screw nut matched with the second lead screw, wherein the length direction of the second lead screw is parallel to the length direction of the second rack, and the second lead screw nut is mounted on the mounting seat; the transverse driving motor is installed on the second rack, and the main shaft is connected with the second screw rod.
5. The automated milky tea cup handling system of claim 4, wherein the first clamping driving mechanism is a first clamping cylinder, the first clamping cylinder is a double-acting cylinder, and two driving ends of the double-acting cylinder are respectively connected with two clamping jaws.
6. The automatic handling system of milk tea cups according to claim 5, wherein the first vertical driving mechanism comprises a vertical cylinder, the vertical cylinder is mounted on the mounting seat, and a telescopic rod of the vertical cylinder is directly connected with the first clamping cylinder or is connected with the first clamping cylinder through a connecting plate.
7. The automatic handling system of milk tea cups according to claim 1, wherein the second transverse driving mechanism comprises a transverse motor and a third screw transmission mechanism arranged on a third frame, wherein the third screw transmission mechanism comprises a third screw and a third screw nut matched with the third screw, wherein the length direction of the third screw is parallel to the length direction of the third frame; the main shaft of the transverse motor is connected with the third screw rod; the third screw nut is mounted on the carrying seat.
8. The automated milky tea cup handling system of claim 7, wherein the second vertical driving mechanism comprises a second vertical motor disposed on the handling base and a fourth screw transmission mechanism, wherein the fourth screw transmission mechanism comprises a fourth screw and a fourth screw nut engaged with the fourth screw, wherein the fourth screw is disposed vertically; the main shaft of the second vertical motor is connected with the fourth screw rod; the fourth screw rod nut is installed on the clamping seat.
9. The automated milky tea cup handling system of claim 8, wherein the third vertical driving mechanism comprises a third vertical motor and a fifth screw transmission mechanism arranged on the holder, wherein the fifth screw transmission mechanism comprises a fifth screw and a fifth screw nut matched with the fifth screw, wherein the fifth screw is arranged vertically; a main shaft of the third vertical motor is connected with the fifth screw rod; and the fifth screw rod nut is arranged on the bearing seat.
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| CN202010775873.5A CN111891475B (en) | 2020-08-05 | 2020-08-05 | Automatic carrying system for milk tea cups |
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| CN202010775873.5A CN111891475B (en) | 2020-08-05 | 2020-08-05 | Automatic carrying system for milk tea cups |
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| ES292075A1 (en) * | 1962-12-31 | 1963-11-16 | Cory Corp | Beverage brewing and dispensing apparatus |
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| TWI671049B (en) * | 2018-06-22 | 2019-09-11 | 台灣智能機器人科技股份有限公司 | Automatic brewing beverage device |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| ES292075A1 (en) * | 1962-12-31 | 1963-11-16 | Cory Corp | Beverage brewing and dispensing apparatus |
| CN101470923A (en) * | 2007-12-28 | 2009-07-01 | 上海市民办文绮中学 | Bottled drink conveyer of automatic vending machine |
| CN203995159U (en) * | 2014-07-31 | 2014-12-10 | 河北汇金机电股份有限公司 | A kind of seal holder with taper chuck |
| CN105857756A (en) * | 2016-05-13 | 2016-08-17 | 西北工业大学 | Automatic weighing and boxing device for powder blasting supplies |
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Effective date of registration: 20220112 Address after: 511446 103, No. 27 west line, Kengtou Village Industrial Zone, Nancun Town, Panyu District, Guangzhou City, Guangdong Province Applicant after: GUANGZHOU KUKU INTELLIGENT TECHNOLOGY CO.,LTD. Address before: 510000 12 Xinou South Street, Kemu long, Tianhe District, Guangzhou City, Guangdong Province Applicant before: Chen Weihua |
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