CN112315324A - Beverage cup position selection manipulator structure of intelligent extraction and drinking machine - Google Patents

Abstract

A beverage cup position selection manipulator structure of an intelligent beverage extraction machine comprises a base plate and a tray, wherein the tray is arranged on the base plate and provided with a placing position used for placing a beverage cup, a pushing structure used for pushing the beverage cup forwards away from the tray is further arranged on the tray, and the pushing structure moves along with the tray; the method is characterized in that: the rear end of the tray is provided with a swinging arm extending backwards, the swinging arm is rotatably arranged on the base plate and can swing left and right in the range of the top surface of the base plate, a swinging driving structure used for driving the swinging arm to swing is arranged on the base plate, a plurality of position detecting structures used for detecting whether the tray swings to the working position or not are further arranged between the base plate and the swinging arm, and the swinging driving structure stops working when the tray swings to the working position along with the swinging arm. Different operations such as ice falling, cup falling, extraction, capping and cup pushing can be carried out at different positions through swinging, so that the ice falling device, the cup falling device, the extraction device and the capping device can be arranged at intervals in the intelligent beverage extracting and drinking machine.

Description

Beverage cup position selection manipulator structure of intelligent extraction and drinking machine

Technical Field

The invention relates to an intelligent beverage extraction machine based on a beverage capsule, in particular to a beverage cup position selection mechanical arm structure of the intelligent beverage extraction machine.

Background

A beverage capsule based extractor, which is an extraction device for extracting the contents of a container with a corresponding juice by rapidly heating water under high pressure, is suitable for processing the container (capsule) containing the ingredients which, after interaction with a liquid introduced into the capsule, such as hot pressurized water, are capable of producing a beverage or an edible juice. The capsule is a circular truncated cone-shaped ring which can be filled with ingredients such as coffee powder, tea leaves or the like and is closed by a foil-shaped tear face cover welded or crimped to an annular rim extending radially from the side wall of the ring. A common extraction and drinking machine is a capsule coffee machine. The capsule coffee machine technology is relatively mature, but the capsule coffee machine can only be used at home, and each time coffee is prepared, the capsule is taken out from a packaging box, the coffee machine is opened by turning a handle, a coffee capsule is filled by hands, then the handle is turned to close the machine element, the machine starts to extract the beverage, and the handle is turned again after the extraction is finished, so that the capsule is removed. The existing coffee machine can not realize the automatic vending function.

There are also a great variety of traditional beverage vending machines, and if juice vending machines, the existing beverage vending machines are not beverage capsule based machine devices. In view of the above situation, the present applicant has applied for a chinese utility model patent application with a patent number CN201920574008.7 (publication number CN210276889U) to disclose "intelligent beverage extraction machine based on beverage capsule", and discloses an intelligent beverage extraction machine based on beverage capsule that provides a possibility for realizing automatic vending of beverages obtained based on extraction. Can send beverage cup tray to beverage extraction group below in this application, and can send the beverage cup tray out the cup feeding structure of rack from the beverage cup export including the third belt drive structure, the beverage cup tray is through extending the guide rail structure restraint that sets up in the rack along the fore-and-aft direction, and the beverage cup tray is fixed and is slided around on the third drive belt of third belt drive structure.

The tray of the extraction and drinking machine has only three positions, namely a cup falling position, an extraction position, a gland position and a cup outlet position, and the positions are positioned on the same straight line. Due to the characteristic of capsule beverage extraction, the temperature of the beverage sent by the beverage extraction machine is very high (about 80 degrees), the mouth is easy to scald, therefore, the beverage needs to be cooled, ice blocks are filled in the best cooling mode, one more working position is needed, an ice making device needs to be arranged in the machine, and if the position is changed in a linear direction, the space inside the machine is insufficient.

Further improvements are needed in the location selection structure of the cup holder of the aforementioned patent.

Disclosure of Invention

The invention aims to solve the technical problem of providing a beverage cup position selection manipulator structure of an intelligent beverage extracting and drinking machine, which is reasonable in structure and ensures that working positions are not on the same straight line, aiming at the current situation of the prior art, and the manipulator structure is adopted to ensure that the internal layout of the intelligent beverage extracting and drinking machine is more reasonable.

The technical scheme adopted by the invention for solving the technical problems is as follows: a beverage cup position selection manipulator structure of an intelligent beverage extraction machine comprises a base plate and a tray which is arranged on the base plate and provided with a placing position for placing a beverage cup, wherein a pushing structure for pushing the beverage cup forwards away from the tray is further arranged on the tray, and the pushing structure moves along with the tray; the method is characterized in that: the rear end of tray has the swing arm that extends backward, the swing arm rotates to set up on the base plate and can be at the top surface scope horizontal hunting of base plate, be equipped with on the base plate and be used for the drive the swing drive structure of swing arm wobbling, still be equipped with a plurality of position detection structures that are used for detecting whether the tray swung to this operating position between base plate and the swing arm, under the tray swung to operating position state along with the swing arm, swing drive structure stop work.

Preferably, the position detection structure includes a first position detection switch disposed on a bottom surface of the tray, and a plurality of first trigger members disposed on the substrate and arranged at intervals along a circumference and protruding upward to cooperate with the first position detection switch, and the tray is located at one of the operating positions in a state where the tray swings to one of the first trigger members to trigger the first position detection switch. Each position detection switch is an infrared photoelectric switch, and when the trigger component moves to a position between the infrared photoelectric switches, the infrared photoelectric switches are triggered to send out signals.

The position detection structure further comprises a first microswitch and a second microswitch which are arranged at intervals left and right and matched with the swing arm; when the swing arm swings to the limit position leftwards, the swing arm triggers the first microswitch, and the swing driving structure stops working; when the swing arm swings rightwards to the limit position, the swing arm triggers the second microswitch, and the swing driving structure stops working. It can increase the security that the mechanism used, just before the damage of first position detection switch, two micro-gap switches play in addition, avoid the swing arm transition rotatory and damage.

As an optimized scheme, the number of the working positions is four, namely a cup falling initial position, an ice falling position, an extraction cup pushing position and a cover falling position, wherein the extraction cup pushing position is located in the middle, the cup falling initial position and the ice falling position are located on the left side of the extraction cup pushing position, and the cover falling position is located on the right side of the extraction cup pushing position; the number of the first trigger parts is three, when the tray swings to a cup falling initial position, a cup extracting and pushing position and a cover falling position along with the swing arm, the first trigger parts at corresponding positions trigger the first position detection switch, and when the tray swings to an ice falling position along with the swing arm, the swing arm triggers the first micro switch.

The arrangement of the working positions enables the intelligent extraction and drinking machine adopting the manipulator structure to have two working modes. The utility model provides a add ice mode, at first the tray accepts the goblet that drops at the cup initial position that drops, the tray swings to the ice position again after that, the goblet accepts the ice-cube that drops, the tray backward swing pushes away the cup position to the extraction after that again, there is the beverage after the cooling in the extraction operation goblet, then the tray continues to swing to the lid position that falls, cover the lid at the goblet mouth through falling the lid equipment, the tray backward rotation pushes away the cup position to the extraction after that, pushing mechanism will be equipped with the beverage and push out the tray with the goblet that covers, supply the people to use. The other mode is an ice-free mode, the tray receives a dropped beverage cup at the initial position of the cup falling, then the tray swings to the position of the extraction cup pushing position to finish the extraction operation of the beverage with high temperature in the beverage cup, then the tray continuously swings to the position of the cover falling, the cover is covered on the opening of the beverage cup through the cover falling device, then the tray reversely rotates to the position of the extraction cup pushing position, and the pushing mechanism pushes the beverage cup filled with the beverage and covered with the cover out of the tray for people to use.

In a further improvement, a roller which is in rolling contact with the substrate is arranged at the bottom of the swinging arm; the arrangement of the ball enables the swing arm to swing more smoothly. The swing driving structure is a first servo motor, the first servo motor is installed on a first motor frame fixed on the substrate, and a transmission shaft of the first servo motor is in transmission connection with the swing arm so as to drive the swing arm to swing. Adopt servo motor as power supply and have accurate control

The tray is further improved, the pushing structure comprises a push rod used for pushing a beverage cup placed on the placing position, the push rod is restrained on the swing arm and can slide back and forth relative to the swing arm, and a sliding driving structure used for driving the push rod to slide back and forth along the swing arm is further arranged on the tray; the structure of the push rod is adopted to push the beverage cup, so that the beverage cup has the advantage of simple structure, and the selection of the driving structure is more. In addition, the area of the front part of the push rod can be increased, and the push rod can be an arc-shaped push part matched with the outer wall of the beverage cup, so that the beverage cup can be pushed by the push rod more stably.

The sliding driving structure comprises a second servo motor, a rotary table and a connecting rod, the tray is driven by the second servo motor to rotate around the axis of the tray, the front end of the connecting rod is hinged with the push rod, the rear end of the connecting rod is hinged on the rotary table, and the hinged position is eccentrically arranged with a rotating shaft of the rotary table; the second driving structure is a crank connecting rod structure, and the arrangement of the disc is convenient for controlling the stroke of the push rod sliding forwards and backwards.

Install second motor frame on the swing arm, second servo motor installs on second motor frame, the carousel is located the below of second motor frame, be equipped with second position detection switch on the second motor frame, be equipped with on the carousel bellied with second position detection switch complex second triggers the part, triggers under the state that the part triggered second position detection switch at the rotatory second of carousel, second servo motor stop work. This structure enables the rotatory a week of carousel and just accomplishes a round trip stroke, accomplish promptly and send the cup after, make the stroke that the push rod resets to the normal position again, when sending the cup, second servo motor drives the carousel and begins to rotate, when rotatory to 180 degrees, the push rod withdraws from the tray with the goblet completely, second servo motor continues to drive the carousel rotatory, when the carousel is rotatory 360 degrees, trigger part triggers second position detection switch, second servo motor stop work, the push rod just resets to the initial position.

In order to ensure that the tray slides forwards and backwards stably and has small front and back sliding friction force, the bottom of the swing arm is further improved to be provided with a groove extending along the front and back direction, the left side and the right side of the groove are provided with guide shafts arranged along the length direction at intervals, the bottom of the push rod is provided with a plurality of guide wheels, and wheel grooves on the guide wheels are matched with the guide shafts. The guide shaft plays a role in restraining the guide wheel, ensures that the tray can only linearly slide back and forth, and the guide wheel is in rolling contact with the guide shaft, so that the resistance is small.

Further improve, still be equipped with two on the above-mentioned tray and control the interval and set up and be curved backplate, the backplate rotates to be installed on the tray and can the horizontal hunting, and then realize folding or opening of backplate, under the backplate folds the state, forms the protection cup space of embracing the goblet between two backplates the push rod antedisplacement promotes the goblet in-process, the backplate opens and ensures that the goblet can shift out forward under the push rod retrusion reset state, the backplate keeps folding the trend. A cup protecting space for holding the beverage cup is formed between the two protecting plates, so that the beverage cup is not easy to shake in the front and back sliding process of the tray, and the beverage is prevented from being spilled. In addition, in the process that the push rod moves forwards to push the beverage cup, the protective plate is opened to ensure that the beverage cup can move forwards, and under the condition that the push rod moves backwards and resets, the protective plate keeps closing to form a cup protecting space so as to ensure that the protective plate can hold the cup when the cup is dropped next time.

Preferably, the tray is provided with a gantry, pin shafts are arranged on the left side and the right side of the gantry, the guard plate is hinged to the pin shafts, elastic pieces enabling the guard plate to keep a folding trend are arranged on the pin shafts, a triggering portion matched with the push rod is arranged on the rear side of the guard plate, and abdicating notches for abdicating the triggering portion are arranged on the left side and the right side of the front surface of the push rod; under the push rod antedisplacement reset state, it is right to let a breach trigger part forms the swing and lets a position, the backplate can keep folding trend under the elastic component effect push rod antedisplacement promotes the goblet in-process, trigger part leaves the breach of stepping down, and trigger part drives the backplate outwards swing and opens under the effect of push rod lateral wall simultaneously. The structure ensures that the guard plate is opened or closed when being suitable, the abdicating notch forms swing abdicating to the trigger part under the condition that the push rod moves backwards and is reset, so that the guard plate keeps the closing trend under the action of the elastic piece, the trigger part is separated from the abdicating notch in the process that the push rod moves forwards to push the beverage cup, and the trigger part drives the guard plate to swing outwards and open under the action of the outer side wall of the push rod.

For better limiting the beverage cup, the tray is provided with a cavity for holding the bottom of the beverage cup, the cavity is located below the protective plate, the front part of the cavity is provided with an opening for pushing the bottom of the beverage cup forwards, and the cavity is also internally provided with a third position detection switch for detecting whether the beverage cup is placed. The third position detection switch is used for detecting whether a beverage cup is put in, and only if the cup is arranged in the concave cavity, the intelligent beverage machine starts to work and comprises extraction and cup feeding.

Compared with the prior art, the invention has the advantages that: swing drive structure can drive the tray and follow the swing arm at the top surface scope horizontal hunting of base plate, and still be equipped with a plurality ofly between base plate and swing arm and be used for detecting the tray and whether swing to this operating position's position detection structure, under the tray swings to the operating position state along with the swing arm, swing drive structure stop work can carry out different operations in different positions, like falling ice, falling cup, extraction, gland and push away the cup, can arrange the device that falls ice, the device that falls cup, extraction device, gland device interval in intelligence extraction drink machine like this, need not arrange on a straight line, optimizes each equipment overall arrangement in intelligence extraction drink machine, does benefit to intelligence extraction drink machine miniaturization.

Drawings

FIG. 1 is a schematic perspective view (initial position of cup falling) of an embodiment of the present invention;

FIG. 2 is a schematic perspective view (ice falling position) of an embodiment of the present invention;

FIG. 3 is a schematic perspective view (position of the extraction cup) of an embodiment of the present invention;

FIG. 4 is a schematic perspective view of an embodiment of the present invention (cover-falling position);

FIG. 5 is a cross-sectional view of an embodiment of the present invention;

FIG. 6 is a schematic front perspective view of a tray portion according to an embodiment of the present invention);

FIG. 7 is a schematic rear perspective view of a tray portion according to an embodiment of the present invention;

FIG. 8 is a schematic perspective view of a tray portion according to an embodiment of the present invention (push cup state);

fig. 9 is an exploded perspective view of a tray portion in an embodiment of the invention.

Detailed Description

The invention is described in further detail below with reference to the accompanying examples.

As shown in fig. 1 to 9, a preferred embodiment of the present invention is shown.

A beverage cup position selection manipulator structure of an intelligent beverage extraction machine comprises a base plate 1 and a tray 3 which is arranged on the base plate 1 and is provided with a placing position for placing a beverage cup 2, wherein the tray 3 is also provided with a pushing structure for pushing the beverage cup 2 forwards away from the tray 3, and the pushing structure moves along with the tray 3;

the rear end of the tray 3 is provided with a swinging arm 31 extending backwards, the swinging arm 31 is rotatably arranged on the base plate 1 and can swing left and right in the top surface range of the base plate 1, a swinging driving structure for driving the swinging arm 31 to swing is arranged on the base plate 1, a plurality of position detecting structures for detecting whether the tray 3 swings to the working position are also arranged between the base plate 1 and the swinging arm 31, and the swinging driving structure stops working when the tray 3 swings to the working position along with the swinging arm 31.

The position detection structure comprises a first position detection switch 4a arranged on the bottom surface of the tray 3 and a plurality of first trigger parts 5a which are arranged on the substrate 1 at intervals along the circumference and protrude upwards and are matched with the first position detection switch 4a, and the tray 3 is positioned at one working position when the tray 3 swings to one of the first trigger parts 5a to trigger the first position detection switch 4 a.

The position detection structure also comprises a first microswitch 6a and a second microswitch 6b which are arranged at left and right intervals and matched with the swing arm 31; when the swinging arm 31 swings to the left to the limit position, the swinging arm 31 triggers the first microswitch 6a, and the swinging driving structure stops working; when the swing arm 31 swings to the right to the limit position, the swing arm 31 triggers the second microswitch 6b, and the swing driving structure stops working.

The number of the working positions in the embodiment is four, and the working positions are a cup falling initial position, an ice falling position, an extraction cup pushing position and a cover falling position respectively, wherein the extraction cup pushing position is located in the middle, the cup falling initial position and the ice falling position are located on the left side of the extraction cup pushing position, and the cover falling position is located on the right side of the extraction cup pushing position; the number of the first trigger parts 5a is three, when the tray 3 swings with the swing arm 31 to the cup falling initial position, the cup extracting and pushing position and the cover falling position, the first trigger part 5a at the corresponding position triggers the first position detection switch 4a, and when the tray 3 swings with the swing arm 31 to the ice falling position, the swing arm 31 triggers the first microswitch 6 a.

A roller 32 which is in rolling contact with the substrate 1 is arranged at the bottom of the swinging arm 31; the swing driving structure is a first servo motor 7a, the first servo motor 7a is mounted on a first motor frame 11 fixed on the substrate 1, and a transmission shaft of the first servo motor 7a is in transmission connection with the swing arm 31 so as to drive the swing arm 31 to swing.

The pushing structure comprises a push rod 8 for pushing the beverage cup 2 placed on the placing position, the push rod 8 is constrained on the swing arm 31 and can slide back and forth relative to the swing arm 31, and the tray 3 is also provided with a sliding driving structure for driving the push rod 8 to slide back and forth along the swing arm 31; the sliding driving structure comprises a second servo motor 7b, a rotary table 33 and a connecting rod 34, the tray 33 is driven by the second servo motor 7b and can rotate around the axis of the tray, the front end of the connecting rod 34 is hinged with the push rod 8, the rear end of the connecting rod 34 is hinged on the rotary table 33, and the hinged position is eccentrically arranged with the rotary shaft of the rotary table 33; install second motor frame 35 on swing arm 31, second servo motor 7b installs on second motor frame 35, carousel 33 is located the below of second motor frame 35, is equipped with second position detection switch 4b on the second motor frame 35, is equipped with bellied second trigger part 5b with second position detection switch 4b complex on carousel 33, and under the state that carousel 33 is rotatory to second trigger part 5b and triggers second position detection switch 4b, second servo motor 7b stop work.

The bottom of the swing arm 31 is provided with a groove 311 extending in the front-back direction, the left side and the right side of the groove 311 are provided with guide shafts 312 at intervals in the length direction, the bottom of the push rod 8 is provided with a plurality of guide wheels 81, and wheel grooves on the guide wheels 81 are matched with the guide shafts 312.

The tray 3 is further provided with two arc-shaped guard plates 9 arranged at left and right intervals, the guard plates 9 are rotatably installed on the tray 3 and can swing left and right, and then the guard plates 9 are folded or unfolded, a cup protecting space P for holding the beverage cup 2 is formed between the two guard plates 9 in the folded state of the guard plates 9, the guard plates 9 are unfolded to ensure that the beverage cup 2 can be moved forwards in the process of pushing the beverage cup 2 forwards by the push rod 8, and the guard plates 9 are kept in the folded trend in the reset state of backwards moving the push rod 8.

The tray 3 is provided with a door frame 36, the left side and the right side of the door frame 36 are provided with pin shafts 91, the guard plate 9 is hinged on the pin shafts 91, the pin shafts 91 are provided with elastic members 92 which enable the guard plate 8 to keep a folding trend, the rear side of the guard plate 9 is provided with a triggering part 93 matched with the push rod 8, and the left side and the right side of the front surface of the push rod 8 are provided with abdicating notches 82 which abdicate the triggering part 93; under the push rod 8 moves backward reset state, the abdicating notch 82 forms swing abdicating to the trigger part 93, the guard plate 9 can keep the trend of folding under the action of the elastic part 92, in the process that the push rod 8 moves forward to push the beverage cup 2, the trigger part 93 leaves the abdicating notch 82, and meanwhile the trigger part 93 drives the guard plate 9 to swing outwards and open under the action of the outer side wall of the push rod 8.

The tray 3 is provided with a concave cavity 10 for placing the bottom of the beverage cup 2, the concave cavity 10 is positioned below the protective plate 8, the front part of the concave cavity 10 is provided with an opening 101 for pushing out the bottom of the beverage cup 2 forwards, and the concave cavity 10 is internally provided with a third position detection switch 4c for detecting whether the beverage cup 2 is placed.

Each position detection switch in the embodiment is an infrared photoelectric switch, and when the trigger part moves to a position between the infrared photoelectric switches, the infrared photoelectric switches are triggered to send out signals.

The working process and principle of the embodiment are as follows.

The present embodiment may have two modes of operation.

The first mode is as follows: in the ice-adding mode, the tray 3 is first stopped at a cup-dropping initial position to receive a dropped beverage cup 2, as shown in fig. 1; then tray 3 swings again and stops at the ice-falling position, and beverage cup 2 receives the falling ice cubes, as shown in fig. 2; then the tray 3 swings reversely and stops at the position of the extracting cup pushing, and the cooled beverage is in the beverage cup after the extracting operation is finished, as shown in figure 3; then the tray 3 continues to swing and stops in the lid-dropping position, and the lid 21 is covered on the rim of the beverage cup 2 by the lid-dropping device, as shown in fig. 4; then the tray 3 rotates reversely and stops at the extraction cup-pushing position, as shown in fig. 3; the pushing mechanism pushes the drinking cup 2 filled with the drink and covered with the lid 21 out of the tray 3 for use by a person, as shown in fig. 8. After the operation is completed, the tray 3 is reset and stopped at the cup dropping initial position for the next operation, as shown in fig. 1.

And a second mode: in the ice-free mode, first the tray 3 stops at the cup-dropping initial position to receive the dropped beverage cup 2, as shown in fig. 1; then the tray 3 swings and stops at the position of the extracting cup pushing, and the high-temperature beverage in the beverage cup is extracted, as shown in figure 3; the tray then continues to swing and stops in the lid-dropping position, and the lid 21 is applied to the mouth of the beverage cup 2 by the lid-dropping device, as shown in fig. 4; then the tray 3 rotates reversely and stops at the extraction cup-pushing position, as shown in fig. 3; the pushing mechanism pushes the drinking cup 2 filled with the drink and covered with the lid 21 out of the tray 3 for use by a person, as shown in fig. 8. After the operation is completed, the tray 3 is reset and stopped at the cup dropping initial position for the next operation, as shown in fig. 1.

A cup pushing process: as shown in fig. 8, the second servo motor 7b operates to drive the rotary disc 33 to rotate, the connecting rod 34 drives the push rod 8 to move forward, the trigger portion 93 leaves the abdicating notch 82, meanwhile, the trigger portion 93 drives the guard plate 9 to swing outward and open under the action of the outer side wall of the push rod 8, the rotary disc 33 rotates about 180 degrees, and the push rod 8 completely pushes the beverage cup 2 out of the tray, as shown in fig. 6. The rotary table 33 continues to rotate, the push rod 8 is driven to move backwards through the connecting rod 34 to reset, when the rotary table 33 rotates for 360 degrees, the trigger component 93 rotates to a position between the infrared photoelectric switches along with the rotary table 33, the second position detection switch 4b is triggered to send a signal, the second servo motor 7b stops acting, the push rod 8 moves backwards to a position, the yielding notch 82 yields the trigger component 93, the trigger component 93 abuts against the swing arm 31, the two protection plates 9 are simultaneously turned inwards under the action of the elastic component 92 to keep a folding trend, and a protection cup space P holding the beverage cup 2 is formed between the two protection plates 9. After the cup is pushed, the second servo motor 7b works reversely to drive the rotary table 33 to rotate reversely until the guard plate 9 is folded and reset, so as to wait for the next cup falling.

It should be noted that in the description of the present embodiment, the terms "front, back", "left, right", "up, down", etc. indicate the orientation or positional relationship based on the orientation or positional relationship shown in the drawings, which is only for convenience of describing the present invention and simplifying the description, but does not indicate or imply that the referred device or element must have a specific orientation, be constructed in a specific orientation, and be operated, and thus, should not be construed as limiting the present invention. The terms "mounted," "connected," and "coupled" are to be construed broadly and may, for example, be fixedly coupled, detachably coupled, or integrally coupled; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meanings of the above terms in the present invention can be understood in specific cases to those skilled in the art.

Claims (10)

1. A beverage cup position selection manipulator structure of an intelligent beverage extraction machine comprises a base plate (1) and a tray (3) which is arranged on the base plate (1) and provided with a placing position for placing a beverage cup (2), wherein the tray (3) is also provided with a pushing structure for pushing the beverage cup (2) forwards away from the tray (3), and the pushing structure moves along with the tray (3); the method is characterized in that: the rear end of tray (3) has swing arm (31) of backward extension, swing arm (31) rotate set up on base plate (1) and can be at the top surface scope horizontal hunting of base plate (1), be equipped with on base plate (1) and be used for driving swing arm (31) wobbling swing drive structure, still be equipped with a plurality of position detection structures that are used for detecting whether tray (3) swung to this operating position between base plate (1) and swing arm (31), under tray (3) swung to operating position state along with swing arm (31), swing drive structure stop work.

2. The beverage cup position selection manipulator structure of the intelligent extraction and beverage machine according to claim 1, wherein: the position detection structure comprises a first position detection switch (4a) arranged on the bottom surface of the tray (3) and a plurality of first trigger parts (5a) arranged on the substrate (1) at intervals along the circumference and protruding upwards and matched with the first position detection switch (4a), wherein the tray (3) swings to one of the first trigger parts (5a) to trigger the first position detection switch (4a), and the tray (3) is located at one of the working positions.

3. The beverage cup position selection manipulator structure of the intelligent extraction and beverage machine according to claim 2, wherein: the position detection structure also comprises a first microswitch (6a) and a second microswitch (6b) which are arranged at left and right intervals and matched with the swing arm (31); when the swinging arm (31) swings to the left to the limit position, the swinging arm (31) triggers the first microswitch (6a), and the swinging drive structure stops working; when the swing arm (31) swings rightwards to the limit position, the swing arm (31) triggers the second microswitch (6b), and the swing driving structure stops working.

4. The beverage cup position selection manipulator structure of the intelligent extraction and beverage machine according to claim 3, wherein: the number of the working positions is four, and the working positions are a cup falling initial position, an ice falling position, an extraction cup pushing position and a cover falling position respectively, wherein the extraction cup pushing position is located in the middle, the cup falling initial position and the ice falling position are located on the left side of the extraction cup pushing position, and the cover falling position is located on the right side of the extraction cup pushing position; the number of the first trigger parts (5a) is three, when the tray (3) swings to a cup falling initial position, a cup extracting and pushing position and a cover falling position along with the swing arm (31), the first trigger parts at corresponding positions trigger (5a) to send the first position detection switch (4a), and when the tray (3) swings to an ice falling position along with the swing arm (31), the swing arm (31) triggers the first microswitch (6 a).

5. The beverage cup position selection manipulator structure of the intelligent extraction and beverage machine according to claim 1, wherein: a roller (32) which is in rolling contact with the substrate (1) is arranged at the bottom of the swing arm (31); the swing driving structure is a first servo motor (7a), the first servo motor (7a) is installed and fixed on a first motor frame (11) on the substrate (1), and a transmission shaft of the first servo motor (7a) is in transmission connection with a swing arm (31) so as to drive the swing arm (31) to swing.

6. The beverage cup position selection manipulator structure of the intelligent beverage extraction machine according to any one of claims 1 to 5, wherein: the pushing structure comprises a push rod (8) used for pushing the beverage cup (2) placed on the placing position, the push rod (8) is constrained on the swing arm (31) and can slide back and forth relative to the swing arm (31), and the tray (3) is further provided with a sliding driving structure used for driving the push rod (8) to slide back and forth along the swing arm (31); the sliding driving structure comprises a second servo motor (7b), a rotary table (33) and a connecting rod (34), the tray (33) is driven by the second servo motor (7b) to rotate around the axis of the tray, the front end of the connecting rod (34) is hinged to the push rod (8), the rear end of the connecting rod (34) is hinged to the rotary table (33), and the hinged position is eccentric to the rotating shaft of the rotary table (33); install second motor frame (35) on swing arm (31), second servo motor (7b) are installed on second motor frame (35), carousel (33) are located the below of second motor frame (35), be equipped with second position detection switch (4b) on second motor frame (35), be equipped with on carousel (33) bellied with second position detection switch (4b) complex second triggers part (5b), triggers under the state of second position detection switch (4b) in carousel (33) rotation to second trigger part (5b), second servo motor (7b) stop work.

7. The beverage cup position selection manipulator structure of the intelligent extraction and beverage machine according to claim 6, wherein: the bottom of the swing arm (31) is provided with a groove (311) extending in the front-back direction, the left side and the right side of the groove (311) are provided with guide shafts (312) at intervals in the length direction, the bottom of the push rod (8) is provided with a plurality of guide wheels (81), and wheel grooves in the guide wheels (81) are matched with the guide shafts (312).

8. The beverage cup position selection manipulator structure of the intelligent extraction and beverage machine according to claim 6, wherein: the beverage cup is characterized in that two arc-shaped protection plates (9) which are arranged at left and right sides at intervals are further arranged on the tray (3), the protection plates (9) are rotatably installed on the tray (3) and can swing left and right to further realize folding or opening of the protection plates (9), a cup protection space (P) for holding the beverage cup (2) is formed between the two protection plates (9) in a folding state of the protection plates (9), the protection plates (9) are opened to ensure that the beverage cup (2) can move forwards in the process of pushing the beverage cup (2) forwards by the aid of the pushing rods (8), and the protection plates (9) are kept in a folding trend in a backwards moving reset state of the pushing rods (8).

9. The beverage cup position selection manipulator structure of the intelligent extraction and beverage machine according to claim 8, wherein: the tray (3) is provided with a door frame (36), pin shafts (91) are arranged on the left side and the right side of the door frame (36), the guard plate (9) is hinged to the pin shafts (91), elastic parts (92) enabling the guard plate (8) to keep a folding trend are arranged on the pin shafts (91), a trigger part (93) matched with the push rod (8) is arranged on the rear side of the guard plate (9), and abdicating notches (82) for abdicating the trigger part (93) are arranged on the left side and the right side of the front surface of the push rod (8); push rod (8) lapse reset state under, it is right to let a breach (82) trigger part (93) form the swing and let a bit, backplate (9) can keep folding trend under elastic component (92) effect push rod (8) antedisplacement promotes goblet (2) in-process, trigger part (93) leave and let a breach (82), trigger part (93) simultaneously and drive backplate (9) outwards swing and open under push rod (8) lateral wall effect.

10. The beverage cup position selection manipulator structure of the intelligent extraction and beverage machine according to claim 8, wherein: the tray (3) is provided with a cavity (10) for placing the bottom of the beverage cup (2), the cavity (10) is located below the protective plate (8), the front part of the cavity (10) is provided with an opening (101) for pushing out the bottom of the beverage cup (2) forwards, and the cavity (10) is further internally provided with a third position detection switch (4c) for detecting whether the beverage cup (2) is placed.

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