CN113307018A - Weighing mechanical arm and weighing method of milk tea machine - Google Patents
Weighing mechanical arm and weighing method of milk tea machine Download PDFInfo
- Publication number
- CN113307018A CN113307018A CN202110651690.7A CN202110651690A CN113307018A CN 113307018 A CN113307018 A CN 113307018A CN 202110651690 A CN202110651690 A CN 202110651690A CN 113307018 A CN113307018 A CN 113307018A
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- weighing
- mechanical arm
- milk tea
- panel
- lifting
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- 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
- B65G47/902—Devices for picking-up and depositing articles or materials provided with drive systems incorporating rotary and rectilinear movements
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- 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
- B65G43/00—Control devices, e.g. for safety, warning or fault-correcting
- B65G43/08—Control devices operated by article or material being fed, conveyed or discharged
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01G—WEIGHING
- G01G19/00—Weighing apparatus or methods adapted for special purposes not provided for in the preceding groups
- G01G19/22—Weighing apparatus or methods adapted for special purposes not provided for in the preceding groups for apportioning materials by weighing prior to mixing them
- G01G19/24—Weighing apparatus or methods adapted for special purposes not provided for in the preceding groups for apportioning materials by weighing prior to mixing them using a single weighing apparatus
Abstract
The invention discloses a weighing mechanical arm and a weighing method of a milk tea machine, and the weighing mechanical arm comprises a mechanical arm panel, wherein the front end of the mechanical arm panel is coupled and connected with a bionic gripper, the rear end of the mechanical arm is fixedly connected with a lifting mechanism, the lifting mechanism is connected with a translation mechanism through a fixed block, a rotating mechanism is also arranged on the mechanical arm panel to drive the mechanical arm panel to rotate in a full angle, a weighing and metering module is arranged in the middle of the mechanical arm panel, the weighing and metering module can weigh the mass grabbed on the bionic gripper in real time and transmit information to a central control system through electric connection, and the metering accuracy of the weighing and metering module can be controlled within 1 gram; the weight of the material is compensated according to the feedback weight change of the weighing and metering module to reach the set basic quantity, so that the weighing and metering device is more accurate in metering and weighing, the application of the mechanical arm is more flexible than the traditional application, the occupied area is small, and the cost is saved.
Description
Technical Field
The invention relates to the field of food manufacturing, in particular to a weighing mechanical arm and a weighing method of a milk tea machine.
Background
At present, the milk tea making in milk tea shops is mostly manually operated, different milk tea making formulas are provided for various milk teas with different proportions, materials of the formulas are specified in certain specifications, certain measuring quantities are correspondingly provided for weighing milk tea ingredients with specified weights, whether the taken ingredients meet the formula specifications or not is manually determined, in the actual operation process, the manually-measured ingredients generally have large errors, the tastes of the same prepared milk tea are different every time, and a standardized milk tea product is difficult to form; moreover, the manual operation cost is high, and the product production speed depends on the skill level of workers, so that the product production rate cannot be ensured, and the requirements of modern people on standardization and rapidness of milk tea making are not met.
The invention discloses a material moisture detection device and a control method and a control system thereof, and the material moisture detection device is characterized in that the interaction of control signals is carried out between a material moisture control system and a mechanical arm control system, so that the mechanical arm control system controls a mechanical arm device to execute corresponding operations. Although the invention patent provides a method for determining the weight of a weighing object by combining a mechanical arm and weight control, the invention has the defects of large space required by mechanical equipment, low weighing accuracy and the like, and cannot be popularized and used in the field of unmanned milk tea machines.
Disclosure of Invention
Aiming at the problems in the background art, the weighing mechanical arm and the weighing method of the milk tea machine provided by the invention can effectively solve the problems of inaccurate material consumption, low yield, high labor cost and the like in the milk tea making process.
The technical scheme of the invention is as follows: a weighing mechanical arm of a milk tea machine comprises a mechanical arm panel, wherein the front end of the mechanical arm panel is coupled and connected with a bionic gripper, the rear end of the mechanical arm is fixedly connected with a lifting mechanism, the lifting mechanism is connected with a translation mechanism through a fixed block, a rotating mechanism is also arranged on the mechanical arm panel to drive the mechanical arm panel to rotate at a full angle, wherein,
the bionic gripper is connected to the front end of the panel of the mechanical arm in a coupling mode, the bionic rotating hand drives a gripper gear to adjust the opening degree through gripper motor rotation at the front end of the panel, the accuracy of the adjusting angle of the gripper motor is controlled within a range of 1 degree, and the bionic gripper is composed of at least two bionic fingers to complete actions such as gripping, placing and the like.
The middle part of the panel of the mechanical arm is provided with a weighing and metering module which can weigh the mass grabbed by the bionic gripper in real time and transmit information to a central control system through electric connection, and the metering accuracy of the weighing and metering module can be controlled within 1 gram.
The arm rear end is fixed with slewing mechanism, and slewing mechanism comprises rotating electrical machines and rotatory gear, can drive the arm panel and carry out the rotation of full angle, rotating electrical machines fixed connection is inside the arm panel, the aperture has been seted up on the panel, is favorable to the arm panel during operation heat dissipation.
The lifting mechanism is fixedly connected with the mechanical arm panel through a support rod, a lifting platform is arranged at the upper end of the support rod, and the panel is fixed on the lifting platform through screws; the lifting mechanism is composed of a lifting servo motor, a lifting nut seat and a lifting screw rod, the lifting nut seat is fixedly connected with the supporting rod, the lifting servo motor is connected with the lifting screw rod, the lifting screw rod is controlled to move in the vertical direction through rotation, and the lifting screw rod is arranged in the lifting nut seat, so that the lifting nut seat is driven to control the supporting rod to complete lifting movement in the vertical direction.
The bracing piece middle part be provided with the fixed block, fixed block and translation mechanism sliding connection, translation mechanism comprises horizontal guide and translation servo motor, and horizontal guide passes through the conveyer belt and is connected with the fixed block, thereby translation servo motor is rotatory to drive conveyer belt horizontal migration makes the fixed block accomplish translational motion on horizontal guide for the arm accomplishes the horizontal direction and removes.
The invention also provides a milk tea weighing and metering method, which mainly carries out real-time weighing on the mass of the added ingredients in the milk tea manufacturing process through a weighing and metering module on a mechanical arm panel and transmits the information back to a central control system to accurately control the mass of the added materials each time, and the weighing steps are as follows:
s1: the quality of each added material is set according to different milk tea ingredients, and is called as a basic quantity.
S2: and for the first discharging, the central control system controls the corresponding discharging device to discharge for the first time according to the set basic quantity, and when the quality of the first discharging is close to the set basic quantity, the first discharging is finished.
S3: the central control system calculates the difference between the first discharging quality and the set basic quantity, and performs incremental compensation on the difference quality, wherein the incremental compensation refers to calculating the proportion between the difference quality and the set basic quantity, then multiplying the calculated proportion result by the first discharging quality to obtain a second discharging quality, and the central control system discharges according to the calculated second discharging quality.
And S4, after the second discharging, judging whether the error of the total weight of the weighed materials and the set basic amount is less than 1 g by the central control system, if so, determining that the material adding step is finished, and if so, repeating the operation of S3 until the error is less than 1 g.
According to the invention, compared with the six-shaft mechanical arm used by the existing milk tea machine, the milk tea machine has the following advantages:
1. the weighing mechanical arm of the milk tea machine is composed of three main motion mechanisms, namely a rotating mechanism, a lifting mechanism and a translation mechanism, and can independently and flexibly complete various actions in the milk tea making process, so that the operation is simpler, more convenient and faster, and the time for completing the making of one cup of milk tea is only 1-2 minutes on average.
2. The weighing and metering module borne on the panel of the mechanical arm can control the mass change of the added materials in real time, and is matched with the central control system to accurately control the feeding quality of each time, so that the feeding error is controlled within a range of 1 gram, and the milk tea is made to have more uniform taste.
3. The milk tea making machine can be independently installed on a milk tea workbench, has small occupied area, can replace manual milk tea making operation, reduces the labor cost and has higher making efficiency.
Drawings
In order to more clearly illustrate the technical solution of the present invention, the drawings needed to be used in the embodiments will be briefly described below, and it is obvious to those skilled in the art that other drawings can be obtained according to the drawings without any inventive exercise.
Fig. 1 is an overall structure diagram of a weighing mechanical arm of a milk tea machine.
Fig. 2 is a sectional view of the weighing mechanical arm of the milk tea machine.
Fig. 3 is a panel structure diagram of a weighing mechanical arm of the milk tea machine.
Fig. 4 is a front view of the weighing mechanical arm of the milk tea machine.
Fig. 5 is a top view of the weighing mechanical arm of the milk tea machine.
Fig. 6 is a weighing flow chart of the milk tea weighing and metering method of the invention.
The bionic gripper comprises a bionic gripper 1, a mechanical arm panel 2, a gripper motor 201, a gripper gear 202, a weighing and metering module 203, a rotating gear 204, a rotating motor 205, a translation mechanism 3, a horizontal guide rail 301, a fixing block 302, a translation servo motor 303, a lifting mechanism 4, a supporting rod 401, a lifting nut seat 402, a lifting screw rod 403, a lifting servo motor 404 and a milk tea cup 5.
Detailed Description
Examples
The invention will be further elucidated with reference to the embodiments and the accompanying drawings.
Referring to fig. 1-5, the weighing mechanical arm of the milk tea machine comprises a mechanical arm panel 2, wherein the front end of the mechanical arm panel 2 is coupled with a bionic gripper 1, the rear end of the mechanical arm is fixedly connected with a lifting mechanism 4, the lifting mechanism 4 is connected with a translation mechanism 3 through a fixed block 302, and a rotating mechanism is further arranged on the mechanical arm panel 2 and drives the mechanical arm panel 2 to rotate in a full angle.
Referring to fig. 3, the front end of the mechanical arm panel 2 is coupled with a bionic gripper 1, the bionic rotary gripper 1 rotates by a gripper motor 201 at the front end of the panel 2 to drive a gripper gear 202 to adjust the opening and closing degree, the accuracy of the angle adjustment of the gripper motor 201 is controlled within a range of 1 degree, and the bionic gripper 1 is composed of at least two bionic fingers to complete the actions of gripping, placing and the like.
The middle of the mechanical arm panel 2 is provided with a weighing and metering module 203 which can weigh the mass grabbed by the bionic gripper 1 in real time and transmit information to a central control system through electric connection, and the metering accuracy of the weighing and metering module 203 can be controlled within 1 gram.
The rear end of the mechanical arm is fixed with a rotating mechanism, the rotating mechanism is composed of a rotating motor 205 and a rotating gear 204, the mechanical arm panel 2 can be driven to rotate in a full angle, the rotating motor 205 is fixedly connected inside the mechanical arm panel 2, and small holes are formed in the panel 2, so that heat dissipation of the mechanical arm panel 2 during working is facilitated.
Referring to fig. 2-5, the lifting mechanism 4 is fixedly connected with the robot arm panel 2 through a support rod 401, a lifting platform is arranged at the upper end of the support rod 401, and the panel 2 is fixed on the lifting platform through screws; the lifting mechanism 4 is composed of a lifting servo motor 404, a lifting nut seat 402 and a lifting screw rod 403, the lifting nut seat 402 is fixedly connected with the supporting rod 401, the lifting servo motor 404 is connected with the lifting screw rod 403, the lifting screw rod 403 is controlled to move in the vertical direction through rotation, and the lifting screw rod 403 is arranged in the lifting nut seat 402, so that the lifting nut seat 402 is driven to control the supporting rod 401 to complete the lifting movement in the vertical direction.
The middle of the supporting rod 401 is provided with a fixed block 302, the fixed block 302 is connected with a translation mechanism 3 in a sliding mode, the translation mechanism 3 is composed of a horizontal guide rail 301 and a translation servo motor 303, the horizontal guide rail 301 is connected with the fixed block 302 through a conveyor belt, and the translation servo motor 303 rotates to drive the conveyor belt to move horizontally, so that the fixed block 302 completes translation motion on the horizontal guide rail 301, and the mechanical arm moves horizontally.
In specific implementation, the translation servo motor 303 rotates to drive the mechanical arm to move horizontally to a material taking area, the rotating motor 205 of the mechanical arm rotates to adjust the direction of the panel 2 of the mechanical arm, so that the bionic gripper 1 can accurately reach the material taking position, the gripper motor 201 rotates to drive the bionic gripper 1 to open the milk tea grabbing cup 5, after the weighing and metering module 203 on the panel 2 judges and grabs the milk tea cup through weight, the mechanical arm moves to the next material taking area, the bionic gripper 1 grabs the milk tea cup 5 to reach a specified position through mutual matching of the lifting mechanism 4, the translation mechanism 3 and the rotating mechanism, the material is taken and falls into the milk tea cup 5, the weighing and metering module 203 judges whether the material reaches a set weight through the weight change of the milk tea cup 5, then the mechanical arm moves to the next material area until all ingredients of milk tea are completely configured, and finally, the mechanical arm sends the prepared milk tea to a meal outlet to finish the whole milk tea making process.
The weighing mechanical arm of the milk tea machine can be assembled on the full-automatic milk tea machine, the whole mechanical arm can complete various operations of milk tea preparation under the control of a central control system through a rotating mechanism, a lifting mechanism 4 and a translation mechanism 3 of the mechanical arm, a bionic gripper 1 of the mechanical arm grabs a cup 5 to a milk tea ingredient area on the corresponding milk tea machine, milk tea preparation is completed according to a preset sequence, the amount of each ingredient is accurately judged according to the weight change reflected by a weighing and metering module 203, and milk tea taste consistent with the formula proportion can be prepared.
Referring to fig. 6, the invention also includes a milk tea weighing and metering method, which mainly weighs the mass of the added ingredients in the milk tea making process in real time through the weighing and metering module 203 on the mechanical arm panel 2 and transmits the information back to the central control system, and accurately controls the mass of the added materials each time, and the weighing steps are as follows:
s1: the quality of each added material is set according to different milk tea ingredients, and is called as a basic quantity.
S2: and for the first discharging, the central control system controls the corresponding discharging device to discharge for the first time according to the set basic quantity, and when the quality of the first discharging is close to the set basic quantity, the first discharging is finished.
S3: the central control system calculates the difference between the first discharging quality and the set basic quantity, and performs incremental compensation on the difference quality, wherein the incremental compensation refers to calculating the proportion between the difference quality and the set basic quantity, then multiplying the calculated proportion result by the first discharging quality to obtain a second discharging quality, and the central control system discharges according to the calculated second discharging quality.
And S4, after the second discharging, judging whether the error of the total weight of the weighed materials and the set basic amount is less than 1 g by the central control system, if so, determining that the material adding step is finished, and if so, repeating the operation of S3 until the error is less than 1 g.
The milk tea is subjected to weight judgment of the added materials by the weighing and metering module 203 in the process of preparing and adding various materials, so that the accuracy of the added materials is ensured, and the milk tea is more standardized and quicker to manufacture.
Other embodiments of the invention will be apparent to those skilled in the art from consideration of the specification and practice of the invention disclosed herein. This application is intended to cover any variations, uses, or adaptations of the invention following, in general, the principles of the invention and including such departures from the present disclosure as come within known or customary practice within the art to which the invention pertains.
It will be understood that the invention is not limited to the precise arrangements described above and shown in the drawings and that various modifications and changes may be made without departing from the scope thereof.
Claims (8)
1. The utility model provides a milk tea machine arm of weighing, includes arm panel (2), and arm panel (2) front end coupling is connected with bionical tongs (1), and its characterized in that arm rear end has fixedly connected with elevating system (4), elevating system (4) are connected through fixed block (302) with translation mechanism (3), still are provided with rotary mechanism on arm panel (2), drive the arm panel and carry out the rotation of full angle, bionical tongs (1) are rotated by tongs motor (202) of panel (2) front end and are driven tongs gear (201) and carry out the regulation of degree of opening and shutting.
2. The weighing mechanical arm of the milk tea machine according to claim 1, characterized in that a weighing and metering module (203) is arranged in the middle of the mechanical arm panel (2), the weighing and metering module can weigh the mass grabbed by the bionic gripper (1) in real time and transmit information to a central control system through electric connection, and the metering accuracy of the weighing and metering module (203) can be controlled within 1 gram; the precision of the angle adjustment of the gripper motor (202) is controlled within the range of 1 degree, and the bionic gripper (1) is composed of at least two bionic fingers to complete the actions of gripping, placing and the like.
3. The weighing mechanical arm of the milk tea machine according to claim 2, wherein a rotating mechanism is fixed at the rear end of the mechanical arm and comprises a rotating motor (205) and a rotating gear (204) and can drive the mechanical arm panel (2) to rotate at a full angle, the rotating motor (205) is fixedly connected inside the mechanical arm panel (2), and the panel is provided with small holes so as to facilitate heat dissipation of the mechanical arm panel (2) during working.
4. The weighing mechanical arm of the milk tea machine according to claim 3, wherein the lifting mechanism (4) is fixedly connected with a mechanical arm panel (2) through a support rod (401), a lifting platform is arranged at the upper end of the support rod (401), and the panel (2) is fixed on the lifting platform through screws; the lifting mechanism (4) is composed of a lifting servo motor (404), a lifting nut seat (402) and a lifting screw rod (403), the lifting nut seat (402) is fixedly connected with the supporting rod (401), the lifting servo motor (404) is connected with the lifting screw rod (403), the lifting screw rod (403) is arranged in the lifting nut seat (402) through rotating to control the lifting screw rod (403) to move in the vertical direction, and therefore the lifting nut seat (402) is driven to control the supporting rod (401) to complete the lifting movement in the vertical direction.
5. The weighing mechanical arm of the milk tea machine according to claim 4, wherein a fixed block (302) is arranged in the middle of the supporting rod (401), the fixed block (302) is connected with the translation mechanism (3) in a sliding manner, the translation mechanism (3) is composed of a horizontal guide rail (301) and a translation servo motor (303), the horizontal guide rail (301) is connected with the fixed block (302) through a conveyor belt, and the translation servo motor (303) rotates to drive the conveyor belt to move horizontally, so that the fixed block (302) completes translation movement on the horizontal guide rail (301), and the mechanical arm completes horizontal movement.
6. A milk tea weighing and metering method is characterized in that a milk tea weighing mechanical arm of the milk tea machine of any one of claims 1 to 5 is used for weighing materials required by milk tea to prepare milk tea, and the method comprises the following steps:
s1: setting the mass of each added material according to different milk tea ingredients, and calling the mass as a basic quantity;
s2: the central control system controls the corresponding discharging device to discharge for the first time according to the set basic quantity, and when the quality of the first discharge is close to the set basic quantity, the first discharge is finished;
s3: the central control system calculates the difference between the first discharging quality and a set basic quantity, and performs incremental compensation on the difference quality, wherein the incremental compensation is to calculate the ratio of the difference quality to the set basic quantity, then multiplies the calculated ratio result by the first discharging quality to obtain a second discharging quality, and the central control system discharges according to the calculated second discharging quality;
and S4, after the second discharging, judging whether the error of the total weight of the weighed materials and the set basic amount is less than 1 g by the central control system, if so, determining that the material adding step is finished, and if so, repeating the operation of S3 until the error is less than 1 g.
7. The milk tea weight metering method according to claim 6, wherein the weight metering method is suitable for the weighing process of adding all materials in the milk tea preparation process.
8. The milk tea weight-metering method according to claim 6, wherein the error of the materials weighed by the milk tea weight-metering method is less than 1 g.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110651690.7A CN113307018A (en) | 2021-06-11 | 2021-06-11 | Weighing mechanical arm and weighing method of milk tea machine |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202110651690.7A CN113307018A (en) | 2021-06-11 | 2021-06-11 | Weighing mechanical arm and weighing method of milk tea machine |
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| CN113307018A true CN113307018A (en) | 2021-08-27 |
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| CN202110651690.7A Pending CN113307018A (en) | 2021-06-11 | 2021-06-11 | Weighing mechanical arm and weighing method of milk tea machine |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114212527A (en) * | 2021-12-30 | 2022-03-22 | 杭州惠光科技有限公司 | Movable grabbing system based on automatic terminal and operation method |
| CN114212528A (en) * | 2021-12-30 | 2022-03-22 | 杭州惠光科技有限公司 | Movable grabbing system based on belt transmission and operation method |
| CN116994375A (en) * | 2023-08-02 | 2023-11-03 | 北京云融金泰网络科技有限公司 | Unmanned full-automatic network intelligent milk tea making and selling machine |
-
2021
- 2021-06-11 CN CN202110651690.7A patent/CN113307018A/en active Pending
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114212527A (en) * | 2021-12-30 | 2022-03-22 | 杭州惠光科技有限公司 | Movable grabbing system based on automatic terminal and operation method |
| CN114212528A (en) * | 2021-12-30 | 2022-03-22 | 杭州惠光科技有限公司 | Movable grabbing system based on belt transmission and operation method |
| CN114212528B (en) * | 2021-12-30 | 2023-08-15 | 杭州惠光科技有限公司 | Movable grabbing system based on belt transmission and operation method |
| CN116994375A (en) * | 2023-08-02 | 2023-11-03 | 北京云融金泰网络科技有限公司 | Unmanned full-automatic network intelligent milk tea making and selling machine |
| CN116994375B (en) * | 2023-08-02 | 2024-01-23 | 北京云融金泰网络科技有限公司 | Unmanned full-automatic network intelligent milk tea making and selling machine |
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