CN113491442A - Intelligent beverage preparation system of robot - Google Patents
Intelligent beverage preparation system of robot Download PDFInfo
- Publication number
- CN113491442A CN113491442A CN202110867879.XA CN202110867879A CN113491442A CN 113491442 A CN113491442 A CN 113491442A CN 202110867879 A CN202110867879 A CN 202110867879A CN 113491442 A CN113491442 A CN 113491442A
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- block
- beverage
- seasoning
- groove
- fixed
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- 235000013361 beverage Nutrition 0.000 title claims abstract description 69
- 238000002360 preparation method Methods 0.000 title claims abstract description 11
- 235000011194 food seasoning agent Nutrition 0.000 claims abstract description 52
- 238000003860 storage Methods 0.000 claims abstract description 47
- 235000019640 taste Nutrition 0.000 claims abstract description 8
- 238000002156 mixing Methods 0.000 claims description 14
- 238000007599 discharging Methods 0.000 claims description 13
- 239000000463 material Substances 0.000 claims description 8
- 238000005303 weighing Methods 0.000 claims description 4
- 230000007704 transition Effects 0.000 claims description 3
- 239000004278 EU approved seasoning Substances 0.000 claims description 2
- 230000035622 drinking Effects 0.000 abstract description 3
- 239000000796 flavoring agent Substances 0.000 description 9
- 235000019634 flavors Nutrition 0.000 description 9
- 235000015067 sauces Nutrition 0.000 description 6
- 238000000034 method Methods 0.000 description 2
- 230000007547 defect Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000011065 in-situ storage Methods 0.000 description 1
- 238000003466 welding Methods 0.000 description 1
Images
Classifications
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- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47J—KITCHEN EQUIPMENT; COFFEE MILLS; SPICE MILLS; APPARATUS FOR MAKING BEVERAGES
- A47J31/00—Apparatus for making beverages
- A47J31/002—Apparatus for making beverages following a specific operational sequence, e.g. for improving the taste of the extraction product
-
- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47J—KITCHEN EQUIPMENT; COFFEE MILLS; SPICE MILLS; APPARATUS FOR MAKING BEVERAGES
- A47J31/00—Apparatus for making beverages
- A47J31/40—Beverage-making apparatus with dispensing means for adding a measured quantity of ingredients, e.g. coffee, water, sugar, cocoa, milk, tea
- A47J31/41—Beverage-making apparatus with dispensing means for adding a measured quantity of ingredients, e.g. coffee, water, sugar, cocoa, milk, tea of liquid ingredients
-
- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47J—KITCHEN EQUIPMENT; COFFEE MILLS; SPICE MILLS; APPARATUS FOR MAKING BEVERAGES
- A47J31/00—Apparatus for making beverages
- A47J31/44—Parts or details or accessories of beverage-making apparatus
- A47J31/4403—Constructional details
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- Engineering & Computer Science (AREA)
- Food Science & Technology (AREA)
- Devices For Dispensing Beverages (AREA)
Abstract
The invention discloses an intelligent robot beverage preparation system which comprises a rack, wherein the rack comprises a beverage preparation platform, a first placing rack for placing seasoning bottles with various tastes and a second placing rack for placing beverage cups, a region to be prepared, an industrial robot, a block seasoning storage device and a block seasoning grabbing and throwing device are arranged on the beverage preparation platform, and the region to be prepared is positioned beside the block seasoning storage device, or beside the block seasoning grabbing and throwing device, or between the block seasoning storage device and the block seasoning grabbing and throwing device; the device reduces the labor cost of store business such as a bar, and simultaneously can obtain corresponding beverages according to the flavoring quantity value set by correspondingly pushing out the beverages for sale, so that the device can be placed in places such as a market for sale, the range of drinking required by people is wide, and the flavoring quantity value is a rated limit, so that the brewed beverages have better taste.
Description
Technical Field
The invention relates to the technical field of automatic beverage blending, in particular to an intelligent robot beverage blending system.
Background
At present, the field blending of drinks such as cocktail is carried out by professional wine dispensers according to the drinks pushed out for sale by stores for corresponding blending, however, the manual wages of the wine dispensers are high, the technical levels of the wine dispensers are different, and the measuring cups for blending wine do not have scales, so that the requirements of customers cannot be met due to the fact that the drinks are easily blended, the customer resources are affected, the business cost of the stores is high due to the application of the wine dispensers, and the drinks must enter places such as bars when needing to be drunk by the drinks such as the cocktail prepared on the field, and the drinking range is greatly limited.
Disclosure of Invention
The invention aims to solve the technical defects and designs a robot intelligent beverage preparation system, which has the following specific structure.
The robot intelligent beverage modulating system comprises a rack, wherein the rack comprises a beverage modulating platform, a first placing rack for placing seasoning bottles with various flavors and a second placing rack for placing beverage cups, a region to be modulated, an industrial robot, a block seasoning storage device and a block seasoning grabbing and throwing device are arranged on the beverage modulating platform, and the region to be modulated is positioned beside the block seasoning storage device, or beside the block seasoning grabbing and throwing device, or between the block seasoning storage device and the block seasoning grabbing and throwing device;
the block seasoning storage device comprises a storage bin and a pushing-out mechanism, the storage bin comprises a storage space for stacking and storing the block seasoning, a feeding hole and a discharging hole, the feeding hole and the discharging hole are communicated with the storage space, and the pushing-out mechanism is positioned behind the storage bin and corresponds to the discharging hole; a perforation is arranged on one side of the storage bin corresponding to the discharge port, the position of the perforation corresponds to the position of the discharge port, a material pushing block is arranged in the perforation, and a telescopic rod of the pushing-out mechanism is fixedly connected with the material pushing block;
a first pneumatic clamping jaw is mounted on the industrial robot;
a first pneumatic clamping jaw of the industrial robot acts to grab the beverage cup from the second placing frame and then place the beverage cup in the area to be prepared;
the pushing mechanism drives the pushing block to act, the blocky seasoning positioned at the discharge port in the storage space is pushed out of the discharge port, and the blocky seasoning grabbing and throwing device grabs the pushed blocky seasoning and throws the blocky seasoning into the beverage cup;
the industrial robot enables the first pneumatic clamping jaws to act according to a preset multi-taste seasoning bottle grabbing program, each kind of seasoning bottle on the first placing frame is grabbed and placed into a beverage cup in a to-be-blended area in sequence, and after the placement is finished, the seasoning bottles are placed in situ;
and the first pneumatic clamping jaw of the industrial robot acts to grab the blended beverage cup and convey the beverage cup to the next station.
Preferably, the device for grabbing and throwing the blocky seasoning comprises a first support, a servo driving motor, a motion track plate, a linear slide rail, a motion swing rod and a first pneumatic clamping jaw, wherein the first support is fixed on the beverage blending platform, the motion track plate is fixed at the top of the first support, a first rotating shaft and a second rotating shaft are rotatably arranged on the motion track plate, the motion track plate comprises a motion track groove arranged around the first rotating shaft, the motion track groove comprises a vertical track groove, an arc track groove and a horizontal track groove, two ends of the arc track groove are respectively communicated with the horizontal track groove and the vertical track groove through arc transition grooves, a sliding block of the linear slide rail is fixed with the end part of the second rotating shaft, the second rotating shaft is positioned between the end part of the vertical track groove and the end part of the horizontal track groove, one end of the motion swing rod is fixed on one end of the first rotating shaft, the motion swing rod comprises an elongated groove arranged along the length direction of the motion swing rod, the two end parts of the pulley are respectively provided with a motion track groove and an elongated groove, the pulley is provided with a shaft body through a bearing, the end part of the shaft body is rotatably connected with one end of the linear slide rail, and the other end of the linear slide rail is provided with a second pneumatic clamping jaw; the servo driving motor is fixed on the back of the motion trail plate, and the rotating shaft of the servo driving motor is fixedly connected with the other end of the first rotating shaft.
Preferably, a first limiting block is fixed on the motion track plate beside the vertical track groove, and a second limiting block is fixed on the motion track plate beside the horizontal track groove.
Preferably, the method further comprises the step of setting the time for controlling the opening of the sauce bottle to face downwards and the pouring angle of the sauce bottle by the industrial robot, and determining the amount of the sauce to be applied into the drink cup.
Preferably, the block seasoning storage device further comprises a second support and a positioning frame, the second support is fixed on the beverage blending platform, the push-out mechanism and the storage bin are both fixed on the second support, the positioning block is fixed at the position of the discharge port of the storage bin, a positioning groove larger than the width of the discharge port is formed in the positioning block, and the positioning groove corresponds to the discharge port.
Preferably, the beverage dispenser further comprises an electronic scale which is used for weighing the prepared beverage and is arranged beside the to-be-prepared area.
Preferably, the top of the rack is fixed with a display screen through a connecting frame.
Preferably, the beverage preparing platform is provided with a positioning groove, and the second placing frame is positioned in the positioning groove.
Preferably, the first placing frame comprises a first step and a second step for placing the seasoning bottles, a plurality of depressions which are arranged in a straight line are arranged on the second step and the second step, and the depressions are matched with the seasoning bottles.
The robot intelligent beverage modulating system designed by the invention utilizes automatic blending of drinks such as cocktail, so that the labor cost of store business such as a bar is reduced, meanwhile, corresponding drinks can be obtained according to the flavoring quantity value set corresponding to the sold drinks, so that the equipment can be placed in places such as a market for sale, the drinking range of people is wide, meanwhile, the flavoring quantity value is rated limit, and the modulated drinks have good taste; meanwhile, a touch control operation screen can be added to automatically set the quantity value of the strip materials to be added, so that the favorite taste of the user can be blended.
Drawings
FIG. 1 is a schematic diagram of the overall system architecture;
FIG. 2 is a schematic view of the structure of the block seasoning pick-and-place device (6);
FIG. 3 is an enlarged view at A;
fig. 4 is an enlarged view at B.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments that can be derived by one of ordinary skill in the art from the embodiments given herein are intended to be within the scope of the present invention.
Example (b):
as shown in the attached drawings, the robot intelligent beverage brewing system described in the embodiment comprises a rack 1 and a PLC controller, wherein the rack 1 comprises a beverage blending platform 11, a first rack 2 for placing multiple flavor seasoning bottles 400 and a second rack 3 for placing beverage cups 100, the beverage blending platform 11 is provided with a region 300 to be blended, an industrial robot 4, a block flavor storage device 5 and a block flavor grabbing and throwing device 6, the region 300 to be blended is arranged beside the block flavor storage device 5 or beside the block flavor grabbing and throwing device 6 or between the block flavor storage device 5 and the block flavor grabbing and throwing device 6, the PLC controller is provided with a touch screen, the industrial robot 4 is provided with a first pneumatic clamping jaw 8, the industrial robot 4 is connected with and controlled by the PCL controller, the first pneumatic clamping jaw 8 is connected with and controlled by the PLC controller through an air pump, the nugget flavor 200 may be ice cubes or cubes.
An electronic scale 7 is fixed on the beverage blending platform 11, the electronic scale 7 is used for weighing the blended beverage and is arranged beside the to-be-blended area 300, and the electronic scale 7 is connected with and controlled by the PLC controller.
The block seasoning storage device 5 comprises a storage bin 51, a pushing-out mechanism 52, a second bracket 50 and a positioning frame, wherein the storage bin 51 comprises a storage space 511 for stacking and storing block seasonings, a feeding port 512 and a discharging port 513 which are communicated with the storage space 511, and the pushing-out mechanism 52 is positioned behind the storage bin 51 and corresponds to the discharging port 513; a through hole is arranged on one side of the storage bin 51 corresponding to the discharge port 513, the through hole corresponds to the discharge port 513, a material pushing block 53 is arranged in the through hole, and a telescopic rod of the pushing mechanism 52 is fixedly connected with the material pushing block 53; the second bracket 50 is fixed on the beverage preparing platform 11, the pushing-out mechanism 52 and the storage bin 51 are both fixed on the second bracket 50, the positioning block 54 is fixed at the position of the discharge port 513 of the storage bin 51, the positioning block 54 is provided with a positioning groove 541 which is wider than the discharge port 513, and the positioning groove 541 corresponds to the discharge port 513. The storage space 511 is selected according to actual conditions, a plurality of storage spaces 511 arranged in parallel can be correspondingly arranged, and two storage spaces are generally preferred, and the pushing mechanism 52 adopts a pushing cylinder which is connected with and controlled by a PLC controller through an air pump.
Preferably, the block-shaped flavoring grabbing and throwing device 6 comprises a first bracket 60, a servo driving motor 69, a motion track plate 61, a linear sliding rail 66, a motion swing rod 65 and a first pneumatic clamping jaw 8, wherein the first bracket 60 is fixed on the beverage blending platform 11, the motion track plate 61 is fixed on the top of the first bracket 60, a first rotating shaft 63 and a second rotating shaft 64 are rotatably mounted on the motion track plate 61 through bearings, the motion track plate 61 comprises a motion track groove 62 arranged around the first rotating shaft 63, the motion track groove 62 comprises a vertical track groove 621, an arc track groove 623 and a horizontal track groove 622, two ends of the arc track groove 623 are respectively communicated with the horizontal track groove 622 and the vertical track groove 621 through an arc transition groove 624, a sliding block of the linear sliding rail 66 is fixed with the end of the second rotating shaft 64, and the second rotating shaft 64 is positioned between the end of the vertical track groove 621 and the end of the horizontal track groove 622, one end of the moving swing rod 65 is fixed on one end of the first rotating shaft 63, the moving swing rod 65 comprises an elongated groove 651 arranged along the length direction of the moving swing rod 65, two end parts of the pulley 71 are respectively arranged in the motion track groove 62 and the elongated groove 651, the pulley 71 is provided with a shaft body 72 through a bearing, the end part of the shaft body 72 is rotatably connected with one end of the linear slide rail 66, and the other end of the linear slide rail 66 is provided with a second pneumatic clamping jaw 70; the servo driving motor 69 is fixed on the back of the motion trail plate 61, and the rotating shaft thereof is fixedly connected with the other end of the first rotating shaft 63; the servo drive motor 69 is connected to and controlled by the PCL control, and the second pneumatic gripper 70 is connected to and controlled by the PLC controller via an air pump.
Further, a first limiting block 67 is fixed to the side of the vertical track slot 621 on the motion track board 61, and a second limiting block 68 is fixed to the side of the horizontal track slot 622 on the motion track board 61, which realizes limiting of the motion of the linear sliding rail 66.
The working principle is as follows: the industrial robot 4 drives the first pneumatic clamping jaw 8 to act to grab the beverage cup 100 from the second placing frame 3 and then place the beverage cup in the area 300 to be prepared; the telescopic rod of the pushing mechanism 52 extends out to drive the pushing block 53 to act, the blocky flavoring in the storage space 511 at the position of the discharging port 513 is pushed out of the discharging port 513, the servo drive motor 69 is electrified to start, the first rotating shaft 63 is driven to rotate anticlockwise to drive the moving swing rod 65 to rotate anticlockwise, the pulley 71 in the moving track groove 62 enters the horizontal track groove 622 along the arc track groove 623, at the moment, the linear sliding rail 66 is in a horizontal state, the position of the second pneumatic clamping jaw 70 corresponds to the position of the discharging port 513, under the condition that the moving swing rod 65 continues to rotate anticlockwise, the pulley 71 in the moving track groove 62 reaches the end of the horizontal track groove 622, then the second pneumatic clamping jaw 70 grabs the blocky flavoring outside the discharging port 513, and then the servo drive motor 69 drives the first rotating shaft 63 and the moving swing rod 65 to rotate clockwise to drive the pulley 71 in the horizontal track groove 622 to move backwards, and enters the middle part of the arc track groove 623, so that the linear slide rail 66 is changed into an inclined state from a horizontal state, the block-shaped flavoring on the second pneumatic clamping jaw 70 is moved to the position above the cup mouth of the beverage cup 100, then the second pneumatic clamping jaw 70 releases the flavoring, and the flavoring automatically falls into the beverage cup 100; the industrial robot 4 makes the first pneumatic clamping jaws 8 act according to a preset grabbing program of the seasoning bottles 400 with various tastes, grabs and puts each seasoning bottle 400 on the first placing rack 2 into the beverage cup 100 of the area 300 to be blended in sequence, and places the seasoning bottle 400 in the original position after the putting is finished; the beverage cup 100 that the industrial robot 4's first pneumatic clamping jaw 8 action will allocate and finish snatchs to carry and carry out the weight of weighing beverage on the electronic scale 7, then weight information conveying compares with preset scope value in the PLC controller, if weigh the value and exceed the scope, then as reporting the wastes material, if set for the within range, then remind and be used for getting the cup, remind the mode can be voice prompt.
The method further comprises the steps of setting the time for controlling the opening of the sauce bottle 400 to face downwards and the pouring angle of the sauce bottle 400 by the industrial robot 4, determining the amount of the seasoning applied into the drink cup 100, accurately controlling the amount of the seasoning applied into the drink cup 100, reliably controlling the taste of the drink, setting the opening facing downwards time and the pouring angle of the sauce bottle 400 by a program in a PLC controller, and controlling the industrial robot 4 to finish the operation.
In this embodiment, the top of the rack 1 is fixed with a display screen 9 through a connecting frame, and the display screen 9 is connected with and controlled by the PLC controller, which can display the taste type and the queuing number of the beverage currently being made.
In this embodiment, the positioning groove 541 is disposed on the beverage preparing platform 11, and the second rack 3 is positioned in the positioning groove 541. The structure of the cup holder enables the beverage cup 100 to be placed more stably and reliably.
In this embodiment, the first rack 2 comprises a first step 21 and a second step 22 for placing the cruet 400, and a plurality of in-line depressions 23 are arranged on the second step 22 and the second step 22, and the depressions 23 are matched with the cruet 400. The arrangement increases the number of seasoning bottles 400 to be placed, and the grabbing of the first pneumatic clamping jaw 8 is completed, and meanwhile, the seasoning bottles 400 are placed in the concave 23, so that the seasoning bottles 400 are reliably positioned.
Finally, the fixation can be realized by bolt fixing or welding according to actual conditions.
The present invention is not limited to the above-mentioned preferred embodiments, and any other products in various forms can be obtained by anyone in the light of the present invention, but any changes in the shape or structure thereof, which have the same or similar technical solutions as those of the present application, fall within the protection scope of the present invention.
Claims (9)
1. The robot intelligent beverage preparation system comprises a rack (1) and is characterized in that the rack (1) comprises a beverage preparation platform (11), a first placing rack (2) for placing multiple-taste seasoning bottles (400) and a second placing rack (3) for placing beverage cups (100), wherein a region to be prepared (300), an industrial robot (4), a block seasoning storage device (5) and a block seasoning grabbing and throwing device (6) are arranged on the beverage preparation platform (11), the region to be prepared (300) is located beside the block seasoning storage device (5), or beside the block seasoning grabbing and throwing device (6), or between the block seasoning storage device (5) and the block seasoning grabbing and throwing device (6);
the block seasoning storage device (5) comprises a storage bin (51) and a pushing-out mechanism (52), wherein the storage bin (51) comprises a storage space (511) for stacking and storing the block seasonings, and a feeding port (512) and a discharging port (513) which are communicated with the storage space (511), and the pushing-out mechanism (52) is positioned behind the storage bin (51) and corresponds to the discharging port (513); a perforation is arranged on one side of the storage bin (51) corresponding to the discharge port (513), the position of the perforation corresponds to the position of the discharge port (513), a material pushing block (53) is arranged in the perforation, and a telescopic rod of the pushing-out mechanism (52) is fixedly connected with the material pushing block (53);
a first pneumatic clamping jaw (8) is arranged on the industrial robot (4);
a first pneumatic clamping jaw (8) of the industrial robot (4) acts to grab the beverage cup (100) from the second placing frame (3) and then place the beverage cup in a blending area (300);
the pushing mechanism (52) drives the pushing block (53) to act, the block-shaped flavoring in the storage space (511) at the position of the discharging port (513) is pushed out of the discharging port (513), and the block-shaped flavoring grabbing and throwing device (6) grabs the pushed block-shaped flavoring and throws the block-shaped flavoring into the beverage cup (100);
the industrial robot (4) enables the first pneumatic clamping jaws (8) to act according to a preset grabbing program of the seasoning bottles (400) with various tastes, grabs and puts each seasoning bottle (400) on the first placing rack (2) into a beverage cup (100) of the area (300) to be blended in sequence, and puts the seasoning bottle (400) in place after the putting is finished;
the first pneumatic clamping jaw (8) of the industrial robot (4) acts to grab the prepared beverage cup (100) and convey the beverage cup to the next station.
2. The system for the intelligent robotic beverage preparation according to claim 1, wherein the mass flavoring grasping and dispensing device (6) comprises a first support (60), a servo drive motor (69), a motion trajectory plate (61), a linear slide rail (66), a motion swing link (65), a first pneumatic jaw (8) and a pulley (71), the first support (60) is fixed on the beverage preparation platform (11), the motion trajectory plate (61) is fixed on the top of the first support (60), a first rotating shaft (63) and a second rotating shaft (64) are rotatably mounted on the motion trajectory plate (61), the motion trajectory plate (61) comprises a motion trajectory groove (62) disposed around the first rotating shaft (63), the motion trajectory groove (62) comprises a vertical trajectory groove (621), an arc trajectory groove (623) and a horizontal trajectory groove (622), and both ends of the arc trajectory groove (623) respectively pass through an arc transition groove (624), the horizontal trajectory groove (622) and the vertical trajectory groove (71) (621) The end parts of a sliding block and a second rotating shaft (64) of the linear sliding rail (66) are fixed, the second rotating shaft (64) is positioned between the end part of the vertical track groove (621) and the end part of the horizontal track groove (622), one end of the moving swing rod (65) is fixed on one end of the first rotating shaft (63), the moving swing rod (65) comprises a long-shaped groove (651) which is arranged along the length direction of the moving swing rod (65), two end parts of the pulley (71) are respectively arranged in the moving track groove (62) and the long-shaped groove (651), the pulley (71) is provided with a shaft body (72) through a bearing, the end part of the shaft body (72) is rotatably connected with one end of the linear sliding rail (66), and the other end of the linear sliding rail (66) is provided with a second pneumatic clamping jaw (70); the servo driving motor (69) is fixed on the back of the motion trail plate (61), and the rotating shaft of the servo driving motor is fixedly connected with the other end of the first rotating shaft (63).
3. The robotic intelligent beverage brewing system according to claim 2, wherein a first stop block (67) is fixed to the motion trajectory plate (61) beside the vertical trajectory slot (621), and a second stop block (68) is fixed to the motion trajectory plate (61) beside the horizontal trajectory slot (622).
4. The robot-based intelligent beverage brewing system according to claim 3, wherein the block flavoring storage device (5) further comprises a second bracket (50) and a positioning frame, the second bracket (50) is fixed on the beverage blending platform (11), the push-out mechanism (52) and the storage bin (51) are both fixed on the second bracket (50), the positioning block (54) is fixed at the position of the discharge port (513) of the storage bin (51), the positioning block (54) is provided with a positioning groove (541) which is wider than the width of the discharge port (513), and the positioning groove (541) corresponds to the discharge port (513).
5. The robotic intelligent beverage brewing system according to claims 1-4, further comprising setting the industrial robot (4) to control the time the mouth of the carafe (400) is facing down and the pour angle of the carafe (400) to determine the amount of seasoning to be applied into the beverage cup (100).
6. The robotic intelligent beverage brewing system according to claim 5, further comprising an electronic scale (7) for weighing the brewed beverage and arranged beside the area to be brewed (300).
7. The robotic intelligent beverage brewing system according to claim 6, wherein the top of the housing (1) is fixed with a display screen (9) by means of a connecting bracket.
8. A robotic intelligent beverage brewing system according to any of claims 1-4, 6, 7, wherein the beverage dispensing platform (11) is provided with positioning slots (541) and the second rack (3) is positioned within the positioning slots (541).
9. The robotic intelligent beverage brewing system according to any of claims 1-4, 6, 7, wherein the first rack (2) comprises a first step (21) and a second step (22) for placing the cruet (400), and the second step (22) are each provided with a plurality of in-line depressions (23), and the depressions (23) are matched with the cruet (400).
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| CN202110867879.XA CN113491442A (en) | 2021-07-21 | 2021-07-21 | Intelligent beverage preparation system of robot |
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| CN202110867879.XA CN113491442A (en) | 2021-07-21 | 2021-07-21 | Intelligent beverage preparation system of robot |
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| CN206305729U (en) * | 2016-12-19 | 2017-07-07 | 成都万控精密模具有限公司 | A kind of 90 degree of crawls shift mechanism |
| CN106516229A (en) * | 2016-12-22 | 2017-03-22 | 严福英 | Unmanned kitchen |
| CN206925862U (en) * | 2017-06-28 | 2018-01-26 | 厦门攸信信息技术有限公司 | A kind of planar manipulator |
| CN108480603A (en) * | 2018-04-25 | 2018-09-04 | 河南摩西机械制造有限公司 | A kind of automatic pouring manipulator |
| CN108903651A (en) * | 2018-08-28 | 2018-11-30 | 陈志光 | The unmanned water bar of artificial intelligence |
| CN109605395A (en) * | 2019-01-09 | 2019-04-12 | 北京精密机电控制设备研究所 | A kind of full-automatic drink making machine people |
| CN109757963A (en) * | 2019-01-18 | 2019-05-17 | 合肥道卓科技有限公司 | A kind of intelligent cooking system |
| CN212346188U (en) * | 2019-09-27 | 2021-01-15 | 深圳云厨科技有限公司 | Solid seasoning adding device |
| CN110680189A (en) * | 2019-11-13 | 2020-01-14 | 比率机器人科技(北京)有限公司 | Automatic catering device and method thereof |
| CN111053429A (en) * | 2019-12-19 | 2020-04-24 | 陈召彬 | Cooking machine |
| CN111891477A (en) * | 2020-08-05 | 2020-11-06 | 陈卫华 | Automatic cup taking equipment for milk tea making |
| CN112775411A (en) * | 2020-12-28 | 2021-05-11 | 浙江东星科技有限公司 | Material distribution system and distribution method thereof |
| CN113003202A (en) * | 2021-02-05 | 2021-06-22 | 成都铭毅智能科技有限公司 | 180-degree carrying mechanism |
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