CN210776945U - Intelligent beverage vending machine - Google Patents

Abstract

The utility model discloses a machine is sold to intelligence drink, include: sell quick-witted cabinet body, drink output assembly, wherein, drink output assembly includes: arm clamping jaw, cup mechanism, bowl cover mechanism, drink machine, material mechanism and meal delivery mechanism fall, the utility model discloses a device simple structure, function are comprehensive, the maintenance cost is low, can provide automatic service for the consumer fast high-efficiently.

Description

Intelligent beverage vending machine

Technical Field

The utility model relates to a field is sold in the drink automation, especially relates to a machine is sold to intelligence drink.

Background

Catering places such as bars, cafes or restaurants can provide catering services for customers generally, and with the continuous development of scientific technology, even the traditional catering places are gradually automated to reduce the use of manpower and labor force, and the automatic catering devices belong to the category of service robots. However, in the prior art, for example, application No. cn201810595880.x discloses a ready-mixed beverage vending machine, which comprises a box body, a raw material supply device, a ready-mixed machine, an ice maker and a taking device, wherein the ice maker is a spiral ice maker, the ready-mixed machine is used for mixing syrup in the raw material supply device with water to prepare beverage, the ice maker is used for solidifying water to prepare ice cubes, when a customer purchases the beverage, a paper cup is arranged in the taking device, the ice maker produces ice into the paper cup, simultaneously water and syrup in the beverage preparation water supply system and the sugar supply device are supplied to the ready-mixed machine, the ready-mixed machine mixes water and syrup to prepare beverage and adds the beverage into the paper cup, and the customer can enjoy the beverage after taking the paper cup from the taking device. This automatic sell technical scheme function is simple, and the flexible degree of manufacturing process of drink is low.

If the application number is as follows: 201910020669.X, a double-arm robot has a stirring device installed at the end of one arm, and the other arm is a manipulator; the automatic cup discharging device separates a pile of paper cups and transmits the paper cups to a preset grabbing position, and the mechanical arm grabs the paper cups from the grabbing position; the self-service ordering system provides an ordering interface, a customer selects a drink formula from the ordering interface, the centralized control system obtains the drink formula and analyzes the drink formula, the tail ends of the corresponding mechanical arms of the double-arm robot are controlled to be arranged at the corresponding discharging points on the quantitative discharging cabinet according to the material receiving sequence and the material preparing positions, and the quantitative discharging cabinet is controlled to discharge materials according to the material preparing amount; the stirring device stirs ingredients; controlling a manipulator of the double-arm robot to grab the paper cup from the preset position and taking ingredients which do not need to be stirred; the stirring device stirs the beverage to the preset stop time and then pours the beverage into the paper cup, the paper cup is placed at the preset position on the automatic delivery device by the mechanical arm, and the cup position to be delivered is rotated to the position where a customer takes the cup by the automatic delivery device. And application numbers are: 201810769338.1 discloses a robot beverage workstation and a beverage making method, the robot beverage workstation comprises a full-automatic beverage machine; a cup falling device is arranged at one side of the full-automatic beverage machine; a turntable is arranged in front of the full-automatic beverage machine; and the robot takes down the cup from the cup falling device, places the cup on the full-automatic beverage machine, then operates the beverage machine to make the beverage, and places the cup filled with the beverage into the turntable. The existing automatic catering device is complex in structure, simple in function and low in working efficiency.

SUMMERY OF THE UTILITY MODEL

The present invention aims at solving at least one of the technical problems in the related art to a certain extent. Therefore the utility model discloses an aim at in order to solve current intelligent drink and sell quick-witted structure complicacy, function simple relatively to the maintenance cost is high, the problem that efficiency is also than lower.

An intelligent beverage vending machine comprising: sell the quick-witted cabinet body and set up the drink output subassembly in selling the quick-witted cabinet body, wherein, drink output subassembly includes: the beverage container feeding mechanism comprises a mechanical arm clamping jaw used for moving the position of a beverage container, a cup falling mechanism which is arranged around the mechanical arm clamping jaw and used for storing the beverage container, a cup cover mechanism used for covering and sealing the beverage container, a beverage machine used for adding finished beverages into the beverage container, a material mechanism used for adding semi-finished materials into the beverage container and a meal delivery mechanism used for outputting the finished beverages.

In one embodiment, a robot arm jaw comprises: clamping jaw for gripping an item, a robot arm for controlling the clamping jaw, and a clamping jaw mount for connecting the clamping jaw and the robot arm, wherein the clamping jaw comprises: the clamping jaw fixing part is used for clamping the object, and the clamping jaw fixing part is used for fixing the clamping jaw fingers on the clamping jaw.

In one embodiment, a robotic arm comprises: the clamping jaw fixing part is connected with the clamping control arm.

In one embodiment, the cap mechanism includes: the cup storage device comprises a cup placing base used for placing a cup, a cover storage component arranged above the cup placing base and a cup cover component arranged between the cover storage component and the cup placing base;

wherein, the bowl cover subassembly includes: the cover falling assembly is used for controlling the falling of the cup cover and the gland assembly is used for compressing the cup cover at the cup opening, the gland assembly is arranged below the cover falling assembly, and the gland stroke of the gland assembly is on the same straight line with the working stroke of the cover falling assembly.

In one embodiment, the cup dropping mechanism comprises a cup dropping mechanism cup holder for storing cups and a cup dropping mechanism discharging member arranged below the cup dropping mechanism cup holder, wherein the cup dropping mechanism discharging member comprises: the cup dropping control part is used for controlling the displacement of the cup dropping part;

wherein, cup piece includes that falls: the cup falling limiting control part is arranged on the cup falling part and is used for controlling the cup falling limiting control part to move, and the cup falling limiting control part is used for limiting and fixing a cup and realizing cup falling.

In one embodiment, the meal delivery mechanism comprises: the automatic meal-discharging mechanism comprises an automatic meal-discharging mechanism fixing seat, a lifting mechanism arranged on the automatic meal-discharging mechanism fixing seat and a meal-taking safety protection baffle arranged on one side of the automatic meal-discharging mechanism fixing seat;

the automatic meal-discharging mechanism fixing seat and the meal-taking safety protection baffle form a closed structure, the lifting mechanism is arranged in the closed structure, and the meal-taking safety protection baffle and the lifting mechanism reciprocate on the automatic meal-discharging mechanism fixing seat.

In one embodiment, the beverage machine is also provided with an automatic material supplementing mechanism.

In one embodiment, a merchandising cabinet includes: the lower cabinet body, the upper cabinet body arranged at the top end of the lower cabinet body, a component mounting plate arranged between the upper cabinet body and the lower cabinet body and an opening and closing door arranged on the upper cabinet body.

In one of them embodiment, sell the internal water source subassembly that still is equipped with of rack, the water source subassembly includes: the water source, and a water source water feeding pressurizing pump and a water source filtering device which are sequentially arranged on the water source.

In one of them embodiment, sell the internal nitrogen gas supplemental device that still is equipped with of rack, nitrogen gas halter supplemental device includes: a nitrogen gas source device and a nitrogen tap discharging device.

In one embodiment, the vending machine cabinet body is further provided with a solar photovoltaic panel and a lighting system.

In one embodiment, an ice dispenser for providing ice is also provided within the merchandiser cabinet.

In one embodiment, sell that mosquito-proof worm sterilization constructs still to be equipped with in the rack.

In one of them embodiment, sell and still be equipped with human-computer interaction system on the quick-witted cabinet body, human-computer interaction system includes: display screen, speaker and anti-sweep yard system.

In one of them embodiment, sell the internal sign indicating number subassembly that still is equipped with of rack, spout a sign indicating number subassembly and include: the code spraying device comprises a code spraying host and a code spraying machine nozzle arranged on the code spraying host.

According to the utility model discloses an automatic food and beverage device simple structure, the function is comprehensive, the maintenance cost is low, can provide automatic service for the consumer fast high-efficiently.

Drawings

In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings needed to be used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the structures shown in the drawings without creative efforts.

Fig. 1 is an overall schematic view of the present invention.

Fig. 2 is a schematic view of the open state of the present invention.

Fig. 3 is an isometric view of the present invention.

Fig. 4 is an exploded view of the present invention.

Fig. 5 is the assembly schematic diagram of the structure of the lower cabinet body part of the utility model.

Fig. 6 is an exploded view of the automatic feeding mechanism of the present invention.

Fig. 7 is an exploded view of the material placing mechanism of the present invention.

Figure 8 is a perspective view of the robot arm gripping jaw of the present invention.

Figure 9 is a perspective view of a clamping jaw of the robot arm clamping jaw of the present invention.

Figure 10 is an exploded view of a clamping jaw in a robot arm clamping jaw of the present invention.

Fig. 11 is a schematic view of the robot arm structure of the robot arm clamping jaw of the present invention.

Fig. 12 is a schematic view of the whole cup lid mechanism of the present invention.

Fig. 13 is a schematic view of the lid assembly of the lid mechanism of the present invention.

Fig. 14 is a side view of the cup lid mechanism of the present invention.

Fig. 15 is an exploded view of the lid assembly of the cup lid mechanism of the present invention.

Fig. 16 is a schematic view of a gland assembly of the cup lid mechanism of the present invention.

Fig. 17 is an exploded view of the storage cap assembly of the cup lid mechanism of the present invention.

Fig. 18 is a schematic structural view of a cup placing base of the cup lid mechanism of the present invention.

Fig. 19 is a schematic view of a connection mode between the cover mechanism and the cup holder.

Fig. 20 is a front view of the cup dropping mechanism of the present invention.

Fig. 21 is an exploded view of the cup dropping mechanism of the present invention.

Fig. 22 is an exploded view of the cup dropping member of the present invention.

Fig. 23 is an enlarged schematic view of the gear member of the cup dropping mechanism of the present invention.

Fig. 24 is a schematic view of the automatic food delivery mechanism of the present invention.

Fig. 25 is a schematic structural view of the lifting mechanism of the automatic meal delivery mechanism of the present invention.

Fig. 26 is a top view of the automatic meal delivery mechanism of the present invention.

Fig. 27 is a schematic structural view of the lifting control member of the automatic meal delivery mechanism of the present invention.

Fig. 28 is an exploded view of the automatic food delivery mechanism of the present invention.

Detailed Description

The technical solutions in the embodiments of the present invention will be described clearly and completely with reference to the accompanying drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only some embodiments of the present invention, not all embodiments.

Based on the embodiments in the present invention, all other embodiments obtained by a person skilled in the art without creative efforts belong to the protection scope of the present invention.

It should be noted that all the directional indicators (such as upper, lower, left, right, front, back, inner and outer, and the center … …) in the embodiments of the present invention are only used to explain the relative position relationship between the components, the motion situation, etc. in a specific posture (as shown in the drawings), and if the specific posture is changed, the directional indicator is changed accordingly.

In the present application, unless expressly stated or limited otherwise, the terms "connected" and "fixed" are to be construed broadly, e.g., "fixed" may be fixedly connected or detachably connected, or integrally formed; can be mechanically or electrically connected; they may be directly connected or indirectly connected through intervening media, or they may be connected internally or in any other suitable relationship, unless expressly stated otherwise. The specific meaning of the above terms in the present invention can be understood according to specific situations by those skilled in the art.

In addition, the technical solutions between the embodiments of the present invention can be combined with each other, but it is necessary to be able to be realized by a person having ordinary skill in the art as a basis, and when the technical solutions are contradictory or cannot be realized, the combination of such technical solutions should be considered to be absent, and is not within the protection scope of the present invention.

Example 1:

referring to fig. 1 to 5, an intelligent drink vending machine includes: sell quick-witted cabinet 1 and set up the drink output assembly 3 in selling quick-witted cabinet 1, wherein, drink output assembly 3 includes: the beverage container feeding device comprises a mechanical arm clamping jaw 31 used for moving the position of a beverage container, a cup falling mechanism 32 which is arranged around the mechanical arm clamping jaw 31 and used for storing the beverage container, a cup cover mechanism 33 used for covering and sealing the beverage container, a beverage machine 35 used for adding finished beverages into the beverage container, a material mechanism 36 used for adding semi-finished materials into the beverage container and a meal outlet mechanism 34 used for outputting the finished beverages.

In another embodiment, the cabinet 1 of the vending machine is composed of an upper cabinet 11, a lower cabinet 12 and a component mounting plate 13 arranged between the upper cabinet 11 and the lower cabinet 12, the upper cabinet 11 and the component mounting plate 13 form a closed space, and the closed space can isolate external pollution to a great extent, so that the food safety is improved.

Further preferably, the component mounting plate 13 is provided with a waste outlet 14, a garbage can 15 is arranged below the waste outlet 14, and waste generated in the beverage preparation process is recycled through the waste outlet 14 in cooperation with the garbage can 15.

Further preferably, the upper cabinet 11 is provided with the opening and closing door 16, the opening and closing doors 16 are symmetrically arranged on two side edges of the upper cabinet 11, and the opening and closing door 16 is an european wing door, which is larger in opening space compared with a sliding door or a sliding door in the prior art, and facilitates a person to insert a body into the upper cabinet for maintenance and material supplement.

Furthermore, the upper cabinet body 11 and the side facing the outside of the opening and closing door 16 are both provided with electric atomization glass 17, and the transparent state of the electric atomization glass 17 is controlled by a control power supply: when the electric atomization glass 17 is powered off, liquid crystal molecules in the electric atomization glass 17 are in an irregular scattering state, and the electric atomization glass 17 is in a transparent and opaque appearance state; when the electric atomization glass 17 is electrified, the liquid crystal molecules inside are arranged in order, light can penetrate through the liquid crystal molecules freely, and the electric atomization glass 17 is in a transparent state instantly.

Referring to fig. 6, an automatic feeding mechanism 36 is disposed on the beverage machine 35 disposed on the component mounting plate 13, the automatic feeding mechanism 36 is composed of a material storage component 361 and a valve (not shown), the valve is disposed at the connection between the material storage component outlet 363 and the beverage machine inlet 364, the material storage component 361 is used for storing the raw materials (such as coffee powder, coffee beans, milk, etc.) for standby of the beverage machine, and the feeding process is controlled by the valve.

Further preferably, the top of the material storage 361 is provided with an automatic material feeding mechanism dust cover 365, and the lower end of the material storage 361 near the material storage outlet 363 is provided with a sensor 362. When the material in the automatic material supplementing mechanism 36 is lower than the lower limit of the material liquid level detected by the sensor 362, the sensor 362 sends a material supplementing signal to the system, after the material supplementing signal is manually checked, the automatic material supplementing mechanism dust cover 365 of the automatic material supplementing mechanism 36 can be opened to pour the material into the automatic material supplementing mechanism 36, and then when the sensor 362 detects that the material in the silo is sufficient, the material supplementing signal is automatically released, and the automatic material supplementing mechanism dust cover 365 is covered.

It is further preferred that a sensor (not shown) is provided in the beverage maker 35, and the sensor is used for detecting whether the ingredients in the beverage maker 35 are sufficient.

Still more preferably, the sensor disposed in the beverage machine 35 and the sensor 362 disposed in the automatic feeding mechanism 36 can be configured as a photoelectric sensor, a liquid level sensor (when the raw material is liquid), and/or a weight sensor (when the raw material is liquid or solid), according to the type of the raw material. When the liquid level of the raw material in the beverage machine is lower than the liquid level sensor or when the weight of the raw material in the beverage machine is lower than the lowest value set by the weight sensor, the sensor sends a signal to the valve, and the valve is opened to supplement the raw material into the beverage machine.

Preferably, in conjunction with fig. 7, the material mechanism 37 includes: a material mechanism base, a material tank 371, a peristaltic pump 372 and a material integration outlet 373; the material tank 371 and the peristaltic pump 372 are arranged on the base of the material mechanism, the material tank 371 and the peristaltic pump 372 are communicated through a material tank connecting pipe 374, and the peristaltic pump 372 and the material integration outlet 373 are communicated through a peristaltic pump connecting pipe 375.

Further, the material mechanism base is composed of a material mechanism bottom mounting plate 376 and a material mechanism back mounting plate 377, the material mechanism bottom mounting plate 376 and the material mechanism back mounting plate 377 are arranged in an L shape, and a material mechanism reinforcing rib 378 is arranged at the joint of the material mechanism bottom mounting plate 376 and the material mechanism back mounting plate 377.

Furthermore, a plurality of material tanks 371 can be arranged on the base of the material mechanism in parallel.

The peristaltic pump 372 generates power to pump the material in the material tank 371 to the material integration outlet 373 through the material tank connecting pipe 374 and the peristaltic pump connecting pipe 375. The volume of the discharged liquid is controlled by controlling the on-off time of the peristaltic pump 372. The flow of the discharged liquid is controlled by controlling the rotating speed of the motor of the peristaltic pump 372. The integrated exit of material can be cellular, and many pipelines and delivery nozzle coexist, is applicable to the material of different colours, taste, texture, viscosity, density, dosage and produces the product.

Preferably, also be equipped with water source subassembly 4 in the lower cabinet 12 of the cabinet body 1 of the vending machine, water source subassembly 4 includes: a water source 41, a water source water feeding pressurizing pump 42 and a water source filtering device 43 which are arranged on the water source 41 in sequence. The water source water feeding pressurizing pump 42 is used for supplying power to convey the water source 41 to the drink machine 1 and/or the ice outlet machine 6 through a conveying pipeline, and a water source filtering device 43 is arranged on the conveying pipeline and used for filtering water in the pipeline.

Further, the water source can be pure water source (like barreled pure water) also can be domestic water source (running water), when using the water source for domestic water source, water source filter equipment 43 is gradually tight formula water purifier, and loose back is tight before its internal pipeline design filter core, by the cotton filter core of PP (PPF), granule activated carbon (UDF) filter core, accurate compression activated Carbon (CTO) filter core, reverse osmosis membrane or milipore filter, rearmounted activated carbon (little T33)5 grades are consecutive end to end and are constituteed.

Wherein, the PP cotton is used for removing various visible matters/dust and impurities in tap water; the granular activated carbon and the precision compressed activated carbon are used for removing chlorine and organic impurities and can also absorb peculiar smell, color and odor generated by organic compounds in water; the ultrafiltration or reverse osmosis membrane is used for removing substances such as bacteria, viruses, spores and the like in water; the post-positioned active carbon device is used for further improving the taste and removing peculiar smell.

In another embodiment, sell and still be equipped with nitrogen gas supplemental device 5 in the quick-witted cabinet body 1, nitrogen gas supplemental device 5 includes: the nitrogen gas supply device 51 is arranged in the lower cabinet body 12, the nitrogen gas tap discharging device 52 is arranged on the component mounting plate 13, and the nitrogen gas supply device 51 and the nitrogen gas tap discharging device 52 are connected through pipelines. This nitrogen gas replenishing device 5 is used for complementing nitrogen gas, can be used for carrying out the nitrogen gas replenishment in to the drink container, and the replenishment nitrogen gas can prolong fresh-keeping time in the drink container, also can be used for carrying out the nitrogen gas replenishment to the upper portion cabinet body, and the relatively inclosed environment of cooperation upper portion cabinet body can provide a drink manufacturing environment that keeps fresh effectually.

In another embodiment, an ice outlet machine 6 for providing ice cubes is further arranged in the vending machine cabinet 1, the ice outlet machine 6 is composed of an ice making piece (not shown) and a refrigerating piece (not shown), the ice making piece 6 is connected with a water source 4, the water source enters the ice making piece 6 and the ice making piece 6 makes ice cubes, the formed ice cubes directly fall into the refrigerating piece for storage, a discharge port is further arranged on the ice outlet machine 6 and is controlled by a valve, when ice cubes need to be added, the beverage container is moved to the discharge port of the ice outlet machine by the mechanical arm clamping jaw 31, a sensor is arranged on the discharge port, the sensor sends an instruction to the valve after sensing the beverage container, and the valve is opened and is closed after adding the ice cubes.

Further, the sensor disposed at the discharge outlet of ice dispenser 6 is preferably a proximity sensor or a touch sensor.

Preferably, sell still to be equipped with in the cabinet body 1 and spout a yard subassembly 7, spout a yard subassembly 7 and include: the code spraying device comprises a code spraying host 71 and a code spraying machine spray head 72 arranged on the code spraying host 71; the code spraying host 71 sprays the two-dimensional code and/or the bar code on the beverage container by controlling the code spraying machine nozzle 72.

In another embodiment, sell and still be equipped with human-computer interaction system 8 on the quick-witted cabinet body 1, human-computer interaction system includes: a display screen 81, a speaker 82, and an anti-swipe code system 83.

Further, the display screen 81 in conjunction with the speaker 82 provides visual and audible interaction to the customer.

Further, the anti-code-scanning system 83 includes: a code scanning port 84 and an operation interface 85; the barcode scanner 84 can identify two-dimensional codes and/or barcodes, and the operation interface 85 is used for ordering by customers.

The customer directly browses the commodity catalog and directly places an order through the operation interface 85 and the display screen 81, the two-dimensional payment code can be identified through the code scanning port 84 for payment after the order is placed, and the display screen 81 and the loudspeaker 82 are combined to give a voice prompt to the user. The anti-code-scanning system 83 can also give commodity information by recognizing a two-dimensional code and/or a bar code on a commodity.

Preferably, still be equipped with electric appliance cabinet 9 in selling the quick-witted cabinet body 1, electric appliance cabinet one end is connected one end with each part and is connected the power, can control each part operation through electric appliance cabinet 9.

Further, the power supply comprises commercial power connected through a plug and a mobile power supply 91 arranged in the vending machine cabinet body 1, wherein the mobile power supply 91 is preferably a storage battery.

Furthermore, a solar photovoltaic panel 92 is further disposed at the top end of the upper cabinet 11 of the vending machine cabinet 1, and the solar photovoltaic panel 92 is connected with the mobile power supply 91. Use the commercial power in the normal production process, can charge for portable power source 91 when using the commercial power, when the unexpected condition outage takes place, supply power and carry out electric power supply for portable power source 91 by solar photovoltaic board 92 by portable power source 91, increase the duration of a journey of selling the machine.

Preferably, the vending machine cabinet 1 is further provided with a lighting system 101, which is a plurality of LED lamps, on the top inside of the upper cabinet 11.

In another embodiment, the vending machine cabinet 1 is further provided with an anti-mosquito sterilization mechanism 100, and the anti-mosquito sterilization mechanism 100 is an ultraviolet sterilization device.

Further, sell quick-witted cabinet 1 and still be equipped with outer machine 104 of anti-mosquito air curtain 103 and anti-mosquito air curtain, extract the outside air through outer machine 104 of anti-mosquito air curtain, form the air curtain by the outside injection of anti-mosquito air curtain 103 again and prevent that the mosquito from getting into selling quick-witted cabinet 1.

In another embodiment, the upper cabinet 11 of the vending machine is also provided with a camera comprising: an external monitoring camera 18 arranged at the front end of the upper cabinet body 1 and a cabinet body omnibearing camera 19 arranged in the upper cabinet body 11; the external monitoring camera 18 is used for collecting image information outside the vending machine cabinet body 1, and the all-directional camera 19 of the cabinet body is used for collecting image information when the vending machine works inside.

In another embodiment, sell quick-witted cabinet 1 and still be equipped with outer machine 106 of air purifier 105 and air purifier, the outer machine 106 of air purifier purifies the air in selling quick-witted cabinet 1 through the air purifier 105 that sets up in selling quick-witted cabinet 1, guarantees food safety.

Further, still be equipped with PM2.5 empty gas detection survey mechanism 109 in selling the cabinet body 1 for detect the air quality in selling the cabinet body 1. If the air quality of the vending machine cabinet 1 is lower than the set value, the PM2.5 air detection mechanism 109 sends a signal to the air purifier 105 to start the air purifier 105.

In another embodiment, a carbon dioxide cooling mechanism 102 is also disposed within the merchandiser cabinet 1, the carbon dioxide cooling mechanism 102 being disposed within the lower cabinet 12 with the air outlet disposed on the component mounting plate 13.

In another embodiment, a refrigerated cabinet 107 is also provided within the merchandiser cabinet 1.

In another embodiment, a silent air compressor 108 is also provided in the merchandiser cabinet 1.

The embodiment also comprises a method for intelligently selling the drinks, which comprises the following steps:

s1, a customer selects required drinks through a man-machine interaction system 8 and pays, and the man-machine interaction system 8 sends an instruction after payment is completed;

s2, the beverage output component 3 receives an instruction, and the beverage output component 3 starts to allocate the specified beverage according to the instruction:

s21, the cup dropping mechanism finishes the cup dropping action, and the mechanical arm clamping jaw grabs the beverage container which finishes the cup dropping action and starts to brew the beverage;

s22, adding materials to one or more stations of the material mechanism 37, the ice dispenser 6 and the beverage machine 1 in sequence according to instructions by the mechanical arm clamping jaw 31 to complete modulation;

s3, the mechanical arm clamping jaw 31 sends the prepared beverage container to the cup cover mechanism 33, the capping action is completed, then the beverage container is placed in the meal delivery mechanism 34 for meal delivery, and the mechanical arm clamping jaw 31 resets.

Example 2

Referring to fig. 8 to 10, the difference from the above embodiment is that the robot arm gripper 31 includes: a jaw 311 for gripping an item, a robot arm 313 for controlling the jaw 311, and a jaw mount 312 for connecting the jaw 311 and the robot arm 313, wherein the jaw 311 comprises: a gripper finger 3111 for gripping the article, and a sensor 314 disposed at a junction of the gripper finger 3111 and the gripper fixing member 312, the sensor 314 being configured to detect whether the gripper finger 3111 grips the article in place.

Preferably, the gripper fingers 3111 are curved on the side near the gripper, and have a connecting surface 3113 on the side connected to the gripper holder 312. The clamping cup body can be clamped conveniently by aiming at the design of the cup body in the prior art by arranging the clamping jaw fingers 3111 close to the clamping object into an arc shape; to be connected one side with clamping jaw mounting 312 and set up connection face 3113, this connection face 3113 sets up to the plane, carries out fixed connection after more making things convenient for this connection face 3113 and clamping jaw mounting 312 junction laminating.

Further preferably, clamping jaw finger 3111 is close to the clamp and gets the thing one side and sets up to the semicircle, because the overwhelming majority of current designs of cup are the round platform structure, the semicircle can conveniently snatch with the cup laminating well.

Preferably, the gripper fingers 3111 are provided with sensor mounting holes 3112, and the sensor mounting holes 3112 are used for arranging the sensors 314.

Preferably, the sensor mounting hole 3112 is provided in the middle of the jaw finger 3111.

Further preferably, the sensor 314 is preferably a proximity sensor which judges whether the finger of the gripping jaw is in place by detecting the distance between the object to be gripped and the gripping jaw 311.

Alternatively, the sensor 312 is an impact sensor, which uses the impact of the object to be grabbed and the sensor with a certain force as a trigger signal to judge whether the finger of the grabbing jaw is in place.

Set up sensor 314 in clamping jaw finger 3111 middle part, can more conveniently detect clamping jaw finger 3111 and wait to press from both sides the straight-line distance or the contact condition between the thing, can judge the state of pressing from both sides of clamping jaw finger 3111 more accurately.

Preferably, jaw mount 312 includes: a tool side 3122 and a tool side connecting link 3121 for connecting the tool side 3122 and the clamping jaw of the clamping jaw 311.

Preferably, the end of the jaw finger 3111 and the tool-side connecting rod 3121 of the jaw is provided with a sensor mounting groove 3123 near the jaw finger 3111, the sensor mounting groove 3123 is tightly fitted with the sensor mounting hole 3112, and the sensor 314 can be provided through the sensor mounting hole 3112 and the sensor mounting groove 3123.

Preferably, jaw mount tool side 3122 has a quick attach and detach mechanism 3124 that can be easily and quickly attached to jaw control arm 3134 or detached from jaw control arm 3134.

Preferably, the quick-attach and quick-detach structure 3124 may be any currently generally available mechanism capable of performing this function, such as a rotary snap mechanism, a screw-on mechanism, or the like.

The working principle of the embodiment is as follows:

this embodiment is through the displacement of arm 313 control clamping jaw 311 to waiting to press from both sides the station of getting, then arm 313 control clamping jaw 311 stretches forward until being close to waiting to press from both sides thing (cup), detect the distance between clamping jaw 311 and the thing of waiting to press from both sides through sensor 314, after judging that both are laminated basically, arm 313 control clamping jaw 311 shifts up, because the current design of cup all is radius platform structure basically, the clamping jaw finger 3111 of arc setting shifts up from the cup bottom, along with cup diameter is crescent, can well pick up the cup in the in-process of moving up, then arm 313 control clamping jaw 311 displacement to next station department.

Example 3

Referring to fig. 8 and 11, the difference from embodiment 1 is that the robot arm 313 includes: a rotary arm 3131 fixed at an arbitrary position, a connection arm 3132/3133 connected to the rotary arm 3131, and a pinching control arm 3134 connected to an end of the connection arm 3132/3133 remote from the rotary arm 3131, and a jaw fixing member 312 connected to the pinching control arm 3134.

Preferably, the rotating arm 3131 is disposed on a base 3134, the base 3134 can be fixed at any position, a horizontal rotating member 3135 is disposed between the rotating arm 3131 and the base 3134 to enable the rotating arm to rotate in a horizontal direction, and an end of the rotating arm 3131 away from the base 3134 is used to connect with a connecting arm.

Further preferably, a connection arm rotation part 3136 is provided at a connection point of the rotation arm 3131 and the connection arm, and the connection arm rotation part 3136 can allow the connection arm to freely move in a six-axis direction.

Preferably, the connecting arm may be combined from several individual connecting arms.

The connecting arm illustrated in fig. 4 has two connecting arms, a first connecting arm 3132 and a second connecting arm 3133, respectively. A first connecting arm 3132 connected to the rotating arm 3131 and a second connecting arm 3133 connected to an end of the first connecting arm 3132 remote from the rotating arm 3131; in which a connecting arm rotation member 3136 is provided between the first connecting arm 3132 and the rotation arm 3131 and between the first connecting arm 3132 and the second connecting arm 3133, the connecting arm rotation member 3136 allowing the connecting arm to move freely in the six-axis direction.

Preferably, a control arm rotation 3137 is provided between the gripping control arm 3134 and the connecting arm, the control arm rotation 3137 being able to allow the gripping control arm 3134 to move in a six-axis direction.

Preferably, a horizontal sensor 3138 and a rotary control 3139 are further provided at the connection between the gripping control arm 3134 and the gripper jaw 311, the horizontal sensor 3138 detects whether the gripper jaw 311 is in the horizontal state in real time when the gripper jaw system is in the gripping operation state, and the rotary control 3139 is able to respond in time to adjust the gripper jaw 311 according to the data detected by the horizontal sensor 3138 when the horizontal sensor 3138 detects a deviation from the horizontal state. The rotation control element 3139 rotates around the grip control arm 3134, so that the grip jaw 311 can be maintained in a horizontal state in real time.

Further preferably, the rotating member may be a driving member such as a motor or a rotating cylinder.

Still more preferably, the motor is a servo motor, and the rotation angle of the device can be controlled more precisely.

The working principle of the embodiment is as follows:

after the bottom of the rotary arm 3131 is fixed, the motor provided on the rotary arm 3131 controls the first connecting arm 3132 to rotate in the horizontal direction, so as to control the gripping direction of the gripping jaw 311 in the horizontal direction;

then, in this embodiment, the first connecting arm 3132 and the second connecting arm 3133 are arranged to control the movement of the clamping jaw 311 up and down and back and forth more flexibly, so as to control the clamping jaw 311 to extend forward to be close to the object (cup) to be gripped, the sensor 314 detects the distance between the clamping jaw 311 and the object to be gripped, when the distance is judged to be substantially fit to the two, the first connecting arm 3132 and the second connecting arm 3133 cooperate with the gripping control arm 3134 to control the clamping jaw 311 to move up, because the existing design of the cup is substantially an inverted round platform structure, the fingers 3111 arranged in an arc shape move up from the bottom of the cup, as the diameter of the cup increases, the cup can be well picked up in the moving process, and then the mechanical arm 313 controls the clamping jaw 311 to move to. During the grabbing process, the level sensor 3138 detects whether the jaw 311 is in a horizontal state in real time, and when the level sensor 3138 detects a deviation from the horizontal state, the rotary control element 3139 can respond in time to adjust the jaw 311 according to the data detected by the level sensor 3138. The rotation control element 3139 rotates around the grip control arm 3134, so that the grip jaw 311 can be maintained in a horizontal state in real time.

Example 4

Referring to fig. 12 and 13, the difference from the above embodiment is that lid mechanism 33 includes: a cup placing base 333 for placing a cup, a cover assembly 332 arranged above the cup placing base 333, and a lid assembly 331 arranged between the cover assembly 332 and the cup placing base 333;

wherein, bowl cover subassembly 331 includes: the cap dropping component 3315 is used for controlling the falling of the cup cover and the gland component 3311 is used for pressing the cup cover on the cup mouth, the gland component 3311 is arranged below the cap dropping component 3315, and the gland stroke and the working stroke of the cap dropping component 3315 are on the same straight line. Compared with the prior art, the two processes of the cover falling and the cover pressing are realized through a plurality of stations, the space utilization rate is improved, the process flow is reduced, and the working efficiency is improved.

The cap assembly 3315 shown in fig. 13 to 15 includes: a cover-falling power part 3316 provided at one side of the cap assembly 332 for providing power, and a catching part 3317 provided on the cover-falling power part 3316 for catching the cap.

Further preferably, the cap dropping power part 3316 is a guide cylinder, and the movement direction of the guide cylinder is a vertical direction.

In another embodiment, the cover-dropping power component 3316 may also be a motor cooperating with a worm and gear to effect vertical movement.

Referring to fig. 14 and 15, the grabber 3317 includes: a pneumatic air claw 3319 arranged on the cover falling power part 3316 for providing grabbing power and a cover clamping claw 3318 arranged on the pneumatic air claw 3319 for grabbing the cover.

As shown in fig. 15, the cup lid gripping jaw 3318 is composed of two symmetrically disposed fingers 3310, the two fingers 3310 are disposed on a pneumatic claw 3319, and driven by the pneumatic claw 3319, the two fingers 3310 move toward each other to grip and move away from each other to release.

In another embodiment, the pneumatic air claw 3319 may also be a motor.

Referring to fig. 13, 14 and 16, preferably, the capping assembly 3311 includes: a gland driver 3313 provided at one side of the cap assembly 332 for providing driving power and a gland member 3312 provided on the gland driver 3313;

preferably, the gland drive 3313 is capable of driving the gland member 3312 for vertical displacement and rotational movement about the vertical displacement direction. The cap member 3312 is initially rotated to the outside of the working stroke of the cap dropping assembly 3315, and when the cap dropping assembly 3315 is reset after the cap dropping operation is completed, the cap member 3312 is rotated by the cap driving member 3313 to the same working stroke of the cap dropping assembly 3315, and then the cap member 3312 is driven to be pressed downward by the cap driving member 3313.

More preferably, the cap driver 3313 is a combined cylinder having a rotation and expansion function.

In another embodiment, the gland driver 3313 may be a combination motor with both rotary and telescopic functions.

As shown in fig. 16, the gland member 3312 is provided in a ring-like configuration. The annular gland member 3312 reduces the weight of the gland member 3312 itself without affecting the compression of the cup cover and cup rim.

Preferably, in conjunction with fig. 12, 14 and 17, the reservoir assembly 332 includes: the cup cover cylinder outer shell 3332 is arranged on the cup placing base 333, and the cup cover cylinder inner frame 3321 is arranged on the cup cover cylinder outer shell 3332 and used for storing a cup cover, the cup cover cylinder outer shell 3332 is of a hollow structure, a limiting piece (not shown) is arranged in the hollow structure, and the cup cover cylinder inner frame 3321 is fixed in the hollow structure of the cup cover cylinder outer shell 3332 through the limiting piece;

as shown in fig. 14, a limiting frame 3323 is arranged at the bottom end of the cup cover cylinder inner frame 3321, and the limiting frame 3323 is composed of at least 3 inward-bent rod-shaped structures arranged at equal intervals. Through setting up spacing 3323, carry on spacingly to the bowl cover that stacks in bowl cover section of thick bamboo inner frame 3321, guarantee when grabbing piece 3317 clamp and getting the bowl cover of below, other bowl covers that stack can not drop from bowl cover section of thick bamboo inner frame 3321.

Referring to fig. 17, lid cylinder outer housing 3332 and lid cylinder inner frame 3321 are both cylindrical, and a position-limiting member between lid cylinder outer housing 3332 and lid cylinder inner frame 3321 is a movable structure, and the position-limiting member may be in a fixed state that locks lid cylinder outer housing 3332 and lid cylinder inner frame 3321 or in a movable state that separates lid cylinder outer housing 3332 and lid cylinder inner frame 3321.

In another embodiment, a baffle (not shown) is disposed above the retaining frame 3323 at the position of the penultimate lid, and the baffle is controlled by a motor or a cylinder to reciprocate back and forth, so that after the grabbing member 3317 grabs the lowest lid, the baffle reciprocates back and forth once to lower the penultimate lid to the lowest end of the lid assembly 332, and then separates the last lid from the lowest lid.

Referring to fig. 18, preferably, the cup seating base 333 includes: a mechanism base 3331 for placing a cup and a mechanism base fixing plate 3333 which is arranged on the mechanism base 3331 and plays a fixing role; mechanism base 3331 sets up to the L type, and is equipped with the strengthening rib in the corner, still is equipped with on mechanism base 3331 and mechanism base fixed plate 3333 joint and is used for carrying on spacing groove 3334 to the cup. The limiting groove 3334 is arranged, so that the error in the cover falling and/or pressing process caused by inaccurate cup placing position can be avoided, and the stability of the covered cup is further improved.

Further preferably, a detection device is further disposed at a position corresponding to the position of the position-limiting groove 3334, and the detection device may be a sensor disposed in the position-limiting groove 3334 and used for detecting whether an article exists on the position-limiting groove 3334.

Still further preferably, the sensor may be a pressure sensor or a proximity sensor or an impact sensor.

Example 5

Referring to fig. 19, the difference from the above embodiment is that a housing 3332 is further provided, the housing 3332 is connected to the cup placement base 333 by a pull slide 334, and the cup placement base 333 is displaced by the pull slide 334. The arrangement of the outer shell 3332 makes the device more attractive, and the outer shell 3332 is connected with the cup holder base 333 through the drawing slide rail 334, so that the device can be exposed at any time, and the device is convenient to overhaul or update.

Referring to fig. 14, it is preferable that a gland driving member fixing plate 3314 is further provided on the mechanism base 3331, and the gland driving member 3313 of the gland assembly 3311 is fixed to the mechanism base 3331 by the gland driving member fixing plate 3314.

The embodiment also comprises a cup covering method of the automatic cup cover mechanism, which comprises the following steps:

s1, a cup is placed on a cup placing base 333, and a pneumatic air claw 3319 drives a cup cover clamping claw 3318 positioned at the lower end of a cover storage component 332 to clamp a cup cover positioned at the lowest end of the cover storage component 332;

s2, a cover falling power part 3316 drives a cover clamping jaw 3318 to displace to a cup mouth, a pneumatic air claw 3319 drives the cover clamping jaw 3318 to loosen the cover, the cover falls on the cup mouth, and the cover falling power part 3316 drives the cover clamping jaw 3318 to reset to the lower end of a cover storage component 332;

and S3, the gland driving part 3313 drives the gland part 3312 positioned on the outer side to rotate to the upper part of the cup mouth and then to press downwards to buckle the cup cover with the cup mouth, and then the gland driving part 3313 drives the gland part 3312 to reset.

Example 6

Referring to fig. 20 to 23, the difference from the above embodiment is that the cup dropping mechanism 32 includes a cup dropping mechanism storage holder 322 for storing a cup, and a cup dropping mechanism discharging member 321 provided below the cup dropping mechanism storage holder 322, and the cup dropping mechanism discharging member 321 includes: a cup dropping member 3210 for maintaining the position of the cup and a cup dropping control member 324 for controlling the displacement of the cup dropping member 3210;

wherein, cup 3210 includes: a cup dropping limiting control member (not shown) arranged on the cup dropping member 3210 and a power member 3212 for controlling the movement of the cup dropping limiting control member, wherein the cup dropping limiting control member is used for limiting and fixing a cup and realizing the cup dropping action. The cup body is controlled by the cup falling limiting control part in the whole falling process, the cup falling action is stable, and the cup falling action cannot be influenced by the outside.

Preferably, the cup drop limit control is a screw drink cup button.

Preferably, the cup storage rack 322 and the cup discharging component 321 of the cup dropping mechanism are in a group, and multiple groups can be arranged according to the use requirement.

Further preferably, the cup falling limit control part is provided with a spiral slope used for limiting the cup, and the spiral slope is transmitted through the gear part 3214.

Still further preferably, the gear member 3214 includes a plurality of sets of gear pairs, at least three, preferably 5, equally spaced sets. Each group of gear pairs comprises a first gear 3215 and a second gear 3216, and a cup falling limit control member is arranged at the lower part of the second gear 3216.

The gear ring 3213 is sleeved on an outer ring of the gear element 3214. The pivot of motor drives ring gear 3213 and rotates, and ring gear 3213 drives the first gear 3215 of each gear pair of gear 3214 rotatory, and first gear 3215 drives second gear 3216 rotatory, and second gear 3216 drives the rotation of the spacing control piece of cup that falls.

The cup that the mechanism that falls of this embodiment was suitable for has the rim, and the bore is suitable, does not have the bowl cover, can stack, for example common disposable cup. The maximum diameter of the cup edge of the cup is larger than the diameter of a tangent circle formed by 5 cup falling limit control parts, so that the cup cannot fall off in a non-running state of the machine.

The lower edge of the lowermost cup is in contact with the upper surface of the spiral slope of the cup falling limit control element (not necessarily where the spiral surface is highest). After the machine is started, the cup falling limiting control piece rotates, the contact position of the cup edge and the cup falling limiting control piece moves downwards along the spiral surface, and finally the cup edge and the cup falling limiting control piece are separated from the spiral surface and fall into a cup stand below.

When the lowest cup falls down, the penultimate cup is in the difference relationship of the thickness of the cup edge and the height difference between the upper part and the lower part of the two spiral surfaces of the spiral cup buckle, namely the screw pitch is smaller than the sum of the heights of the cup edges of the two cups (so that the two cup edges can not be clamped in the same screw pitch, and the number of spiral turns at least approaches or exceeds 1 turn, so that the uppermost spiral slope surface is screwed into the position below the cup edge of the penultimate cup before the lowest cup falls down along the lowermost spiral slope surface, so that the penultimate cup is clamped, and when the uppermost spiral slope surface is screwed into the position below the cup edge of the penultimate cup, because the thickness of the spiral teeth is gradually increased, the two adjacent cup edges are separated, so that the two adjacent cups are prevented, the penultimate cup cannot fall down, so that only one cup can fall down at a time.

Preferably, the cup drop mechanism cup holder 322 comprises: the cup storage material barrel 3222 is used for storing stacked cups, the cup storage material barrel bottom plate 3221 is arranged below the cup storage material barrel 3222, and the cup storage material barrel 3222 is arranged on the top of the cup storage material barrel 3222, and the cup storage material barrel 3222 is detachable.

Further preferably, a discharge port 3224 is arranged on the cup storage barrel bottom plate 3221, and the blanking control element 326 is arranged below the discharge port 3224.

Still more preferably, at least two cup storage cylinders 3222 are arranged adjacently, and when three or more cup storage cylinders 3222 are arranged annularly, and the number of the discharge ports 3224 is set according to the number of the cup storage cylinders 3222.

Wherein, a motor or an air cylinder is arranged on the cup storage material cylinder bottom plate 3221 to drive the cup falling mechanism cup storage rack 322 to rotate, and the discharge port 3224 is rotated to the blanking control element 326 for blanking. The capacity of the automatic cup dropping mechanism can be increased by arranging the plurality of cup storage charging barrels 3222, the number of times of feeding is reduced, the working efficiency of the mechanism is improved, when the cup storage charging barrels 3222 are arranged to be more than three, the cup storage charging barrels are adjacently arranged on the cup storage barrel bottom plate 3221 in an annular mode, the compactness of the mechanism can be further improved, the occupied area is reduced, and the miniaturization is more favorably realized.

Preferably, the power member 3212 includes: the cup dropping device comprises a motor arranged on a cup dropping piece 3210, a gear ring 3213 driven by the motor, and a gear piece 3214 arranged between the gear ring 3213 and the cup dropping limit control piece and used for transmission.

Preferably, the cup drop control 324 includes: a cup dropping control electric cylinder 3243 for controlling the cup dropping member 3210, a discharging lifting guide rail 3242 arranged in parallel with the cup dropping control electric cylinder 3243, and a discharging lifting drag chain 3241 also arranged in parallel with the cup dropping control electric cylinder 3243; the discharging lifting guide rail 3242 is provided with a slider, one end of the slider is connected with the discharging lifting rail in a sliding manner, and the other end of the slider is fixedly connected with the cup dropping piece 3210.

Further preferably, two discharging lifting guide rails 3242 are arranged and symmetrically arranged on two sides of the cup falling control electric cylinder 3243 respectively, and the stability of the movement process is further improved by arranging a plurality of guide rails for assisting movement.

Example 7

Referring to fig. 21, the cup dropping mechanism is different from the above embodiment in that it further includes: a cup dropping mechanism mounting bracket 323 for connecting the cup dropping control 324 and the cup dropping mechanism storage bracket 322, the cup dropping mechanism mounting bracket 323 comprising: a cup dropping mechanism mounting plate 3231 for fixedly connecting the cup dropping control member 324, and a cup storage bin cover plate cup dropping mechanism fixing plate 3232 arranged on the cup dropping control member 324 for connecting the cup dropping mechanism storage bin holder 322.

Preferably, the cup dropping mechanism mounting frame 323 is configured as a square frame, and the two vertical ends of the square frame are respectively connected with the cup dropping control electric cylinder 3243 and the discharging lifting guide rail 3242.

Further preferably, the square frame can be arranged in parallel with the number of the cup dropping mechanism discharging pieces 321.

Preferably, the cup dropping mechanism fixing plate 3232 is perpendicular to the cup dropping mechanism mounting frame 323, and an installation groove is formed in the cup dropping mechanism fixing plate 3232 and used for installing the cup dropping piece 3210.

Preferably, the cup drop mechanism mounting plate 3231 is fixedly attached to the discharge elevator rail 3242 by providing a fixed connection 3244.

Example 8

Referring to fig. 20 and 21, the difference from the above embodiment is that the cup dropping mechanism 32 is further provided with a cup feeder 325 for conveying the cups whose dropping is completed to other stations, and the cup feeder 325 includes: the device comprises a movable cup support 3251 for limiting the dropped cup, a movable cup support 3251 electric cylinder 3252 for displacing the movable cup support 3251, and a movable cup support connecting plate 3253 for connecting the movable cup support 3251 and the movable cup support 3251 electric cylinder 3252. The cup is stably placed on a movable cup support 3251 arranged right below the cup dropping piece 3210 from the cup dropping limiting control piece, and the movable cup support 3251 is driven by a movable cup support 3251 electric cylinder 3252 to move to the next station.

The embodiment also comprises a cup dropping method, which comprises the following steps:

s1, a cup is placed in a cup storage rack 322 of a cup dropping mechanism, and then the cup dropping mechanism is started;

s2, after the cup loaded into the cup storage rack 322 of the cup dropping mechanism aligns the discharge port 3224 with the blanking control element 326, the cup is controlled by the blanking control element 326 to drop one cup at a time, and the cup drops into a cup dropping limiting control element arranged on the cup dropping element 3210 to be limited;

s3, starting a cup falling control electric cylinder 3243 to drive a cup falling piece 3210 to move to the position above a cup conveying piece 325, and starting a cup falling limit control piece;

s4, rotating the cup falling limiting control piece, and enabling the cup to descend along the cup falling limiting control piece and fall into the cup conveying piece 325;

and S5, starting the cup feeding piece 325 to feed the cup to other stations.

Example 9

Referring to fig. 21, the difference from the above embodiment is that the lower discharge port 3224 of the cup dropping mechanism cup holder 322 is provided with a blanking control member 326, and the blanking control member 326 is used for separately arranging the lowest cup and the penultimate cup in the cup dropping mechanism cup holder 322.

Preferably, the blanking control member 326 includes: the motor that sets up in discharge gate 3224 adjacent position and the baffle of being connected with the motor, this baffle is U type structure, drives this baffle through the motor and makes reciprocating motion, can separate the cup of bottommost end and penultimate cup.

The initial position of the lowest cup is on the cup dropping part 3210, the baffle moves forward under the action of the motor until the baffle moves to extend into the space between the lowest cup and the penultimate cup to separate the lowest cup from the penultimate cup, then the cup is discharged by the discharging part 321 of the cup dropping mechanism, after the completion, the discharging part 321 of the cup dropping mechanism is reset, the motor drives the baffle to reset, then the cup drops, then the motor drives the baffle to repeat the separation action, and only one cup drops at a time is controlled by the discharging control part 326.

The working principle of the embodiment is as follows:

opening a cover plate of the cup storage material barrel, putting a cup into a cup storage rack of the cup dropping mechanism, covering an upper cover plate to prevent dust from dropping, and then starting the cup dropping mechanism; a motor or an air cylinder is arranged on a bottom plate of the cup storage barrel to drive a cup storage rack of the cup dropping mechanism to rotate, and a discharge hole is rotated to a discharge control part for discharging;

after the cup loaded into the cup storage rack of the cup dropping mechanism aligns the discharge port with the blanking control part, the cup is controlled by the blanking control part to drop one cup at a time, and the cup drops into a cup dropping limiting control part arranged on the cup dropping part for limiting;

the cup falling control electric cylinder is started, the cup falling part is driven to move to the position right above the movable cup stand by matching with the discharging lifting guide rail, the cup falling limiting control part rotates, and the cup descends along the cup falling limiting control part until the cup stably falls into the movable cup stand; the movable cup stand electric cylinder is started, and the movable cup stand electric cylinder drives the movable cup stand to move to the next station.

Example 10

Referring to fig. 24, the difference from the above embodiment is that the dining mechanism 34 includes: the automatic meal-serving mechanism comprises an automatic meal-serving mechanism fixing seat 343, a lifting mechanism 342 arranged on the automatic meal-serving mechanism fixing seat 343, and a meal-taking safety protection baffle 341 arranged on one side of the automatic meal-serving mechanism fixing seat 343;

wherein, automatic mechanism fixing base 343 of giving a meal forms enclosed construction with getting meal safety protection baffle 341, and elevating system 342 sets up in this enclosed construction, gets meal safety protection baffle 341 and elevating system 342 and is reciprocating motion on automatic mechanism fixing base of giving a meal. The automatic meal delivery mechanism is simple in structure, good isolation setting is conducted on the outside, and food safety is improved.

Further preferably, the automatic meal-discharging mechanism fixing seat 343 and the meal-taking safety protection baffle 341 form a semi-closed structure with an opening at the upper part, and a top opening is arranged to facilitate placing meal on the lifting mechanism 342.

Referring to fig. 24 and 25, the lifting mechanism 342 includes: a tray structure lifting electric cylinder 3421 arranged inside the automatic meal-out mechanism fixing seat 343 and used for controlling the lifting of the tray structure 3422, and a tray structure 3422 arranged on the tray structure lifting electric cylinder 3421 and used for placing meal.

Further preferably, the tray structure lifting cylinder 3421 may be replaced by a conventional power device such as a cylinder, a motor, etc.

Still more preferably, the tray structure lifting electric cylinder 3421 and the tray structure 3422 are connected by a tray structure connecting plate 3423, the tray structure connecting plate 3423 is an L-shaped structure, one side of which is fixedly connected with the tray structure lifting electric cylinder 3421, and the other side is fixedly connected with the tray structure 3422.

Referring to fig. 26, the tray structure 3422 is a water leakage preventing tray structure, the tray structure 3422 is a hollow structure, and a hollow water leakage baffle 3424 is disposed at the top of the tray structure 3422. If take place to spill in the food transportation and leak and all can fall into the hollow structure of this tray structure 3422 through the baffle 3424 that leaks, consequently set up the baffle 3424 that leaks of fretwork and can effectively prevent to spill in the transportation and make equipment receive the pollution, further guarantee operating space clean and tidy and be favorable to food safety, can not spill because of the food and leak will clear up at any time on tray structure 3422 in order to avoid making dirty food or not in time clear up and lead to the food to breed the bacterium, the number of times that need clear up in the same time has been reduced.

The tray structure 3422 is detachably connected to the water leakage baffle 3424, the water leakage baffle 3424 and the tray structure 3422 are respectively detached during cleaning, residues in the hollow structure of the tray structure 3422 are cleaned, and the tray structure 3422 and the water leakage baffle 3424 are cleaned and sterilized before being installed again.

In another embodiment, if the meal is mainly in a liquid state, a water conduit may be disposed at the bottom of the tray structure 3422, and the water conduit may further ensure the dryness of the tray structure 3422, thereby prolonging the cleaning time.

Referring to fig. 24 and 27, meal taking safety shield 341 is disposed on the open side of automatic meal delivery mechanism holder 343 via lift control 3410.

Preferably, the lifting control 3410 includes: the guard baffle lifting electric cylinder 3412 and the lifting slide rail 3411 symmetrically arranged with the guard baffle lifting electric cylinder 3412, which are adjacently arranged at the outer side of the automatic meal delivery mechanism fixing seat 343, are respectively connected to two sides of the meal taking safety guard 341 in parallel.

Further, the guard block lifting cylinder 3412 may be replaced with one or more conventional power units such as motors, cylinders, etc.

Preferably, the meal taking safety protection baffle 341 is slidably connected with the lifting slide rail 3411 through a slide block 3413.

Further preferably, at least two sliding blocks 3413 are arranged and connected to the meal taking safety protection baffle 341 at equal intervals.

As shown in fig. 28, the lifting mechanism 342 is further provided with a sensor 3425 for sensing the approach of an object. When a cup is placed on the tray structure 3422, the sensor 3425 senses an object, and the tray structure lifting cylinder 3421 controls the tray structure 3422 to start operating.

Further preferably, the sensor 3425 may be a proximity sensor or an impact sensor.

Preferably, a grating sensor 3414 for detecting non-transparent objects is further disposed on one side of the automatic meal delivery mechanism fixing seat 343, which is close to the meal taking safety protection baffle 341. This grating sensor 3414 is equipped with two, and the symmetry sets up respectively on two parallel curb plates of the open side of automatic meal mechanism fixing base 343, sets up through setting up grating sensor 3414 symmetry and forms correlation safety light curtain, detects non-transparent object, and when stretching the hand and getting meal in getting into automatic meal mechanism, grating sensor 3414 carries out the real-time feedback of signal, prevents to get meal safety protection baffle 341 and falls to produce the accidental injury.

Preferably, meal mechanism fixing base inboard still is equipped with gets meal suggestion subassembly 344, gets meal suggestion subassembly 344 and includes: a meal taking prompting piece 3441 for giving a prompt and a meal taking prompting piece fixing support 3442 for fixing the meal taking prompting piece 3441 on the automatic meal delivery mechanism fixing seat 343.

Further preferably, the meal taking prompting component 3441 is provided with a wireless receiving module, the wireless receiving module is used for receiving wireless signals, a wireless sending module is further arranged on the sensor 3425 arranged on the lifting mechanism 342 and used for sending wireless signals, and the wireless signals can be bluetooth signals or WIFI signals.

In another embodiment, the meal taking prompt component 3441 is a sound, when the meal is placed on the lifting mechanism 342 and sensed by the sensor 3425, the lifting mechanism 342 starts to take the meal, and the wireless sending module sends out a wireless signal to be received by the wireless receiving module, and after receiving the wireless signal, the sound sends out a prompt sound to prompt the user to take the meal.

In another embodiment, the meal taking prompting component 3441 is a warning light, when the meal is placed on the lifting mechanism 342 and sensed by the sensor 3425, the lifting mechanism 342 starts to take the meal, and the wireless sending module sends out a wireless signal and receives the wireless signal by the wireless receiving module, and after receiving the wireless signal, the warning light starts to flash to remind the user to take the meal.

In another embodiment, the meal taking prompt component 3441 is a mobile phone of the user, when the meal is placed on the lifting mechanism 342 and sensed by the sensor 3425, the lifting mechanism 342 starts to deliver the meal, and the wireless sending module sends the meal to the mobile phone of the user to remind the user to take the meal.

In another embodiment, the meal taking prompt component 3441 is a separate terminal device, and is taken by the user after ordering, when the meal is placed on the lifting mechanism 342 and is sensed by the sensor 3425, the lifting mechanism 342 starts to deliver the meal, and meanwhile, the wireless sending module sends out a wireless signal to be received by the wireless receiving module of the terminal device, and the terminal device receiving the wireless signal can remind the user to take the meal through vibration and/or light.

The completion of the meal is prompted by setting the meal taking prompting piece 3441, and guests do not need to wait.

The working principle of the embodiment is as follows:

the utility model discloses a set up proximity sensor 3425, when the cup is put on tray structure 3422, proximity sensor 3425 senses the object, tray structure 3422 tray structure lift electric cylinder 3421 begins to descend just controlling tray structure 3422, when falling to automatic mechanism fixing base 343 that gives a meal when inside, it begins to send the suggestion to get meal suggestion piece 3441, the suggestion guest gets meal, the electric cylinder 3412 control of guard flap lift is simultaneously got meal safety shield 341 and is descended, grating sensor 3414 is installed to both sides in the automatic mechanism fixing base 343 that gives a meal, form the safety light curtain, detect non-transparent object, when stretching the hand gets into and gets meal in the automatic mechanism that gives a meal, grating sensor 3414 carries out signal feedback, prevent 108 to get meal safety shield 341 and fall in order to produce the accidental injury.

The above is only a preferred embodiment of the present invention, and is not intended to limit the present invention, and various modifications and changes will occur to those skilled in the art. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims (15)

1. An intelligent beverage vending machine, comprising: sell the quick-witted cabinet body and set up the drink output assembly in selling the quick-witted cabinet body, wherein, drink output assembly includes: the automatic beverage filling machine comprises a mechanical arm clamping jaw used for moving a beverage container, a cup falling mechanism, a cup cover mechanism, a beverage machine, a material mechanism and a meal delivery mechanism, wherein the cup falling mechanism is arranged around the mechanical arm clamping jaw and used for storing the beverage container, the cup cover mechanism is used for covering and sealing the beverage container, the beverage machine is used for adding finished beverages into the beverage container, the material mechanism is used for adding semi-finished materials into the beverage container, and the meal delivery mechanism is used for outputting the finished beverages.

2. The intelligent beverage vending machine of claim 1, wherein the robotic arm clamping jaw comprises: a clamping jaw for gripping an item, a robot arm for controlling the clamping jaw, and a clamping jaw mount for connecting the clamping jaw to the robot arm, wherein the clamping jaw comprises: the clamping jaw fixing part is used for clamping the object, and the clamping jaw finger is used for clamping the object and is arranged at the joint of the clamping jaw finger and the clamping jaw fixing part, and the sensor is used for detecting whether the clamping jaw finger clamps the object in place.

3. The intelligent drink vending machine of claim 2, wherein the robotic arm in the robotic arm jaw structure comprises: the clamping device comprises a rotating arm fixed at any position, a connecting arm connected to the rotating arm and a clamping control arm connected to the connecting arm and far away from one end of the rotating arm, and a clamping jaw fixing piece connected to the clamping control arm.

4. The intelligent beverage vending machine of claim 1, wherein the lid mechanism comprises: the cup placing device comprises a cup placing base used for placing a cup, a cover storage component arranged above the cup placing base and a cup cover component arranged between the cover storage component and the cup placing base;

wherein, bowl cover subassembly includes: the cover falling assembly is used for controlling the falling of the cup cover and the gland assembly is used for compressing the cup cover at the cup opening, the gland assembly is arranged below the cover falling assembly, and the gland stroke of the gland assembly and the working stroke of the cover falling assembly are on the same straight line.

5. The intelligent merchandiser of claim 1, wherein the cup drop mechanism includes a cup drop mechanism cup holder for storing cups and a cup drop mechanism discharge disposed below the cup drop mechanism cup holder, the cup drop mechanism discharge comprising: the cup dropping control part is used for controlling the displacement of the cup dropping part;

wherein, the piece that falls cup includes: the cup falling limiting control part is arranged on the cup falling part and is used for controlling the cup falling limiting control part to move, and the cup falling limiting control part is used for limiting and fixing a cup and realizing cup falling.

6. The intelligent drink vending machine of claim 1, wherein the meal serving mechanism comprises: the automatic meal-discharging mechanism comprises an automatic meal-discharging mechanism fixing seat, a lifting mechanism arranged on the automatic meal-discharging mechanism fixing seat and a meal-taking safety protection baffle arranged on one side of the automatic meal-discharging mechanism fixing seat;

the automatic meal-discharging mechanism fixing seat and the meal-taking safety protection baffle form a closed structure, the lifting mechanism is arranged in the closed structure, and the meal-taking safety protection baffle and the lifting mechanism reciprocate on the automatic meal-discharging mechanism fixing seat.

7. The intelligent beverage vending machine of any one of claims 1-6, wherein an automatic feeding mechanism is further provided on the beverage machine.

8. The intelligent beverage vending machine of claim 1, wherein the vending cabinet comprises: the lower part cabinet body, set up the upper portion cabinet body on lower part cabinet body top, set up the upper portion cabinet body with component mounting panel between the lower part and setting are in door that opens and shuts on the upper portion cabinet body.

9. The intelligent beverage vending machine according to any one of claims 1-6, wherein a water source assembly is further arranged in the vending machine cabinet body, and the water source assembly comprises: the water source, a water source water feeding pressurizing pump and a water source filtering device are sequentially arranged on the water source.

10. The intelligent beverage vending machine according to any one of claims 1-6, wherein a nitrogen gas supplementing device is further arranged in the vending machine cabinet body, and the nitrogen gas supplementing device comprises: a nitrogen gas source device and a nitrogen tap discharging device.

11. The intelligent beverage vending machine according to any one of claims 1-6, wherein a solar photovoltaic panel and a lighting system are further arranged on the vending machine cabinet.

12. The intelligent beverage vending machine according to any one of claims 1-6, wherein an ice dispenser for providing ice cubes is further provided in the vending machine cabinet.

13. The intelligent beverage vending machine according to any one of claims 1-6, wherein an anti-mosquito sterilization mechanism is further arranged in the vending machine cabinet body.

14. The intelligent beverage vending machine according to any one of claims 1-6, wherein a human-computer interaction system is further arranged on the vending machine cabinet body, and the human-computer interaction system comprises: display screen, speaker and anti-sweep yard system.

15. The intelligent beverage vending machine according to any one of claims 1-6, wherein a code spraying assembly is further arranged in the vending machine cabinet body, and the code spraying assembly comprises: the code spraying device comprises a code spraying host and a code spraying machine spray head arranged on the code spraying host.

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