CN210842678U

CN210842678U - Coffee brewing workstation of industrial robot

Info

Publication number: CN210842678U
Application number: CN201920392495.5U
Authority: CN
Inventors: 彭赛金; 陈南江; 林燕文
Original assignee: Beijing Huashengzhizao Technology Co ltd
Current assignee: Beijing Huashengzhizao Technology Co ltd
Priority date: 2019-03-26
Filing date: 2019-03-26
Publication date: 2020-06-26
Anticipated expiration: 2029-03-26

Abstract

The utility model discloses an industrial robot coffee brewing workstation, which comprises a frame, an industrial robot, a coffee brewing unit, a packaging unit, a finished product placing unit and a control unit, wherein the industrial robot, the coffee brewing unit, the packaging unit, the finished product placing unit and the control unit are arranged on the frame, the industrial robot, the coffee brewing unit and the packaging unit are respectively connected with the control unit, the operation of the whole workstation is controlled by the control unit, the control unit controls the industrial robot to take out the paper cup from the packaging unit, and place the paper cup in coffee modulation unit department, control coffee modulation unit with the coffee modulation of customer's demand in the paper cup, control industrial robot again will hold the paper cup of coffee and take to packing unit department buckle closure, label, final industrial robot will encapsulate the coffee of good and place unit department to the finished product.

Description

Coffee brewing workstation of industrial robot

Technical Field

The utility model relates to a drink equipment technical field, concretely relates to industrial robot coffee modulation workstation.

Background

Coffee is a beverage made with roasted coffee beans, usually hot, but also iced coffee as cold. Coffee is one of the most popular beverages in the human community. Because of the drip coffee making time is too long, and the making time is too slow and can directly influence the quality of coffee, the Italian engineer Luigi Bezzera utility model in the early twentieth century has not only boiled fast in the coffee machine of the first generation, through the development of a century more, and coffee machine now is high in quality moreover.

The industrial robot is an industrial automation device integrating multiple discipline advanced technologies such as machinery, electronics, control, computers, sensors, artificial intelligence and the like. The system can meet various operation requirements of industrial production and manufacturing by means of self power and control capacity, and can also accept human commands and operate according to a preset program to meet various operation requirements of industrial production. In cost, the industrial robot can replace more and more expensive labor force, and on the basis of efficient utilization of input cost, the error rate is low through more accurate operation, so that the rejection rate and the product cost of production are reduced.

With the wider application field of industrial robots, which have penetrated the service industry, the most typical example is the industrial robot to replace the waiter to brew drinks, among which coffee brewing is the most common. However, the existing service platform for brewing coffee by using an industrial robot has a single function, still needs a large amount of manpower to maintain the operation of the whole platform, has low intelligent degree and cannot realize complete unmanned operation.

SUMMERY OF THE UTILITY MODEL

Problem to prior art existence, the utility model aims to provide an intelligent degree is high, can modulate the coffee of different tastes, have the industrial robot coffee modulation workstation of packaging function.

In order to achieve the purpose, the utility model relates to an industrial robot coffee brewing workstation, which comprises a frame, an industrial robot, a coffee brewing unit, a packaging unit, a finished product placing unit and a control unit, wherein the industrial robot, the coffee brewing unit, the packaging unit, the finished product placing unit and the control unit are arranged on the frame, the industrial robot, the coffee brewing unit and the packaging unit are respectively connected with the control unit, the operation of the whole workstation is controlled by the control unit, the control unit controls the industrial robot to take out the paper cup from the packaging unit, and place the paper cup in coffee modulation unit department, control coffee modulation unit with the coffee modulation of customer's demand in the paper cup, control industrial robot again will hold the paper cup of coffee and take to packing unit department buckle closure, label, final industrial robot will encapsulate the coffee of good and place unit department to the finished product.

Further, the frame comprises a device cabinet, an operating platform and a surrounding plate, the operating platform is installed above the device cabinet, and the surrounding plate is installed on the side face of the operating platform; the size of the operating table is matched with the upper surface of the device cabinet, and the operating table is provided with mounting positions and wiring holes for mounting the industrial robot, the coffee brewing unit, the packaging unit and the finished product placing unit; the three enclosing plates are arranged on three sides of the operating platform in an enclosing mode, the outer ends of the two enclosing plates on the outer sides are respectively provided with a safety light curtain, the safety light curtains are connected with the control unit, when a hand of a person extends into the operating range of the industrial robot of the workstation, the safety light curtains are triggered, and at the moment, the control unit controls the industrial robot to stop or slow down; four corners of the bottom of the frame are provided with foot cups and foldable universal wheels, and the height of each universal wheel is greater than that of each foot cup.

Further, the industrial robot comprises a base, a robot base, a rotating end, a first rotating arm, a second rotating arm, a third rotating arm, an operating arm, an execution end, a control cabinet and a demonstrator, wherein the control cabinet and the demonstrator are installed in a device cabinet of the frame, are connected with the robot base and receive instructions of the control unit to control and debug the industrial robot; the base is detachably arranged on the operating platform, the robot base is arranged on the base, and the robot base, the rotating end, the first rotating arm, the second rotating arm, the third rotating arm, the operating arm and the executing end are sequentially connected together in a shaft mode;

a first rotating motor is arranged at the joint of the robot base and the rotating end shaft, the rotating range of the first rotating motor is-170 degrees, and the rotating end can horizontally rotate; a second rotating motor is arranged at the joint of the rotating end and the first rotating arm, the rotating range of the second rotating motor is-110-120 degrees, and the first rotating arm can rotate around the rotating end; a third rotating motor is arranged at the shaft joint of the first rotating arm and the second rotating arm, the rotating range of the third rotating motor is-69-205 degrees, and the second rotating arm can rotate around the first rotating arm; a fourth rotating motor is arranged at the shaft joint of the second rotating arm and the third rotating arm, and the rotating range of the fourth rotating motor is-190 degrees, so that the third rotating arm can rotate around the second rotating arm; a fifth rotating motor is arranged at the shaft joint of the third rotating arm and the operating arm, and the rotating range of the fifth rotating motor is-120 degrees, so that the operating arm can rotate around the third rotating arm; a sixth rotating motor is arranged at the shaft joint of the operating arm and the executing end, and the rotating range of the sixth rotating motor is-360 degrees, so that the executing end can rotate in the direction vertical to the operating arm;

the executing end is provided with two vacuum chucks and a clamping jaw, the vacuum chucks are used for sucking the cup cover and the label, the vacuum chucks are connected with a vacuum pump, and the vacuum pump is arranged in the device cabinet and is connected with the control unit; the clamping jaw is used for grabbing the paper cup, is a pneumatic clamping jaw and is controlled to loosen and clamp by an electromagnetic valve, and the electromagnetic valve is connected with the control unit.

Furthermore, the coffee brewing unit comprises a coffee machine, an installation base, a liquid level sensor, a water pump and barreled water, the installation base is detachably installed on the operating table, the coffee machine is installed on the installation base and connected with the control unit, and the coffee machine can make coffee with different concentrations; the water pump and the barreled water are placed in the device cabinet, the water pump is respectively connected with the barreled water and a water tank of the coffee machine, the water of the barreled water is conveyed into the water tank of the coffee machine, and the water pump is connected with the control unit; the liquid level sensors are arranged at the bottom inside the water tank of the coffee machine and on the outer side of the water tank of the coffee machine respectively, the liquid level sensors in the water tank are used for detecting whether the water tank is short of water or not, the liquid level sensors outside the water tank are used for detecting whether the water tank is full, the two liquid level sensors are connected with the control unit and used for transmitting detected data to the control unit in real time, and the control unit controls the work of the water pump according to signals given by the liquid level sensors.

Furthermore, an optical fiber sensor for detecting the paper cup is installed on the coffee machine, and the optical fiber sensor is connected with the control unit and transmits a detected signal to the control unit in real time.

Furthermore, the packaging unit comprises a paper cup supply device, a cover buckling device and a labeling device, the paper cup supply device, the cover buckling device and the labeling device are detachably arranged on a base of the packaging unit, and the base of the packaging unit is detachably arranged on an operation table;

the paper cup supply device comprises an L-shaped fixed frame, a paper cup device cylinder, an annular three-jaw clamp, a rotating arm, a lifting arm and a lifting seat, wherein the L-shaped fixed frame is detachably arranged on a packaging unit base and comprises a short plate and a long plate, the included angle between the surfaces of the short plate and the long plate is 90 degrees, and the paper cup device cylinder, the annular three-jaw clamp, the rotating arm, the lifting arm and the lifting seat are arranged in a space formed by the right-angle clamp; the paper cup device barrel is detachably mounted above the long plate and used for mounting paper cups, the paper cups in the paper cup device barrel are sleeved with each other, the bottom end of the lowest paper cup leaks out from the tail end of the paper cup device barrel, the top end of the paper cup device barrel is provided with a barrel cover, an optical fiber sensor and a photoelectric sensor are arranged in the barrel body, the optical fiber sensor is used for detecting whether the paper cups are short of materials, the photoelectric sensor is used for detecting whether the paper cups are empty of materials, the optical fiber sensor and the photoelectric sensor are respectively connected with the control unit, and collected signals are sent; the lifting seat is detachably mounted on a short plate of the L-shaped fixed frame, one end of the lifting arm is mounted on the lifting seat and can slide up and down on the lifting seat, one end of the rotating arm is mounted at the other end of the lifting arm and can horizontally rotate, the rotating range is 0-90 degrees, the rotating arm is parallel to the lifting arm at 0 degree and is perpendicular to the lifting arm at 90 degrees, the tail end of the rotating arm is just below a paper cup device cylinder, the annular three-jaw clamp is mounted at the tail end of the rotating arm and can clamp and release the paper cup, and the paper cup can be taken down from the paper cup device cylinder;

the cover buckling device comprises a cup cover storage rack, a base frame, a cover loading platform, a pressing ring, a push rod and a pressing ring support, the cup cover storage rack is used for storing a cup cover matched with a paper cup and comprises a round platform, a plurality of long rods and a notch ring, the round platform is detachably mounted on a packaging unit base, two ends of each long rod are detachably connected with the round platform and the notch ring respectively and are uniformly distributed, the size of a notch of the notch ring can enable a vacuum sucker of an industrial robot to come in and go out, an optical fiber sensor and a photoelectric sensor are arranged on the inner side of each long rod and used for detecting whether the material is absent or not, the photoelectric sensor is used for detecting whether the material is absent or not, the optical fiber sensor and the photoelectric sensor are connected with; the base frame comprises a base plate and a plurality of supporting legs, the upper ends of the supporting legs are detachably mounted below the base plate and are uniformly distributed on the edge of the base plate, the tail ends of the supporting legs are detachably mounted on a packaging unit base, and a cover mounting table, a pressure ring support and a labeling device are detachably mounted on the base plate; a groove is arranged at the center of the cover mounting table, the size of the groove is matched with the cup bottom of the paper cup, a pneumatic three-clamping jaw for fixing the coffee cup is arranged at the edge of the groove, and an electromagnetic valve for controlling the three-clamping jaw is connected with a control unit; the pressing ring is positioned right above the groove of the cover mounting table and connected with the tail end of the push rod, and the size of the pressing ring is matched with that of the cup cover; the other end of the push rod is detachably connected with the pressure ring support, the push rod pushes the pressure ring to apply pressure to the cup cover so as to firmly buckle the cup cover on the paper cup, the push rod is an electric hydraulic push rod or a double-shaft cylinder, an electromagnetic valve of the electric hydraulic push rod or the double-shaft cylinder is connected with the control unit, and the movement of the push rod is controlled by the control unit;

the labeling device is a label stripping machine for printing labels in real time, and is used for printing coffee owners, coffee taste and manufacturing time information on the labels in real time, and simultaneously automatically stripping the labels to wait for an industrial robot to perform labeling operation.

Further, the annular three-jaw clamp is a three-jaw pneumatic finger, the rotating arm is a rotary cylinder, the lifting arm is a rodless cylinder, the three are respectively connected with corresponding electromagnetic valves, the corresponding electromagnetic valves are connected with the control unit, and the control unit controls the tightness of the annular three-jaw clamp, the rotation of the rotating arm and the lifting of the lifting arm by controlling the electromagnetic valves.

Further, the finished product placing unit is used for storing finished products and comprises a top plate, a plurality of I-shaped plates, four connecting columns and a bottom plate, wherein two ends of each I-shaped plate are respectively connected with the top plate and the bottom plate and are uniformly distributed between the two plates, and the four connecting columns penetrate through the I-shaped plates in a rectangular arrangement to connect all the I-shaped plates; a plurality of grooves are formed in the top plate and are evenly distributed on the top plate, the size of each groove is matched with the bottom of the paper cup, a photoelectric sensor is mounted beside each groove and used for monitoring whether the groove is used or not, the photoelectric sensor is connected with the control unit, and detected signals are transmitted to the control unit in real time.

Furthermore, the control unit comprises a PLC module, a storage module, a prompt module and a digital signal processing module, the control unit controls the industrial robot, the coffee brewing unit and the packaging unit through the PLC module, the digital signal processing module is used for digitally representing and processing the real-time received signals, and the digital signal processing module submits the processed data to the PLC module; the storage module is used for storing data information of the workstation so that a user can look up the working process of the workstation; the prompting module is connected with the PLC module, comprises a voice prompter and a light prompter and is used for prompting users that the reserves of paper cups and cup covers are insufficient or used up so as to supply in time.

Furthermore, the control unit also comprises a display screen, a communication module and a manual operation panel, wherein the display screen is arranged on an operation table or a coaming of the frame and used for displaying the working condition of the workstation and acquiring data in real time; the manual operation panel is arranged on the operation table of the frame, and a user can manually control the workbench through the manual operation panel; the communication module enables the control unit to be in wireless connection with the intelligent terminal, and a user can connect the intelligent terminal with the workstation to realize remote monitoring of the workstation.

The utility model relates to an industrial robot modulation coffee workstation, the structural design of whole platform external framework is slim and graceful, each unit is built the mode ingenious, and mechanical intelligent degree is high, does not almost need manual operation, the utility model discloses still have following advantage:

① the method enriches the types of coffee, and can be used by customers to select different tastes according to their preferences;

②, the packaging function is added, and the device is provided with paper cups and cup covers, which is close to the flow of making artificial coffee to a great extent;

③ has strong information interaction and man-machine interaction characteristics, and the application of various sensors greatly improves the automation and informatization;

④, a display screen is added, the user can check the working condition of the workstation in real time and collect data in real time through the display screen, the visualization degree is high, and the user experience is comfortable.

Drawings

Fig. 1 is a schematic structural view of the present invention;

FIG. 2 is a schematic view of the frame construction;

fig. 3 is a schematic structural view of an industrial robot;

FIG. 4 is a schematic view of the construction of the coffee brewing unit;

FIG. 5 is a schematic view of the structure of the packaging unit;

FIG. 6 is a schematic structural view of a paper cup supply device;

fig. 7 is a schematic structural view of the finished product placing unit.

Detailed Description

The present invention now will be described more fully hereinafter with reference to the accompanying drawings, in which exemplary embodiments of the invention are shown. The present invention may, however, be embodied in many different forms and should not be construed as limited to the exemplary embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the scope of the invention to those skilled in the art.

For ease of description, spatially relative terms, such as "upper," "lower," "left," "right," and the like, may be used herein to describe one element or feature's relationship to another element or feature as illustrated in the figures. It will be understood that the spatial terms are intended to encompass different orientations of the device in use or operation in addition to the orientation depicted in the figures. For example, if the device in the figures is turned over, elements described as "below" other elements or features would then be oriented "above" the other elements or features. Thus, the exemplary term "lower" can encompass both an upper and a lower orientation. The device may be otherwise oriented (rotated 90 degrees or at other orientations) and the spatially relative descriptors used herein interpreted accordingly.

As shown in figures 1 to 7, the utility model relates to an industrial robot coffee brewing workstation, which comprises a frame 1, an industrial robot 2, a coffee brewing unit 3, a packaging unit, a finished product placing unit 4 and a control unit, wherein the industrial robot 2, the coffee brewing unit 3, the packaging unit, the finished product placing unit 4 and the control unit are arranged on the frame 1, the industrial robot 2, the coffee brewing unit 3 and the packaging unit are respectively connected with the control unit, the operation of the whole work station is controlled by the control unit, in particular, the control unit controls the industrial robot 2 to take out the paper cup from the packaging unit, and place the paper cup in coffee brewing unit 3 department, control coffee brewing unit 3 in with the coffee brewing of customer's demand to the paper cup, control industrial robot 2 again will hold the paper cup of coffee and take to packing unit department buckle closure, label, final industrial robot 2 will encapsulate the coffee and place finished product placement element 4 department.

The frame 1 comprises a device cabinet 11, an operation table 12 and a surrounding plate 13, the operation table 12 is installed above the device cabinet 11, the surrounding plate 13 is installed on the side face of the operation table 12, in the embodiment, the device cabinet 11 is used for a device control unit, barreled water, electric wires, water pipes, a packing box, an air pump, a food-grade water pump and the like, in order to better return the devices, the device cabinet 11 is divided into six small cabinets arranged in 3 × 2 arrangement, a cabinet door is installed on one side of the six small cabinets adjacent to the outside, a lock can be installed on the cabinet door, so that the work station is safer and more reliable, the operation table 12 is rectangular, the size of the operation table is matched with the upper surface of the device cabinet 1, an installation position 121 and a walking hole 122 for installing an industrial robot 2, a coffee brewing unit 3, a packing unit and a finished product placing unit 4 are arranged on the operation table 12, three surrounding plates 13 are provided, two surrounding plates which are called as short plates are respectively installed on the left side and right sides of the operation table, a higher surrounding plate is called as a high plate, the opposite side of a person who is installed on the operation table station, two short plates are respectively connected with the high plates, when the operation table is connected with the high-adjustable light curtain plate, when the safety door is connected with a universal wheel control unit, when the safety control unit, the safety control unit 15, the safety control unit is connected with the coffee brewing unit, when the working table 15, the safety control unit is connected with the universal wheel 15, the universal wheel 15 is connected with the universal wheel, the universal wheel is connected with the working table 15, the universal wheel 15, the universal wheel.

The whole size of frame is 1860 × 1220 × 1925mm, and the skeleton material of frame is the aluminium alloy, and the middle part utilizes the aluminum alloy panel to surround the decoration all around, has strengthened the aesthetic property of whole platform promptly, and the setting of operation panel has still made things convenient for customer to add batching such as milk, sugar in coffee.

The industrial robot 2 comprises a base 21, a robot base 22, a rotating end 23, a first rotating arm 24, a second rotating arm 25, a third rotating arm 26, an operating arm 27, an executing end 28, a control cabinet and a demonstrator, wherein the control cabinet and the demonstrator are arranged in a device cabinet of the frame 1, are connected with the robot base 22 and receive instructions of a control unit to control and debug the industrial robot; the base 21 is detachably arranged at a corresponding installation position of the operating platform 12, the robot base 22 is arranged on the base 21 through screws, the robot base 22, the rotating end 23, the first rotating arm 24, the second rotating arm 25, the third rotating arm 26, the operating arm 27 and the executing end 28 are sequentially coupled together in a shaft mode, a first rotating motor (with the rotating range of-170 degrees to 170 degrees and the rotating speed of 460 degrees/s) is arranged at the shaft coupling position of the robot base 22 and the rotating end 23, so that the rotating end 23 can horizontally rotate, a second rotating motor (with the rotating range of-110 degrees to 120 degrees and the rotating speed of 460 degrees/s) is arranged at the shaft coupling position of the rotating end 23 and the first rotating arm 24, so that the first rotating arm 24 can rotate around the rotating end 23, a third rotating motor (with the rotating range of-69 degrees to 205 degrees and the rotating speed of 460 degrees/s) is arranged at the shaft coupling position of the first rotating arm 24 and the, a rotation speed of 520 °/s) to allow the second boom 25 to rotate around the first boom 24, a fourth rotating motor (with a rotation range of-190 ° and a rotation speed of 560 °/s) is installed at the joint of the second boom 25 and the third boom 26 to allow the third boom 26 to rotate around the second boom 25, a fifth rotating motor (with a rotation range of-120 ° and a rotation speed of 560 °/s) is installed at the joint of the third boom 26 and the operating arm 27 to allow the operating arm 27 to rotate around the third boom 26, a sixth rotating motor (with a rotation range of-360 ° and a rotation speed of 900 °/s) is installed at the joint of the operating arm 27 and the actuating end 28 to allow the actuating end 28 to rotate in a direction perpendicular to the operating arm 27, in this embodiment, the 0 ° state of all the rotating motors is set as shown in fig. 1 or, As shown in fig. 3, in practical application, the appropriate 0 ° may be set according to specific situations; the execution end 28 is provided with a clamping jaw 281 and two vacuum chucks 282, the vacuum chucks 282 are used for sucking cup covers and labels, the vacuum chucks 282 are connected with a vacuum pump, the vacuum pump is installed in the device cabinet 11 and is connected with a control unit, the work of the vacuum pump is controlled through the control unit, and the work of the vacuum chucks is further controlled; the clamping jaw 281 is used for grabbing a paper cup, and in this embodiment, it is a pneumatic clamping jaw, and is controlled by an electromagnetic valve to loosen and clamp, and the electromagnetic valve is connected with a control unit, that is, the control unit controls the opening and closing of the electromagnetic valve, so as to further control the operation of the clamping jaw. Work flow of industrial robot: firstly, debugging each grabbing point of the industrial robot, storing a final debugging result (comprising data such as the rotation angle of each rotating motor, the suction force of a vacuum chuck and the like) in a control unit, and sending an instruction to the industrial robot by the control unit when the industrial robot works formally, so that the industrial robot reaches the corresponding grabbing point to work.

The coffee brewing unit 3 comprises a coffee machine 31, a mounting base 32, a liquid level sensor, a water pump and barreled water, the mounting base 32 is detachably mounted at a corresponding mounting position of the operating platform 12, the coffee machine 31 is mounted on the mounting base 32 and connected with the control unit, and the taste and the switch of coffee made by the coffee machine are controlled by the control unit; the water pump is respectively connected with the barreled water and the coffee machine water tank, the water pump is used for conveying the water of the barreled water into the coffee machine water tank, the water pump is connected with the control unit, and the work of the water pump is controlled by the control unit; level sensor has two, install respectively in the inside bottom of coffee machine water tank and the coffee machine water tank outside, level sensor in the water tank is used for detecting whether the water tank lacks water, level sensor outside the water tank is used for detecting whether the water tank is full, two level sensor are connected with the control unit, and will detect data real-time transfer to the control unit, the work of signal control water pump that the control unit gave according to level sensor, when the water level of coffee machine water tank is not enough, the control unit will control the water pump to the water tank pump water, it is full when the coffee machine water tank has been filled, then the control unit will control the water pump and stop to the water tank pump water. In this embodiment, two coffee machines are provided, each coffee machine can only make one type of coffee, such as blue mountain and cappuccino, but each coffee machine can make coffee with different concentrations, and customers can select favorite coffee concentrations and types according to their own preferences. In addition, an optical fiber sensor for detecting the paper cup is arranged on the coffee machine 31, the optical fiber sensor is connected with the control unit and transmits a detected signal to the control unit in real time, and when the paper cup is detected to be put in, the control unit controls the coffee machine to modulate coffee required by a customer and place the coffee into the paper cup.

The packaging unit comprises a paper cup supply device 5, a cover-fastening device 6 and a labeling device 7, which are detachably mounted on a packaging unit base 8, and the packaging unit base 8 is detachably mounted at its corresponding mounting position on an operating table 12.

The paper cup supply device 5 comprises an L-shaped fixed frame 51, a paper cup device cylinder 52, an annular three-jaw clamp 53, a rotating arm 54, a lifting arm 55 and a lifting seat 56, wherein the L-shaped fixed frame 51 is detachably arranged on a packaging unit base 8 and comprises a short plate and a long plate, the included angle between the surfaces of the short plate and the long plate is 90 degrees, and other components of the paper cup supply device 5 are arranged in a space formed by the right-angle clamp; the paper cup device cylinder 52 is detachably mounted above the long plate and used for installing paper cups, the paper cups in the paper cup device cylinder are sleeved with each other, the bottom end of the lowest paper cup leaks out from the tail end of the paper cup device cylinder 52, the top end of the paper cup device cylinder 52 is provided with a cylinder cover, an optical fiber sensor and a photoelectric sensor are arranged in the cylinder body and used for detecting whether the paper cup is short or not, the photoelectric sensor is used for detecting whether the paper cup is empty or not, the optical fiber sensor and the photoelectric sensor are respectively connected with the control unit and used for sending collected signals to the control unit in real time, and when the paper cup in the paper cup device cylinder 52 is insufficient or used up, the control unit reminds users of the insufficient quantity or the used up of the paper cups in a voice mode, a double prompting effect is achieved, and the operation; the lifting seat 56 is detachably mounted on a short plate of the L-shaped fixed frame 51, one end of the lifting arm 55 is mounted on the lifting seat 56 and can slide up and down on the lifting seat, one end of the rotating arm 54 is mounted at the other end of the lifting arm 55 and can horizontally rotate, the rotating range is 0-90 degrees, the rotating range is parallel to the lifting arm at 0 degrees, the rotating range is perpendicular to the lifting arm at 90 degrees, the tail end of the rotating arm is just below the paper cup device cylinder 52, the annular three-jaw clamp 53 is mounted at the tail end of the rotating arm, and the annular three-jaw clamp 53 can clamp and release the paper cup so as to take down the paper cup from the paper cup device cylinder 52. Work flow of the paper cup supply device 5: the rotating arm rotates horizontally by 90 degrees and is perpendicular to the lifting arm, the rotating arm reaches the position right below the paper cup device cylinder, the lifting arm slides upwards to enable the bottom end of the paper cup to be just embedded in the annular three-jaw clamp, the annular three-jaw clamp tightly grasps the paper cup, the lifting arm slides downwards to take out the paper cup from the paper cup device cylinder, the rotating arm rotates horizontally by-90 degrees and is parallel to the lifting arm to enable the paper cup to reach a grabbing point of the industrial robot, and after the industrial robot takes away the paper cup, the operation is repeated.

In this embodiment, the annular three-jaw clamp 53 is a three-jaw pneumatic finger, the rotating arm 54 is a rotary cylinder, the lifting arm 55 is a rodless cylinder, these pneumatic actuators are connected to corresponding solenoid valves, the solenoid valves are connected to a control unit, and the control unit controls the tightness of the annular three-jaw clamp 53, the rotating angle of the rotating arm 54, and the lifting height of the lifting arm 55 by controlling the solenoid valves. In practical application, the annular three-jaw clamp 53, the rotating arm 54 and the lifting arm 55 can also be selectively provided with motors corresponding to the functions thereof, and the motors are connected with the control unit, so that the control unit controls the tightness of the annular three-jaw clamp 53, the rotating angle of the rotating arm 54 and the lifting height of the lifting arm 55 by controlling the corresponding motors, and a user can select a proper mode according to practical conditions.

The cover buckling device 6 comprises a cup cover storage rack 61, a base frame 62, a cover loading platform 63, a press ring 64 push rod 65 and a press ring support 66, the cup cover storage rack 61 is used for storing cup covers matched with paper cups, the cup covers in the cup cover storage rack are sleeved together, the cup cover storage rack 61 comprises a round platform, a plurality of long rods and a gap ring, the round platform is detachably mounted on a packaging unit base 8, two ends of each long rod are detachably connected with the round platform and the gap ring respectively and are uniformly distributed, in the embodiment, the long rods are consistent in size, the number of the long rods is 5, the gap size of the gap ring can enable a vacuum sucker of an industrial robot to come in and go out, an optical fiber sensor and a photoelectric sensor are arranged on the inner side of each long rod, the optical fiber sensor is used for detecting whether materials are absent or not, the photoelectric sensor is used for detecting whether materials are absent, the optical, when the cup covers in the cup cover storage rack 61 are insufficient or used up, the control unit reminds users of insufficient or used up cup covers through modes of voice, light and the like so as to supplement in time, and a double prompting effect is achieved so as to avoid the influence on the operation of the whole workstation due to the lack of the cup covers; the base frame 62 comprises a base plate and a plurality of supporting legs, the upper ends of the supporting legs are detachably mounted below the base plate and are uniformly distributed on the edge of the base plate, in the embodiment, the supporting legs are consistent in size and 6 in number, the tail ends of the supporting legs are detachably mounted on the packaging unit base 8, and the base plate is detachably mounted with a capping table 63, a press ring support 66 and a labeling device 7; a groove is formed in the center of the cover mounting table 63, the size of the groove is matched with the cup bottom of a paper cup, a pneumatic three-clamping jaw for fixing the coffee cup is arranged at the edge of the groove, an electromagnetic valve for controlling the three-clamping jaw is connected with a control unit, and the three-clamping jaw is controlled to be tightened or loosened through the control unit; the pressing ring 64 is positioned right above the groove of the cover mounting table 63 and connected with the tail end of the push rod 65, and the size of the pressing ring is matched with that of the cup cover; the other end of the push rod 65 is detachably connected with the press ring support 66, the push rod 65 pushes the press ring to apply pressure to the cup cover so as to firmly buckle the cup cover on the paper cup, the push rod 65 is an electric hydraulic push rod or a double-shaft cylinder, an electromagnetic valve of the electric hydraulic push rod or the control double-shaft cylinder is connected with the control unit, and the movement of the push rod 65 is controlled through the control unit. The working process of the cover buckling device 6 is as follows: the industrial robot places the paper cup containing coffee in the groove of the cover placing table 63, then the cup cover storage rack is removed to take out the cup cover and place the cup cover on the paper cup, the push rod moves downwards to drive the press ring to move downwards, the press ring presses the cup cover to tightly buckle the cup cover on the paper cup, and then the press ring rises back to the initial position along with the push rod.

The labeling device 7 is a label peeling machine for printing labels in real time, and is used for printing information such as coffee owners, coffee taste, making time and the like on the labels in real time, and simultaneously automatically peeling the labels to wait for an industrial robot to perform labeling operation. After the cup cover is buckled on the coffee preparation, the industrial robot takes the printed label to be pasted on the cup cover.

The finished product placing unit 4 is used for storing finished products and comprises a top plate 41, a plurality of I-shaped plates 42, four connecting columns 43 and a bottom plate 44, wherein two ends of each I-shaped plate 42 are respectively connected with the top plate 41 and the bottom plate 44 and are uniformly distributed between the two plates, the four connecting columns 43 are arranged in a rectangular shape and penetrate through the I-shaped plates 42 to connect all the I-shaped plates, and in the embodiment, three I-shaped plates are arranged; bottom plate 44 demountable installation is in its corresponding installation position department at operation panel 12, a plurality of recess has been seted up on roof 42, and evenly distributed is on the roof, the size of this recess and the bottom looks adaptation of paper cup, every recess has unique serial number, industrial robot is provided with corresponding point of snatching above every recess, the other photoelectric sensor of installing of recess, whether be used for monitoring the recess, photoelectric sensor is connected with the control unit, signal real-time transfer to the control unit that will detect, so that the control unit can control industrial robot and place the finished product in vacant recess.

The control unit comprises a PLC module, a storage module, a prompt module and a digital signal processing module, the control unit controls other components through the PLC module, the digital signal processing module is used for digitally representing and processing signals received in real time, the signals comprise signals transmitted in real time by a liquid level sensor and an optical fiber sensor of a coffee modulation unit, a photoelectric sensor and an optical fiber sensor in a packaging unit, a photoelectric sensor of a finished product placing unit and the like, the digital signal processing module submits processed data to the PLC module, and the PLC module controls the components where the corresponding sensors are located through analysis; the storage module is used for storing data information of the workstation, and the data information comprises instructions sent to other components by the PLC module, the working flows of the other components, the real-time state of the sensor and other information so that a user can look up the working process of the workstation; the prompting module is connected with the PLC module, comprises a voice prompter and a light prompter and is used for prompting users that the reserves of paper cups and cup covers are insufficient or used up so as to supply in time. In addition, the control unit also comprises a display screen, a communication module and a manual operation panel, wherein the display screen is arranged on an operation table 12 or a coaming 13 of the frame 1 and is used for displaying the working condition of the workstation and acquiring data in real time; the manual operation panel is arranged on the operation table 12 of the frame 1, and a user can manually control the operation table through the manual operation panel; the communication module enables the control unit to be in wireless connection with the intelligent terminal, a user can connect the intelligent terminal with the workstation to achieve remote monitoring of the workstation, and the intelligent terminal comprises a mobile phone, a tablet, a notebook computer and the like.

Claims

1. An industrial robot coffee brewing workstation is characterized by comprising a frame, an industrial robot, a coffee brewing unit, a packaging unit, a finished product placing unit and a control unit, wherein the industrial robot, the coffee brewing unit, the packaging unit, the finished product placing unit and the control unit are arranged on the frame, the industrial robot, the coffee brewing unit and the packaging unit are respectively connected with the control unit, the operation of the whole workstation is controlled by the control unit, the control unit controls the industrial robot to take out the paper cup from the packaging unit, and place the paper cup in coffee modulation unit department, control coffee modulation unit with the coffee modulation of customer's demand in the paper cup, control industrial robot again will hold the paper cup of coffee and take to packing unit department buckle closure, label, final industrial robot will encapsulate the coffee of good and place unit department to the finished product.

2. An industrial robot coffee brewing workstation as claimed in claim 1, further wherein said frame includes a device cabinet, a console mounted above the device cabinet, and a skirt mounted to a side of the console; the size of the operating table is matched with the upper surface of the device cabinet, and the operating table is provided with mounting positions and wiring holes for mounting the industrial robot, the coffee brewing unit, the packaging unit and the finished product placing unit; the three enclosing plates are arranged on three sides of the operating platform in an enclosing mode, the outer ends of the two enclosing plates on the outer sides are respectively provided with a safety light curtain, the safety light curtains are connected with the control unit, when a hand of a person extends into the operating range of the industrial robot of the workstation, the safety light curtains are triggered, and at the moment, the control unit controls the industrial robot to stop or slow down; four corners of the bottom of the frame are provided with foot cups and foldable universal wheels, and the height of each universal wheel is greater than that of each foot cup.

3. An industrial robot coffee brewing workstation according to claim 2, characterized in that the industrial robot comprises a base, a robot base, a rotation end, a first rotating arm, a second rotating arm, a third rotating arm, an operation arm, an execution end, a control cabinet and a demonstrator, wherein the control cabinet and the demonstrator are mounted in a device cabinet of the frame, both of which are connected with the robot base, and receive the instructions of the control unit to control and debug the industrial robot; the base is detachably arranged on the operating platform, the robot base is arranged on the base, and the robot base, the rotating end, the first rotating arm, the second rotating arm, the third rotating arm, the operating arm and the executing end are sequentially connected together in a shaft mode;

a first rotating motor is arranged at the joint of the robot base and the rotating end, and the rotating range of the first rotating motor is-170 degrees, so that the rotating end can rotate horizontally; a second rotating motor is arranged at the joint of the rotating end and the first rotating arm, and the rotating range of the second rotating motor is-110-120 degrees, so that the first rotating arm can rotate around the rotating end; a third rotating motor is arranged at the shaft joint of the first rotating arm and the second rotating arm, and the rotating range of the third rotating motor is-69-205 degrees, so that the second rotating arm can rotate around the first rotating arm; a fourth rotating motor is arranged at the shaft joint of the second rotating arm and the third rotating arm, and the rotating range of the fourth rotating motor is-190 degrees, so that the third rotating arm can rotate around the second rotating arm; a fifth rotating motor is arranged at the joint of the third rotating arm and the operating arm, and the rotating range of the fifth rotating motor is-120 degrees, so that the operating arm can rotate around the third rotating arm; a sixth rotating motor is arranged at the shaft joint of the operating arm and the executing end, and the rotating range of the sixth rotating motor is-360 degrees, so that the executing end can rotate in the direction vertical to the operating arm;

4. An industrial robot coffee brewing workstation according to claim 2, characterized in that the coffee brewing unit comprises a coffee machine, a mounting base, a level sensor, a water pump and a barreled water, the mounting base is detachably mounted on the operation table, the coffee machine is mounted on the mounting base and connected with the control unit, the coffee machine can make coffee of different strengths; the water pump and the barreled water are placed in the device cabinet, the water pump is respectively connected with the barreled water and a water tank of the coffee machine, the water of the barreled water is conveyed into the water tank of the coffee machine, and the water pump is connected with the control unit; the liquid level sensors are arranged at the bottom inside the water tank of the coffee machine and on the outer side of the water tank of the coffee machine respectively, the liquid level sensors in the water tank are used for detecting whether the water tank is short of water or not, the liquid level sensors outside the water tank are used for detecting whether the water tank is full, the two liquid level sensors are connected with the control unit and used for transmitting detected data to the control unit in real time, and the control unit controls the work of the water pump according to signals given by the liquid level sensors.

5. An industrial robot coffee brewing workstation as claimed in claim 4, characterized in that the coffee machine is equipped with a fiber optic sensor for detecting paper cups, which is connected to the control unit and transmits the detected signal to the control unit in real time.

6. An industrial robot coffee brewing workstation as claimed in claim 2, wherein said packaging unit includes a paper cup supply means, a capping means and a labeling means, which are removably mounted on a packaging unit base, which is removably mounted on the operating table;

7. An industrial robot coffee brewing workstation according to claim 6, characterized in that the annular three-jaw clamp is a three-jaw type pneumatic finger, the rotating arm is a rotary cylinder, the lifting arm is a rodless cylinder, the three are respectively connected with corresponding solenoid valves, the corresponding solenoid valves are connected with a control unit, and the control unit controls the tightness of the annular three-jaw clamp, the rotation of the rotating arm and the lifting of the lifting arm by controlling the solenoid valves.

8. The industrial robot coffee brewing workstation of claim 2, wherein the finished product placing unit is used for storing finished products and comprises a top plate, a plurality of 'I' -shaped plates, four connecting columns and a bottom plate, two ends of each 'I' -shaped plate are respectively connected with the top plate and the bottom plate and are evenly distributed between the two plates, and the four connecting columns are arranged in a rectangular shape and penetrate through the 'I' -shaped plates to connect all the 'I' -shaped plates; a plurality of grooves are formed in the top plate and are evenly distributed on the top plate, the size of each groove is matched with the bottom of the paper cup, a photoelectric sensor is mounted beside each groove and used for monitoring whether the groove is used or not, the photoelectric sensor is connected with the control unit, and detected signals are transmitted to the control unit in real time.

9. An industrial robot coffee brewing workstation according to any one of claims 1-8, characterized in that the control unit comprises a PLC module, a storage module, a prompting module and a digital signal processing module, the control of the industrial robot, the coffee brewing unit and the packaging unit by the control unit is accomplished by the PLC module, the digital signal processing module is used for digitally representing and processing the real-time received signals, and the digital signal processing module submits the processed data to the PLC module; the storage module is used for storing data information of the workstation so that a user can look up the working process of the workstation; the prompting module is connected with the PLC module, comprises a voice prompter and a light prompter and is used for prompting users that the reserves of paper cups and cup covers are insufficient or used up so as to supply in time.

10. An industrial robot coffee brewing workstation according to claim 9, characterized in that the control unit further comprises a display screen, a communication module and a manual operation panel, wherein the display screen is mounted on an operation table or a bounding wall of the frame for displaying the work condition of the workstation and acquiring data in real time; the manual operation panel is arranged on the operation table of the frame, and a user can manually control the workbench through the manual operation panel; the communication module enables the control unit to be in wireless connection with the intelligent terminal, and a user can connect the intelligent terminal with the workstation to realize remote monitoring of the workstation.