CN210998746U - Cup-pouring type multi-variety beverage supply robot - Google Patents

Abstract

The utility model discloses a serve many varieties of cup formula beverage supply robot, including robot, storage device, discharging device, divide the cupule and grab a glass manipulator, robot's the left and right sides has first arm and second arm respectively, and the wrist department of first arm sets up discharging device, and the wrist department of second arm is equipped with grabs a glass manipulator, and inside storage device and branch cup ware located robot respectively, storage device and discharging device were connected, grabbed a glass manipulator and are located the cup export outside of dividing the cupule. The using method is that when the beverage is required to be output according to the beverage variety selected by a consumer, the storage device outputs the beverage of the corresponding variety to the discharging device, the cup body is separated by the cup separating device, and the cup grabbing mechanical arm grabs the cup body and then the discharging device pours the beverage into the cup body. The utility model discloses a robot simulation people type can realize providing the beverage of multiple different varieties according to consumer's wish, is favorable to arousing consumer's purchase desire.

Description

Cup-pouring type multi-variety beverage supply robot

Technical Field

The utility model relates to the technical field of robots, in particular to serve many varieties of cup type beverage supply robot.

Background

The beverage is indispensable in catering services, has various varieties and wide range, is a huge market, and various merchants of various brands compete fiercely. Beverage sales are ubiquitous and include various public places such as malls, restaurants, casinos and the like.

The selling of beverages is mainly manual or self-service, and with the development of automation technology, the selling and supplying modes are continuously changed, and the form of unmanned vending machines and the like is developed. With the popularization and application of the robot technology, some merchants in the catering industry introduce robot service as a marketing means, for example, in restaurants, the robots are adopted to deliver food and drink to tables. In addition, at present, manufacturers develop unattended sale equipment specially for milk tea beverages, and adopt industrial robots to carry out on-site blending and sale.

However, the robots currently used in the catering industry have considerable limitations, such as the two types of robots mentioned above: the first type of robot (namely, catering robot) is substantially equivalent to a human-shaped AGV, can only realize delivery by rail navigation, has single function and is difficult to attract consumers for a long time. The second type of robot (namely unattended milk tea selling equipment) is characterized in that an industrial mechanical arm is integrated into a system to form automatic equipment, when the automatic milk tea selling equipment works, the mechanical arm holds a steel cup in hand, milk tea ingredients are filled in the steel cup, the steel cup is shaken uniformly and then poured into a plastic cup on a table board, the equipment has multiple ingredient stations, the system is complex, the occupied area is large, the function is single, and the automatic milk tea selling equipment does not belong to a special beverage supply robot per se, so that the automatic milk tea selling equipment is still difficult to popularize in the current market. Therefore, in order to adapt to the increasingly higher living standard of people, the development of a new beverage selling robot and related accessories thereof has important significance.

SUMMERY OF THE UTILITY MODEL

An object of the utility model is to overcome prior art's not enough, provide a serve many varieties beverage supply robot of cup formula, this robot simulation humanoid type adopts one hand to get the cup, holds the mode that the bottle pours out the beverage on the other hand to can realize providing the beverage of multiple different varieties according to consumer's wish, can provide a novel joyful impression for the consumer, thereby arouse consumer's the purchase desire.

The technical scheme of the utility model is that: the utility model provides a many varieties of beverage supply robot of serve cup formula, including the robot, storage device, discharging device, divide the cupule and grab a cup manipulator, the left and right sides of robot has first arm and second arm respectively, the wrist department of first arm sets up discharging device, the wrist department of second arm is equipped with grabs a cup manipulator, inside storage device and branch cupule locate the robot respectively, storage device and discharging device are connected, grab a cup manipulator and be located the cup export outside of dividing the cupule. The robot body simulates a human shape, and the discharging device and the cup grabbing manipulator are arranged on the two arms of the robot body, so that the robot body can simulate hands to pour out beverages and attract consumers through the external shape of the robot body; the storage device is mainly used for storing various beverages, cleaning liquid for cleaning, waste water and other materials; the appearance of the discharging device can be designed into a bottle shape, and various beverages stored in the storage device are poured out through the discharging device; divide the cup ware mainly used to place the cup of intussusception, when the beverage is poured to needs, will preset in the cup in the robot body through dividing the cup ware and separate one by one and send out, supply to grab a manipulator and snatch the use.

The storage device is internally provided with a clear water storage tank, a waste water storage tank and at least two beverage storage tanks, and the discharging device is internally provided with a cleaning mechanism, a waste water through hole and at least two beverage guide pipes; the cleaning mechanism is connected with the outlet end of the clear water storage tank, the waste water through hole is connected with the inlet end of the waste water storage tank, and each beverage guide pipe is correspondingly connected with the outlet end of one beverage storage tank. The storage device is provided with a plurality of independent storage tanks and is used for storing various different beverages, cleaning liquid, waste water and the like so as to be used by corresponding mechanisms in the discharging device; in the discharging device, each beverage guide pipe is correspondingly used for guiding in various beverages, when the beverage variety selected by a user is different from the beverage variety selected by the user at the last time, the discharging device can be cleaned by the cleaning mechanism, wastewater formed after cleaning is discharged through the wastewater through hole, and then the beverage is guided in for the selected beverage, so that the cleanliness of the beverage is ensured, and the influence on the taste due to mutual pollution among different beverages is avoided.

The outlet end of the clear water storage tank can be provided with a high-pressure pump, the inlet end of the waste water storage tank can be provided with a vacuum pump, and the outlet end of each beverage storage tank can be respectively provided with a metering pump. Correspondingly, a water pipe joint is arranged at the cleaning liquid inlet end of the cleaning mechanism and is connected with a high-pressure pump through a hose, a vacuum pipe joint is arranged at the outlet end of the waste water through hole and is connected with a vacuum pump through a hose, beverage pipe joints are respectively arranged at the inlet ends of the beverage guide pipes and are connected with the metering pumps of the corresponding beverage storage tanks through hoses. In each beverage storage tank, the output quantity of the required beverage can be more accurate by the arrangement of the metering pump.

The clear water storage tank and the waste water storage tank can adopt the same water storage tank, the water storage tank is divided into two mutually independent water storage spaces up and down or left and right, the water storage space for storing clear water is the clear water storage tank, and the water storage space for storing waste water is the waste water storage tank. The water storage tank distributes with each beverage storage tank side by side, compares the structural style with clear water storage tank and waste water storage tank independent setting respectively, and the water storage tank of this structure can simplify equipment structure better, makes equipment structure compacter, reduces area.

The discharging device comprises an upper body, a lower body, a connecting disc, an upper cover, beverage guide pipes, an upper cover lifting mechanism and a cleaning mechanism, wherein the upper body and the lower body are connected through the connecting disc, a discharging space is formed in the upper body, an installation space is formed in the lower body, the upper cover is arranged at the mouth of the upper body, each beverage guide pipe penetrates through the connecting disc, the outlet end of each beverage guide pipe is positioned in the discharging space, the liquid outlet end of the cleaning mechanism also extends into the discharging space and is connected with the upper cover, the power output end of the upper cover lifting mechanism is connected with the upper cover through the cleaning mechanism, and a wastewater through hole is formed in the connecting disc. The adapter plate is used for isolating the discharging space and the mounting space to form mutually independent spaces, and is used as a mounting base of various pipelines (such as a beverage guide pipe, a waste water pipe and a central pipe). The discharge space of upper portion body is used for holding the beverage that prepares to pour out, and the installation space of lower part body is convenient for the installation of each component part. The connecting part of the connecting disc and the upper body is provided with a sealing ring to prevent the beverage in the discharging space from leaking.

The upper body, the connecting disc and the lower body are sequentially connected to form a bottle-shaped structure, and a pipeline inlet and a pipeline outlet are formed in the side wall of the lower body. This bottle column structure is similar to the beverage bottle, is applied to behind the serve cup formula beverage supply robot with this discharging device, and the goblet on the cooperation robot uses, can improve its interest. The pipeline inlet and outlet of the side wall of the lower body are convenient for connecting various pipelines and lines.

As a preferable scheme, the number of the beverage guide pipes is three according to the consumption habits of people, the inlet end of each beverage guide pipe is positioned in the installation space, and the number of the beverage storage tanks is correspondingly three. When three beverage pipes and three beverage storage tanks (assumed as beverage a, beverage B and beverage C) are provided, the discharging device can provide seven kinds of beverages in total, including beverage a, beverage B, beverage C, beverage AB, beverage AC, beverage BC and beverage ABC.

The outlet end of the beverage guide pipe is in an elbow shape, the discharging direction of the outlet end of the beverage guide pipe is arranged along the tangential direction of the horizontal circumference where the outlet end of the beverage guide pipe is located, so that the beverage flowing out of the beverage guide pipe can be forced to flow along the inner wall of the upper body, the discharging is uniform and stable, and a large amount of bubbles are prevented from being generated due to violent impact.

The upper cover is equipped with vertical decurrent screw hole, and this internal part of upper cover embedding upper portion is along a plurality of jet orifices of periphery direction evenly distributed (promptly the upper cover is the bottle plug form, wholly is flat top cone structure, including the cover portion and the embedding portion that are connected, the cover portion is the flat top form, and the embedding portion is the cone, and the embedding portion is equipped with vertical decurrent screw hole, and a plurality of jet orifices of periphery direction evenly distributed are followed to the embedding portion). Wherein, the joint of the bottom surface of the covering part and the opening part of the upper body is also provided with a sealing ring to prevent the beverage in the discharging space from permeating. In the embedding part, the threaded hole is mainly convenient for being fixedly connected with a central pipe, the jet hole is used for being matched with a cleaning mechanism, cleaning liquid is sprayed from the opening part of the upper body, and the whole discharging space can be comprehensively cleaned.

The cleaning mechanism comprises a central pipe and a connecting head, the connecting head is arranged at the bottom of the central pipe, the top of the central pipe is connected with the threaded hole of the upper cover, a plurality of liquid outlet holes are distributed at the top of the central pipe along the circumferential direction, and the liquid outlet holes are communicated with the jet holes in the upper cover; the top of the central tube where each liquid outlet hole is positioned is used as the liquid outlet end of the cleaning mechanism. The middle part of the connecting disc is provided with a central hole, the central tube is of a long tubular structure, the central tube extends into the mounting space of the lower body from the central hole of the connecting disc, the connecting head is arranged in the mounting space, and the through hole inside the connecting head is communicated with the through hole of the central tube. The central tube can be a stainless steel long tube, the central tube passes through the central hole of the connecting disc to be installed, and a sealing ring is arranged at the joint of the central tube and the connecting disc to prevent the beverage in the discharging space from leaking. The end of coupling head sets up water pipe head, and water pipe head passes through the hose and is connected with the high-pressure pump of clear water storage tank, when needs wash ejection of compact space, generally adopts the clear water as the washing liquid, and clear water rises to its top back along the center tube, from each play liquid hole blowout, because the jet orifice intercommunication in play liquid hole and the upper cover, consequently, the clear water is last to be spouted the inner wall of upper portion body from jet orifice department to wash, wash the waste water that forms after the completion and be taken away from waste water through-hole department.

The upper cover lifting mechanism comprises a lifting electric cylinder and a spring, the power output end of the lifting electric cylinder is fixedly connected with the bottom surface of the coupling head, the spring is sleeved on the periphery of the central pipe, the upper end of the spring is connected with the bottom surface of the connecting disc, and the lower end of the spring is connected with the top surface of the coupling head. When the upper cover needs to be opened to pour out the beverage, the lifting electric cylinder drives the connecting head and the central pipe to ascend to lift the upper cover, so that the covering part of the upper cover is far away from the opening part of the upper body, a discharging gap is formed between the embedding part and the opening part, and the spring is compressed in the process; after the beverage is poured out, the lifting electric cylinder is powered off, the connecting head is driven to drive the central pipe to reset under the action of the elastic force of the spring, and the upper cover is also lowered to cover the opening of the upper body tightly.

The cup separator comprises a rack, a cup body separating mechanism and a cup body extracting mechanism, the rack is arranged in the robot body, and the cup body separating mechanism and the cup body extracting mechanism are respectively arranged on the rack;

the cup body separating mechanism comprises a power driving component and at least two propelling screws, the power driving component is arranged at one end of each propelling screw, and each propelling screw is distributed on the outer side of the nested cup body; each propelling screw has the same structure and comprises a conveying section and a separating section which are sequentially connected along the conveying direction of the cup body, and the screw pitch of the separating section is greater than that of the conveying section; wherein, both ends of each propelling screw are respectively arranged on the frame, one end of each propelling screw is provided with a power driving component, the other end of each propelling screw is a cup body outlet, the conveying section of each propelling screw is close to the power driving component, and the separating section is close to the cup body outlet;

the cup body extracting mechanism comprises an extracting electric cylinder, a connecting rod and a sucker, the extracting electric cylinder is arranged on the rack, one end of the connecting rod is connected with the output end of the extracting electric cylinder, the other end of the connecting rod is provided with the sucker, and the sucker is used as the extracting end of the cup body extracting mechanism; wherein, the sucking disc is also externally connected with a vacuum pumping mechanism. When the cup body is used, when the cup body is preliminarily separated and is conveyed to the bottom of the cup body to be contacted with the sucker, the sucker adsorbs the bottom of the cup body and then the electric cylinder is extracted to drive the connecting rod to move so that the sucker drives the cup body to move, and the cup body is extracted from the outlet of the cup body;

the connecting rod and the sucker are located on the outer side of the robot body, the cup body separating mechanism and the extracting electric cylinder are installed inside the robot body through the frame, and a through hole for the cup body to be sent out is formed in the side wall of the robot body.

The cup body separating mechanism also comprises a guide rod which is also positioned outside the nested cup body and is arranged in parallel with the propelling screw rod; the arrangement of the guide rod can play a role in guiding the nested cup body in conveying, and on the other hand, a conveying groove suitable for the cup body to lie horizontally can be formed by utilizing the position distribution of the guide rod and the pushing screw rod, so that the cup body can be placed to fall or shift, and the stable conveying of the cup body is ensured; under the normal condition, two pushing screws and two guide rods are arranged in the cup body separating mechanism, the two pushing screws are symmetrically positioned at two outer sides of the lower part of the cup body, and the two guide rods are symmetrically positioned at two outer sides of the middle part of the cup body;

the tail end of the separation section of the propelling screw is a cup body outlet, a limiting piece is further arranged on the periphery of the cup body outlet, and a through hole in the side wall of the robot body is formed in the outer side of the cup body outlet; the limiting piece is made of elastic materials, a spring piece is generally adopted, one end of the limiting piece is fixed on the rack, the other end of the limiting piece is in elastic movement, and the cup body after preliminary separation can be prevented from directly falling from the outlet of the cup body. As a preferred scheme, the cup body export is U type form, and cup body export periphery is equipped with three spacing piece, and three spacing piece evenly distributed is in the upper portion and the bottom of cup body export. Wherein, the upper portion of cup export is equipped with two spacing pieces, is located two outsides of cup respectively, and the bottom of cup export is equipped with a spacing piece, is located the cup lower part outside, and each spacing piece is extended by the periphery to the center slope and is set up, and directional cup's center forms the taper structure.

In the cup separator structure, a frame is used as a supporting mechanism and is mainly used for mounting components of a cup body separating mechanism and a cup body extracting mechanism; the cup body separating mechanism conveys the nested cup bodies in a screw propelling mode, and simultaneously separates the cup bodies which are about to reach the outlet of the cup bodies by utilizing the change of the thread pitch on the screw; the cup body extracting mechanism adopts a vacuum chuck mode at the extracting end to adsorb the bottom of the initially separated cup body and then extract the cup body. In the cup separating mechanism, the power driving component comprises a servo motor, a first belt wheel, a transmission belt and at least two second belt wheels, the number of the second belt wheels is the same as that of the pushing screws, one end of each pushing screw is connected with one second belt wheel, the output end of the servo motor is connected with the first belt wheel, and the first belt wheel is connected with the second belt wheels through the transmission belt. Wherein, servo motor installs in the frame, and first band pulley and each second band pulley distribute in one side of frame, and during the use, servo motor drives first band pulley and rotates, and first band pulley passes through the drive belt and drives each second band pulley synchronous revolution to the corresponding rotation of each propulsion screw of drive. The power driving component can also adopt chain transmission or gear transmission according to the structural requirements of the equipment.

The cup grabbing mechanical arm comprises clamping jaws, a hand seat, a clamping jaw opening and closing driving assembly and a rotary joint, the two clamping jaws are symmetrically arranged on the hand seat, the clamping jaws are connected with the clamping jaw opening and closing driving assembly, and one side of the hand seat is connected with the rotary joint. In the manipulator structure, two clamping jaws are used for grabbing or clamping a cup body; the hand seat is used as a mounting base and is mainly used for mounting all components forming the manipulator; the clamping jaw opening and closing driving assembly is used for driving the two clamping jaws to swing so as to realize the action of opening or closing; the rotary joint is externally connected with the arm wrist of the robot and used for driving the gripper to realize turning action, so that the cup body is changed from a horizontal state to a vertical state when being taken out.

The clamping jaw opening and closing driving assembly comprises an electric clamping jaw cylinder, a rack, a first gear and a second gear, the first gear and the second gear are connected with the two clamping jaws through corresponding gear shafts respectively, the output end of the electric clamping jaw cylinder is connected with the rack, the first gear is meshed with the rack, and the second gear is meshed with the first gear. The claw opening and closing driving assembly adopts a structural form that a rack is matched with a gear, so that the whole volume of the manipulator can be effectively reduced, the transmission precision is high, and the effect of stably clamping the cup body can be achieved.

The hand seat is a hollow box-packed structure with an opening at one side, one ends of the two clamping jaws are positioned in the hand seat and connected with the clamping jaw opening and closing driving component, and the other ends of the two clamping jaws extend out of the opening. The rack, the first gear and the second gear are installed in the hand seat, the clamping jaw electric cylinder is installed on the outer side of the hand seat, and the rotary joint is also installed on the outer side of the hand seat. During installation, a piston rod of the electric cylinder extends into the hand seat and then is fixedly connected with one end of the rack.

The clamping jaw is the integral type structure that wholly is the curved knife form, including clamping part and the swing portion that is connected, the swing portion opens and shuts drive assembly with the clamping jaw and is connected, and the inboard of clamping part is equipped with the arc recess, and the bottom of arc recess is the layer board form. When the cup is grabbed, the clamping part is clamped on the outer wall of the cup body, and the bottom of the cup body falls into the arc-shaped groove. On one hand, the arc-shaped groove can ensure that the clamping jaw can clamp the cup body and play a role of stably supporting the cup body at the same time, so that the phenomenon of falling off during subsequent pouring and injecting of beverage is avoided; on the other hand, after the beverage is poured and filled, when a user takes the cup, even if the clamping jaws are loosened, the bottom of the arc-shaped groove can still provide a supporting effect for the cup body, the cup body can still be stably arranged in the clamping jaws, and sufficient time is provided for the user to take the cup.

The top surface of the arc-shaped groove is lower than the rim of the cup body. According to tests, the depth range of the arc-shaped groove is the optimal depth when the height of the cup body is 1/3-3/4, on one hand, the clamping jaws can be well guaranteed to stably clamp the cup body, on the other hand, the upper portion of the cup body is exposed out of the clamping jaws, space can be provided for a user to grab the cup, and the use is convenient.

The inside wall of arc recess is the slope form, and its gradient equals the gradient of cup outer wall. According to the concrete shape of cup outer wall in the in-service use process, the inside wall shape of arc recess can be designed into the same shape with the cup outer wall correspondingly to further ensure its effect of stabilizing the centre gripping.

The rotary joint is a servo-driven reducer.

The robot body is including the head that from top to bottom sets gradually, the health upper room, the health middle room, the health lower room and foot, divides the cup ware to locate in the health upper room, and first arm and second arm are located the outside of health upper room respectively, and the outer wall of the health middle room is equipped with the heat preservation, makes it form temperature control at the walk-in of 1 ~ 4 ℃, and storage device locates in the health lower room, and the foot is fixed or portable supporting legs, and head, health upper room or health lower room still are equipped with the display screen. The control system of the robot can be arranged in the head, the control system can adopt a microcomputer, and the display screen and all control components (such as the electric cylinders, the rotary joints and other elements) are connected with the control system, so that the full-automatic control of the robot can be realized. The lower body chamber is mainly used for installing parts such as pumps corresponding to storage tanks in the storage device, a refrigerating system required by a refrigerating chamber, a storage battery required by a robot control system and the like.

The use method of the cup pouring type multi-variety beverage supply robot comprises the following steps: when the beverage is required to be output according to the beverage variety selected by the consumer, the method comprises the following steps:

(1) starting the storage device and outputting the beverages of corresponding varieties to the discharging device; or the storage device is started to clean the discharging device first, and then the storage device is started to output the corresponding variety of beverages to the discharging device;

(2) starting the cup separating device, and separating the cup body positioned at the outlet of the cup body while conveying the nested cup body;

(3) after the cup body is sent out from the cup body outlet, the cup grabbing mechanical arm is started to grab the cup body;

(4) under the drive of the second arm, the cup grabbing manipulator drives the cup body to rotate from a horizontal state to a vertical state;

(5) the discharging device is driven by the first arm to pour the beverage into the cup body when the discharging device is opened;

wherein, the steps (2) to (4) are carried out after the step (1) is finished, or simultaneously with the step (1), or prior to the step (1).

In the method, the specific working principle of the step (1) is as follows:

when a user selects a single beverage, starting the beverage storage tanks of corresponding varieties, and pouring the beverage out of the discharging device after the beverage is sent into the discharging device through the corresponding beverage guide pipes; after the beverage enters the discharging space through the beverage guide pipe, the upper cover is driven to lift and open by the upper cover lifting mechanism, so that the beverage is poured out from the opening part of the upper body;

when a user selects mixed beverage consisting of a plurality of beverages, starting a plurality of beverage storage tanks of corresponding varieties, and pouring the beverage out by the discharging device after the beverage is sent into the discharging device through a plurality of corresponding beverage guide pipes; after various beverages enter the discharging space through the corresponding beverage guide pipes simultaneously or successively, the upper cover is driven to lift and open by the upper cover lifting mechanism, so that the beverages are poured out from the opening part of the upper body;

when the beverage variety selected by the user is different from the beverage variety selected by the previous user, after the user selects the corresponding beverage, the cleaning mechanism is started firstly, the clear water storage tank provides cleaning liquid to clean the discharging device, the cleaned wastewater is discharged to the wastewater storage tank through the wastewater through hole, then the beverage storage tank of the corresponding variety is started, and after the wastewater is sent to the discharging device through the corresponding beverage guide pipe, the beverage is poured out through the discharging device.

The specific process of pouring out the beverage comprises the following steps: the lifting electric cylinder drives the coupling head and the central pipe to ascend to lift the upper cover, so that the covering part of the upper cover is far away from the opening part of the upper body, a discharging gap is formed between the embedding part and the opening part, and the spring is compressed in the process; after the beverage is poured out, the lifting electric cylinder is powered off, the connecting head is driven to drive the central pipe to reset under the action of the elastic force of the spring, and the upper cover is also lowered to cover the opening of the upper body tightly.

The specific process for cleaning the discharging space comprises the following steps: cleaning liquid (generally clean water is adopted) is introduced into the central tube, the clean water rises to the top of the central tube along the central tube and is sprayed out from each liquid outlet hole, and the liquid outlet holes are communicated with the spray holes in the upper cover, so that the clean water is finally sprayed to the inner wall of the upper body from the spray holes so as to be cleaned; after the cleaning is finished, the vacuum pump connected with the waste water through hole is started, and waste water in the discharging space is pumped into the waste water storage tank through the vacuum pipe joint and the waste water through hole by utilizing the vacuum action so as to lead in new beverage.

The specific working principle of the steps (2) to (4) is as follows:

the cup body is horizontally laid on the cup body separating mechanism in a long strip shape, is conveyed by the cup body separating mechanism, and is primarily separated by utilizing the change of the screw pitch; then, the bottom of the cup body is adsorbed by an extraction end of the cup body extraction mechanism, and the cup body is taken out; and then the cup body taken out is clamped and fixed by the cup grabbing manipulator and is converted into a cup holding state. The principle of the method is as follows: the rotation of the propelling screw and the change of the screw pitch are firstly utilized to finish the conveying and the primary separation of the nested cup bodies, so as to prepare for the subsequent extraction action; then the initially separated cup body is extracted by utilizing the adsorption effect of the sucking disc; and finally, the extracted cup body is grabbed by opening and closing actions of the clamping jaws in the cup grabbing mechanical arm, and the cup body is rotated to a cup holding state by turning actions of the clamping jaws.

Wherein, cup separating mechanism is with the concrete process of cup initial gross separation: each propulsion screw of power drive assembly drive rotates, and the cup of intussusception moves to the cup export along with the rotation that advances the screw gradually, and when the cup arrived the separation section that advances the screw, because pitch increase, the distance also can be enlarged rapidly along with the rotation that advances the screw between the rim of a cup of two adjacent cups to realize the initial gross separation of cup.

The specific process of grabbing the cup body by the cup grabbing manipulator comprises the following steps: the clamping jaw opening and closing driving assembly is provided with a clamping jaw electric cylinder, a rack is driven to move, the rack drives a first gear to rotate, the first gear drives a second gear to rotate, and the rotation of the first gear and the second gear drives two clamping jaws to open; after the cup body enters between the two clamping jaws, the clamping jaw electric cylinder drives the rack to move reversely, so that the first gear rotates reversely, the second gear is driven to rotate reversely, and the two clamping jaws are folded to clamp the cup body; then the rotary joint rotates to drive the mechanical arm and the cup body to rotate until the opening of the cup body is vertically upward.

Compared with the prior art, the utility model, following beneficial effect has:

this many varieties of beverage supply robot of pouring cup formula simulates people's type, adopts two hands coordination mode of getting the cup with one hand, pouring the beverage in the discharging device into the cup according to consumer's demand, and can realize providing the beverage of multiple different varieties according to consumer's wish, and its phenomenon that finally shows for the consumer is: the bottle is unchanged, but the beverage poured into the cup is changed according to the requirements of consumers, a novel and pleasant feeling can be provided for the consumers, so that the purchasing desire of the consumers is aroused, and the robot integrates sales, service and entertainment and has a better market prospect.

In this many varieties of beverage supply robot of serve cup formula, through setting up the storage device that can store up multiple beverage and the discharging device of exportable multiple beverage, can realize the ejection of compact between the multiple different beverages and switch to set up wiper mechanism in discharging device, can realize wasing ejection of compact space earlier when the beverage of different varieties switches, ensure mutual independence between the beverage of different varieties, effectively guarantee its cleanliness, avoided the mutual pollution that produces between the beverage of different varieties. Meanwhile, each storage tank in the storage device is integrated in the robot body, and then is connected with the discharging device through the corresponding hose, so that the robot is compact in structure and small in occupied area, the upper body and the lower body in the discharging device form a bottle-shaped structure, and the robot is similar to a beverage bottle and is matched with a beverage cup on the robot for use, so that the interestingness of the robot can be improved, and the robot has strong market competitiveness.

In this many varieties of beverage supply robot of serve cup type, each beverage pipe in the discharging device is along circumferencial direction evenly distributed on linking up the dish, designs into the elbow form with the exit end of beverage pipe, and the tangential direction of the horizontal circumference in exit end place is arranged along the ejection of compact direction of exit end, can force the beverage that flows from the beverage pipe to flow along the inner wall of upper portion body, ensures that the ejection of compact is even steady, avoids violent impact and produces a large amount of bubbles, also prevents that the beverage from directly impacting the upper cover.

In this many varieties of beverage supply robot of pouring cup formula, utilize the cooperation of dividing the cup ware and grabbing cup manipulator, can realize continuous automatic taking the cup and holding the cup action, its principle is simple, the device uses in a flexible way and the operation is stable, degree of automation is also high. Divide the cupule to have adopted screw cup separating mechanism, the cup of sucking disc formula draws mechanism and grabs cup manipulator three and cooperatees, utilize cup separating mechanism to carry the cup of intussusception earlier and to its initial segregation at cup exit, recycle the cup and draw mechanism and adsorb the cup one by one and draw out, snatch and the centre gripping cup through grabbing cup manipulator at last, for follow-up beverage serve usefulness, the action that the device realized links up, the operation precision is high, when being applied to on serve cup formula beverage supply robot with it, can prestore the cup of intussusception and put in the robot, and the action of grabbing cup manipulator is changed into the arm wrist action of robot, and it is nimble and convenient to use, and has higher interest.

In the pouring cup type multi-variety beverage supply robot, the clamping jaw opening and closing driving assembly of the cup grabbing mechanical arm adopts a structural form that a rack is matched with a gear, so that the overall size of the mechanical arm can be effectively reduced, the transmission precision is high, and the effect of stably clamping a cup body can be achieved; meanwhile, the clamping jaw of the cup grabbing manipulator is provided with an arc-shaped groove, so that on one hand, the arc-shaped groove can enable the clamping jaw to clamp the cup body and play a role in stably supporting the cup body, and the phenomenon of falling off during subsequent pouring and filling of beverage is avoided; on the other hand, after the beverage is poured and filled, when a user takes the cup, even if the clamping jaws are loosened, the bottom of the arc-shaped groove can still provide a supporting effect for the cup body, the cup body can still be stably arranged in the clamping jaws, and sufficient time is provided for the user to take the cup.

Drawings

Fig. 1 is a front partial sectional view of a home-serve cup type multi-variety beverage supplying robot.

Fig. 2 is a right side view of the robot shown in fig. 1.

Fig. 3 is a top view of the robot shown in fig. 1.

Fig. 4 is a schematic view of the mounting structure of the discharging device on the first arm.

Fig. 5 is a schematic diagram of the distribution of the storage tanks in the robot body in the storage device.

FIG. 6 is a schematic view of a single beverage reservoir.

Fig. 7 is a schematic structural view of a fresh water storage tank and a waste water storage tank integrated into one water storage tank.

Fig. 8 is a schematic structural view of the discharging device.

Fig. 9 is a cross-sectional view a-a of fig. 8.

Fig. 10 is a schematic structural view of the discharging device when the upper cover needs to be opened to pour the beverage.

Fig. 11 is a schematic diagram of the relative positions of the cup dispenser and the cup grabbing manipulator on the robot.

Fig. 12 is a schematic structural view of the cup dispenser.

Fig. 13 is a view in the direction B of fig. 12.

Fig. 14 is a view in the direction C of fig. 12.

Fig. 15 is a view in the direction D of fig. 12.

Fig. 16 is a schematic structural view of the cup grasping robot.

Fig. 17 is a view in the direction E of fig. 16.

Fig. 18 is a sectional view taken along line F-F of fig. 16.

Fig. 19 is a schematic diagram of the principle when the rotary joint drives the manipulator and the cup body to rotate.

Figure 20 is a schematic view of the jaw clamping the cup.

Figure 21 is a schematic view of the cup when the jaws have released the cup and the cup is still held by the bottom of the arcuate recess.

Fig. 22 is a schematic view of the principle of the cup grasping robot when the robot performs the cup taking and holding operations.

FIG. 23 is a schematic view of the dispensing assembly in a beverage pour cup configuration.

In the above figures, the components indicated by the respective reference numerals are as follows: 1 is a head, 2 is an upper body chamber, 3 is a middle body chamber, 4 is a lower body chamber, 5 is a foot, 6 is a first arm, 7 is a second arm, 8 is a discharging device, 9 is a cup grabbing mechanical arm, 10 is a cup divider, 11 is a storage device, 12 is a display screen, 13 is an arc-shaped clamping plate, and 14 is a soft sleeve;

8-1 is an upper body, 8-2 is a connecting disc, 8-3 is a lower body, 8-4 is an upper cover, 8-5 is a central pipe, 8-6 is a beverage guide pipe, 8-7 is a spring, 8-8 is a coupling head, 8-9 is a lifting electric cylinder, 8-10 is a beverage pipe joint, 8-11 is a sealing ring, 8-12 is an injection hole, 8-13 is a liquid outlet hole, 8-14 is a water pipe joint, 8-15 is a discharge gap, 8-16 is a waste water through hole, 8-17 is a vacuum pipe joint, 8-18 is a pipeline inlet and outlet, 8-19 is a discharge space, and 8-20 is an installation space;

9-1 is a clamping jaw, 9-2 is a gear shaft, 9-3 is a second gear, 9-4 is a hand seat, 9-5 is a rack, 9-6 is a clamping jaw electric cylinder, 9-7 is a rotary joint, 9-8 is a first gear, and 9-9 is an arc-shaped groove;

10-1 is a servo motor, 10-2 is a propelling screw rod, 10-3 is a guide rod, 10-4 is an extraction electric cylinder, 10-5 is a sucker, 10-6 is a limiting piece, 10-7 is a right support plate, 10-8 is a left support plate, 10-9 is a transmission belt, 10-10 is a first belt pulley, 10-11 is a second belt pulley, 10-12 is a connecting rod, 10-13 is a cup body outlet, 10-14 is a conveying section, and 10-15 is a separating section;

11-1 is a clear water storage tank, 11-2 is a waste water storage tank, 11-3 is a beverage storage tank, 11-4 is a water storage tank, 11-5 is a metering pump, 11-6 is a high-pressure pump, and 11-7 is a vacuum pump.

Detailed Description

The present invention will be described in further detail with reference to examples, but the present invention is not limited thereto.

Example 1

The present embodiment is a cup-pouring type multi-variety beverage supplying robot, the structure of which is shown in fig. 1 to fig. 3, the robot simulates a human shape, the robot body comprises a head 1, an upper body chamber 2, a middle body chamber 3, a lower body chamber 4 and feet 5 which are sequentially arranged from top to bottom, the left side and the right side of the upper body chamber are respectively provided with a first arm 6 and a second arm 7, a discharging device 8 is arranged at the wrist of the first arm, a cup grabbing manipulator 9 is arranged at the wrist of the second arm, a cup divider 10 is arranged in the upper body chamber, and the cup grabbing manipulator is positioned outside the cup outlet of the cup divider (as shown in fig. 1 or fig. 11). The outer wall of the body middle chamber is provided with a heat preservation layer, so that a refrigerating chamber with the temperature controlled at 1-4 ℃ is formed, the storage device 11 is arranged in the body lower chamber, and the feet are of fixed structures and can also be of movable structures such as rollers and the like. A display screen 12 is also provided on the head. The control system of the robot can be arranged in the head, the control system can adopt a microcomputer, and the display screen and all control components (such as the above elements of the electric cylinders, the rotary joints and the like) are connected with the control system, so that the full-automatic control of the robot can be realized. The lower body chamber is mainly used for installing parts such as pumps corresponding to storage tanks in the storage device, a refrigerating system required by a refrigerating chamber, a storage battery required by a robot control system and the like. The concrete structure of each main device is as follows:

1. storage device

As shown in fig. 5 to 7, the storage device is provided with a clean water storage tank 11-1, a waste water storage tank 11-2 and three beverage storage tanks 11-3, wherein the clean water storage tank and the waste water storage tank are integrated into a same water storage tank 11-4, and the water storage tanks and the beverage storage tanks are distributed in parallel. The water storage tank is vertically divided into two independent and unconnected water storage spaces, the upper water storage space is used for storing clean water as cleaning liquid, and the lower water storage space is used for storing wastewater discharged after cleaning.

As shown in FIG. 6, the outlet end of the beverage storage tank is provided with a metering pump 11-5, which is coupled to the bottom of the beverage storage tank. In each beverage storage tank, the output quantity of the required beverage can be more accurate by the arrangement of the metering pump.

As shown in FIG. 7, the outlet end of the clear water storage tank is provided with a high-pressure pump 11-6, and the inlet end of the waste water storage tank is provided with a vacuum pump 1-7.

Correspondingly, in the discharging device, as shown in FIG. 8, the inlet end of each beverage conduit is respectively provided with a beverage pipe joint 8-10, each beverage pipe joint is connected with a metering pump of a corresponding beverage storage tank through a hose, the cleaning solution inlet end of the cleaning mechanism is provided with a water pipe joint 8-14, the water pipe joint is connected with a high-pressure pump through a hose, the outlet end of the waste water through hole is provided with a vacuum pipe joint 8-17, the vacuum pipe joint is connected with a vacuum pump through a hose,

2. discharging device

As shown in figure 6, the discharging device mainly comprises an upper body 2-1, a connecting disc 2-2, a lower body 2-3, an upper cover 2-4, a central pipe 2-5, a beverage guide pipe 2-6, a spring 2-7, a coupling head 2-8 and a lifting electric cylinder 2-9. Wherein, upper portion body and lower part body form the bottle, and the upper cover is the bottle plug form, and central tube and coupling head constitute wiper mechanism, and spring and electronic jar constitution upper cover elevating system goes up and down.

The bottle body is divided into an upper part and a lower part (namely an upper body and a lower body), and the middle part of the bottle body is tightly connected by a connecting disc to form two spaces (namely a discharging space 2-19 and an installation space 2-20) which are separated up and down. The connecting part of the upper body and the connecting disc is provided with an annular sealing ring which can prevent the beverage from leaking downwards.

As shown in fig. 9, there are three beverage conduits, which are circumferentially and evenly distributed on the adapter plate, and each beverage conduit is installed through the adapter plate from top to bottom. The upper part of the beverage guide pipe is processed into an elbow, and the discharge port of the beverage guide pipe is arranged along the circumferential tangent line, so that the flowing liquid can be forced to flow along the bottle wall, the discharge is uniform and stable, and simultaneously, the severe impact is prevented from foaming a large amount. The lower part of the drink conduit is equipped with a drink pipe joint 8-10 which is connected to the outlet end of the metering pump of the drink storage tank through a hose. Three beverage guide pipes, namely three beverage pipe joints, are arranged in the bottle and are respectively and correspondingly connected to three metering pumps which are provided with beverage storage tanks of different beverage varieties. When the beverage storage tank works, the beverage in the beverage storage tank is quantitatively pumped out by the metering pump, conveyed into the beverage guide pipe through the hose and then flows into the discharge space of the upper body through the beverage guide pipe.

The central pipe is a stainless steel long tubular part and is installed by penetrating through the central hole of the connecting disc, and a sealing ring is also arranged at the joint of the central pipe.

The top end of the central tube extends to the mouth of the upper bottle body and is connected with the upper cover through threads. The upper cover is of a flat-top cone-shaped structure (namely comprises a covering part and an embedding part which are connected), and the joint of the upper cover and the opening part is provided with a sealing ring 8-11 which is used for closing and opening the bottle mouth. A plurality of spray holes 8-12 are uniformly distributed on the circumference of the cone part of the upper cover, a plurality of liquid outlet holes 8-13 are distributed on the top end of the central tube, and the spray holes are correspondingly connected with the liquid outlet holes one by one and communicated with the central tube.

The bottom end of the central tube is provided with a spring and a coupling head. The inner pipeline of the coupling head is communicated with the central pipe, and the tail end of the coupling head is provided with water pipe joints 8-14. The water pipe joint is connected to the outlet end of the high-pressure pump of the clear water storage tank through a hose. When the cleaning device works, cleaning liquid in the clean water storage tank can be pumped out by the high-pressure pump, is conveyed into the discharging device through the hose, flows through the central pipe through the connecting head, and is finally sprayed out from the spraying hole of the upper cover.

And a lifting electric cylinder is fixedly arranged in the mounting space of the lower body and used for controlling the closing or opening of the upper cover. As shown in fig. 8, when the lifting electric cylinder is powered off, the upper cover is pressed on the opening of the upper body by the downward pulling force of the central tube under the action of the spring, so that the bottle opening is in a closed state. As shown in figure 10, when the lifting electric cylinder is electrified, the piston rod of the lifting electric cylinder rises to press the coupling head, the upper cover is lifted through the central pipe, the bottle mouth is opened, and the discharging gap 8-15 is exposed.

The middle part of the connecting disc is also provided with a waste water through hole 8-16 which is communicated up and down, the bottom of the waste water through hole is connected with a vacuum pipe joint 8-17, and the vacuum pipe joint is connected to the inlet end of a vacuum pump of a waste water storage tank through a hose. During operation, the vacuum pump is started, and the residual liquid in the discharge space is pumped completely through the hose by the waste water through hole and is sent into the waste water storage tank.

The side wall of the lower body is provided with a pipeline inlet and outlet 8-18 as the inlet and outlet of the pipeline such as the hose and the lead (as shown in fig. 4, the wrist of the first arm is also provided with a rotary joint which clamps the discharging device through an arc-shaped clamping plate 13, the inlet and outlet of the pipeline are connected with the first arm through a flexible sleeve 14, and various pipelines required by the discharging device are hidden in the flexible sleeve).

3. Cup dispenser

The cup separator is mainly used for separating and extracting disposable paper cups or plastic cups, and can continuously and automatically decompose the cups which are overlapped together and take out one by one.

As shown in figures 12 to 15, the cup dispenser is integrally arranged horizontally and mainly comprises a servo motor 10-1, a propelling screw rod 10-2, a guide rod 10-3, an electric extracting cylinder 10-4, a suction cup 10-5, a limiting sheet 10-6, a right support plate 10-7, a left support plate 10-8, a transmission belt 10-9, a first belt pulley 10-10, a second belt pulley 10-11 and a connecting rod 10-12. The cup body separating mechanism is composed of the servo motor, the propelling screw rod, the guide rod, the transmission belt, the first belt wheel and the second belt wheel, the sucking disc type cup body extracting mechanism is composed of the extracting electric cylinder, the sucking disc and the connecting rod, and the left supporting plate and the right supporting plate are used as main parts of the rack and are mainly used for installing and supporting other parts.

The right support plate and the left support plate are used as a frame and are opposite from each other left and right, and a U-shaped notch (as shown in figure 14, the notch is used as a cup body outlet 10-13) is machined in the right support plate. Two propelling screws and two guide rods are arranged between the left bracket and the right bracket in parallel. The mounting position of the propelling screw is positioned at the lower part of the U-shaped notch of the right support plate (as shown in figure 14), and plastic bearings are assembled at the connecting parts of the two ends of the propelling screw and the left and right support plates, so that the propelling screw can rotate; the installation position of the guide rod is positioned in the middle of the U-shaped notch (as shown in figure 14), and the connection part of the end part of the guide rod and the left and right support plates is fixedly installed. The two pushing screws and the two guide rods between the left and right support plates together form a U-shaped conveying trough which is suitable for the nested cup bodies to be horizontally arranged (as shown in figure 11).

As shown in fig. 12 or 15, the two pushing screws have the same structure, and the thread pitch and the thread direction of the threads are consistent. The screw pitch of the screw is designed in two sections, the longest section of the stroke from left to right is a conveying section 10-14, the screw pitch is smaller, a small section of the stroke is arranged at the right end, the stroke is a separating section 10-15, and the screw pitch is larger, so that two-section screw pitch conveying is formed. In the cup body conveying process, as the thread pitch is increased from small to large, the conveying acceleration and the interval pulling-open phenomenon can occur, so that two adjacent cup bodies are initially separated in the separation section.

The propelling screw rod can rotate during working, and the power of the propelling screw rod comes from a servo motor arranged on the left support plate. The servo motor drives the two second belt wheels to rotate through the first belt wheel and the transmission belt simultaneously, and drives the two propelling screws to rotate synchronously.

The outer surface of the right support plate is provided with three limiting pieces at the peripheral position of the outlet of the cup body, the upper part of the outlet of the cup body is provided with two limiting pieces, the bottom of the outlet of the cup body is provided with one limiting piece, the two limiting pieces are uniformly arranged, the two limiting pieces extend from the periphery to the inside in an inclined mode and point to the circle center, and a tapered structure is formed. The limiting pieces are made of elastic spring leaf materials, one end of each limiting piece is fixed on the right support plate, and the other end of each limiting piece moves elastically.

And an extraction electric cylinder is arranged on the side surface of the right support plate, namely beside the outlet of the cup body, and is parallel to the propelling screw rod and the guide rod. The end part of a piston rod of the extraction electric cylinder is provided with a connecting rod, and the tail end of the connecting rod is provided with a sucker. When the electric cylinder is powered on, the piston rod of the electric cylinder stretches out and draws back to drive the sucker to move left and right.

4. Grab cup manipulator

As shown in figures 16 to 18, the cup grabbing manipulator mainly comprises two clamping jaws 9-1, a gear shaft 9-2, a first gear 9-8, a second gear 9-3, a hand seat 9-4, a rack 9-5, a clamping jaw electric cylinder 9-6 and a rotary joint 9-7. The clamping jaw opening and closing driving assembly is composed of a gear shaft, a first gear, a second gear, a rack and a clamping jaw electric cylinder and used for driving the two clamping jaws to swing to realize opening or closing actions.

The shape of a single clamping jaw is like a curved knife, and the clamping jaw is of an integrated structure and comprises a clamping part and a swinging part which are connected. The swing part is provided with a shaft hole and is arranged in the hand seat through a gear shaft, and meanwhile, the swing part is tightly assembled with the first gear or the second gear through the gear shaft, so that the clamping jaw and the first gear or the second gear rotate around the gear shaft together. The clamping part is used as the main body part of the clamping jaw and is provided with an arc-shaped groove 9-9 (shown in figure 16 or figure 18), and the arc-shaped groove is similar to the cup shape of the cup body. The clamping jaws are symmetrically arranged on the left and right, a C-shaped structure can be formed when the two clamping jaws are folded, and two arc-shaped grooves are combined into a cup cavity and just embedded into a cup body. The depth of the arcuate recess is about 1/2 the height of the cup. When the bottom of the arc-shaped groove is in a supporting plate shape to grab the cup, the bottom of the cup body falls into the arc-shaped groove; on one hand, the arc-shaped groove can ensure that the clamping jaw can clamp the cup body and play a role of stably supporting the cup body (as shown in fig. 20), so that the phenomenon of falling off during subsequent pouring and filling of beverage is avoided; on the other hand, when the user takes the cup after the beverage is poured, even if the clamping jaws are loosened, the bottom of the arc-shaped groove can still provide a supporting function for the cup body (as shown in fig. 21), and the cup body can still be stably arranged in the clamping jaws, so that the user can be provided with sufficient time for taking the cup.

After the left clamping jaw and the right clamping jaw are symmetrically installed, the first gear and the second gear are meshed with each other. One side of the hand seat is provided with an electric clamping jaw cylinder, the piston end of the electric clamping jaw cylinder is provided with a rack, and the rack extends into the hand seat and is meshed with the first gear. When the clamping jaw electric cylinder acts, a piston rod of the clamping jaw electric cylinder can drive the rack to move up and down, so that the first gear and the second gear are meshed to rotate, the two clamping jaws are driven to fold or unfold, and the action of clamping or loosening the cup body is realized.

The back of the hand seat is provided with a rotary joint. The rotary joint is a servo-driven reducer and is fixedly arranged on the wrist of the robot. When the rotary joint moves, the manipulator can be driven to rotate by the hand seat. The rotation action of the manipulator after clamping the cup is shown in fig. 19, the cup body is firstly embedded into the clamping jaw from the side direction and is clamped by the clamping jaw; then the rotary joint acts to drive the manipulator to rotate 90 degrees, so that the cup body is changed from a side lying state to an upright state, and the beverage can be poured and filled at the back.

Example 2

In this embodiment, the cup-pouring type multi-variety beverage supply robot described in embodiment 1 is used in combination with an existing general code-scanning purchase system, and fig. 1 shows an original state of the robot. The display screen displays the related information such as the variety, price, two-dimensional code and the like of the beverage. Assuming three beverages (i.e., beverage a, beverage B, and beverage C) are configured as illustrated in this embodiment, the display screen displays seven beverage choices available: beverage A, beverage B, beverage C, beverage AB mixed beverage, beverage AC mixed beverage, beverage BC mixed beverage, beverage ABC mixed beverage.

As shown in fig. 23, the whole working process and principle of the robot are as follows:

(1) a consumer scans a code by a mobile phone, selects a beverage variety and pays the cost, and the consumer is supposed to select the beverage A;

(2) the cup grabbing manipulator takes the cup and holds the cup for transposition (the process is shown in fig. 22), and at the moment, the robot is in a state that the empty cup is clamped upright and the discharging bottle is upright;

(3) the rotary joint on the first arm acts to drive the discharging bottle (namely the discharging device) to rotate anticlockwise for a certain angle, so that the bottle mouth is obliquely inserted into the cup mouth;

(4) the lifting electric cylinder in the discharging bottle is electrified to drive the central pipe to lift the bottle stopper (namely the upper cover) and open the bottle opening (as shown by an arrow ③ in figure 23), a metering pump of a beverage storage tank corresponding to the beverage A is started to pump out a certain amount of beverage, the beverage flows into the upper bottle body (namely the discharging space in the upper body) through the hose and the beverage conduit and then flows out of the bottle opening to be injected into the cup, after the filling is finished, the lifting electric cylinder in the discharging bottle is de-electrified, and the bottle stopper closes the bottle opening (as shown by an arrow ④ in figure 23);

(5) the rotary joint of the first arm acts to drive the discharging bottle to rotate clockwise, reset and stand upright; then, the paw of the cup grabbing manipulator is loosened, and a display screen displays or prompts a user through voice to take away the cup-contained beverage in the paw;

(6) the robot waits for the next consumer;

if the next consumer selects beverage A as well, repeating the above steps (2) - (5);

if the following consumer selects a different beverage type, a cleaning program is started to clean the discharge space in the bottle: firstly, a high-pressure pump of a clear water storage tank is started, a certain amount of pure water is pumped out, enters a central tube in a discharging bottle through a hose, is sprayed out from a spray hole of a bottle stopper, and washes a discharging space; then, a vacuum pump of the waste water storage tank is started, and flushing liquid accumulated at the bottom of the discharging space is pumped completely through a hose through a waste water through hole in the connecting disc; and (5) after the cleaning is finished, continuing repeating the flows of the steps (2) to (5).

In the above process, if the consumer selects a blended beverage, such as an AB blended beverage, the metering pumps for the beverage reservoirs for beverage a and beverage B are simultaneously actuated to pump out a cup of beverage having a nominal capacity of 1/2; if three beverages are selected to be mixed, the metering pumps of the beverage storage tanks corresponding to beverage A, beverage B and beverage C are started simultaneously, and each pump pumps out the beverage with the rated cup capacity of 1/3. And so on.

For mixed beverages, the above filling procedure can be altered if more uniform mixing is desired: when the robot is in the state that the empty cup is clamped upright and the discharging bottle is upright in the step (2), two or three kinds of beverages are pumped into the bottle, so that the multiple kinds of beverages are fully mixed in the process of injecting into the upper bottle body; then, the rotating joint on the first arm is actuated to rotate the bottle body and pour the beverage into the cup.

In the process, the specific processes of delivering the cup body by the cup dispenser and taking the cup by the cup grabbing manipulator and rotating the cup by holding the cup are as follows:

(2-1) starting a servo motor, enabling two propelling screws to synchronously rotate, and enabling the threads to push the edge of the cup mouth to drive the overlapped cup bodies to move from left to right;

(2-2) when the cup body moves to be close to the right end part of the screw (namely, enters a separation section), the cup body is forced to accelerate and the interval is widened due to the enlarged screw pitch, so that the cup body which is tightly nested is loosened into a single body, and the primary separation is realized;

(2-3) the loosened cup body passes through the cup body outlet on the right support plate and enters the range of the limiting pieces, and the cup body is in contact with the three limiting pieces arranged on the circumference and is effectively guided and positioned;

(2-4) when the bottom of the cup body moves to touch the sucker, a limit switch in the robot control system triggers a signal, the servo motor stops acting, and the cup body stops moving;

(2-5) opening the claws of the cup grabbing manipulator, wherein a cup cavity formed in the middle of the two claws faces the cup body separated by the cup body separating mechanism at the outlet of the cup body;

(2-5) the sucker is connected with vacuum and tightly sucked at the bottom of the cup body; then starting the extraction electric cylinder, extending out a piston rod of the extraction electric cylinder, and driving a connecting rod to drive a sucker to move right, so that the cup body is separated and extracted; the cup body enters a cup cavity of the cup grabbing manipulator and is translated until the bottom surface of the cup body contacts the bottom surface of the arc-shaped groove of the paw;

at the moment, when one cup body is extracted, the back cup body is possible to be extracted due to the action of friction force, but the back cup body is elastically clamped by the three limiting pieces, so that the cup bodies are ensured to be separated one by one and cannot be overlapped;

(2-6) closing the two claws, clamping the cup, and then removing the vacuum of the sucking disc;

(2-7) the rotary joint acts to drive the hand seat and the paw to rotate 90 degrees (as shown by an arrow ① in fig. 22), so that the cup is converted from the lateral lying state to the vertical state, and then the piston rod of the electric extraction cylinder is contracted to drive the suction cup to reset (as shown by an arrow ② in fig. 22), so as to wait for the next cup taking action.

As described above, the present invention can be realized well, and the above embodiments are only preferred embodiments of the present invention, and are not intended to limit the scope of the present invention; all equivalent changes and modifications made according to the present invention are intended to be covered by the scope of the claims of the present invention.

Claims (9)

1. Pour many varieties of beverage supply robot of cup formula, a serial communication port, including the robot body, storage device, discharging device, divide the cupule and grab a cup manipulator, the left and right sides of robot body has first arm and second arm respectively, the wrist department of first arm sets up discharging device, the wrist department of second arm is equipped with grabs a cup manipulator, inside storage device and branch cupule locate the robot body respectively, storage device and discharging device are connected, grab a cup manipulator and be located the cup export outside of dividing the cupule.

2. The serve cup type multi-variety beverage supplying robot according to claim 1, wherein the storage means is provided therein with a fresh water storage tank, a waste water storage tank, and at least two beverage storage tanks, and the discharging means is provided therein with a cleaning mechanism, a waste water through hole, and at least two beverage guide pipes; the cleaning mechanism is connected with the outlet end of the clear water storage tank, the waste water through hole is connected with the inlet end of the waste water storage tank, and each beverage guide pipe is correspondingly connected with the outlet end of one beverage storage tank.

3. The serve cup type multi-variety beverage supplying robot according to claim 1, wherein the discharging device comprises an upper body, a lower body, a connecting disc, an upper cover, beverage conduits, an upper cover lifting mechanism and a cleaning mechanism, the upper body and the lower body are connected through the connecting disc, a discharging space is formed in the upper body, an installation space is formed in the lower body, the upper cover is arranged at the mouth of the upper body, the beverage conduits penetrate through the connecting disc, the outlet ends of the beverage conduits are positioned in the discharging space, the liquid outlet ends of the cleaning mechanism also extend into the discharging space and are connected with the upper cover, the power output end of the upper cover lifting mechanism is connected with the upper cover through the cleaning mechanism, and a waste water through hole is formed in the connecting disc.

4. The serve cup-type multi-variety beverage supplying robot of claim 3, wherein the outlet end of the beverage guide duct is formed in an elbow shape, and a discharge direction of the outlet end of the beverage guide duct is arranged in a tangential direction of a horizontal circumference on which the outlet end of the beverage guide duct is positioned.

5. The serve cup type multi-variety beverage supplying robot according to claim 1, wherein the cup dispenser includes a frame provided inside the robot body, a cup separating mechanism and a cup extracting mechanism, the cup separating mechanism and the cup extracting mechanism being respectively mounted on the frame;

the cup body separating mechanism comprises a power driving component and at least two propelling screws, the power driving component is arranged at one end of each propelling screw, and each propelling screw is distributed on the outer side of the nested cup body; each propelling screw has the same structure and comprises a conveying section and a separating section which are sequentially connected along the conveying direction of the cup body, and the screw pitch of the separating section is greater than that of the conveying section;

the cup body extracting mechanism comprises an extracting electric cylinder, a connecting rod and a sucker, the extracting electric cylinder is arranged on the rack, one end of the connecting rod is connected with the output end of the extracting electric cylinder, the other end of the connecting rod is provided with the sucker, and the sucker is used as the extracting end of the cup body extracting mechanism;

the connecting rod and the sucker are located on the outer side of the robot body, the cup body separating mechanism and the extracting electric cylinder are installed inside the robot body through the frame, and a through hole for the cup body to be sent out is formed in the side wall of the robot body.

6. The serve cup-type, multi-variety beverage serving robot of claim 5, wherein the cup separating mechanism further comprises a guide rod also located outside the nested cups and arranged parallel to the pusher screw;

the tail end of the separation section of the propelling screw rod is a cup outlet, a limiting piece is further arranged on the periphery of the cup outlet, and a through hole in the side wall of the robot body is formed in the outer side of the cup outlet.

7. The serve cup type multi-variety beverage supplying robot according to claim 1, wherein the cup grasping robot comprises two clamping jaws symmetrically disposed on a hand seat, a clamping jaw opening and closing driving assembly connected to the clamping jaw opening and closing driving assembly, and a rotary joint connected to one side of the hand seat.

8. The serve cup type multi-variety beverage supplying robot according to claim 7, wherein the clamping jaw is of an integral structure integrally in a bent knife shape and comprises a clamping portion and a swinging portion which are connected, the swinging portion is connected with the clamping jaw opening and closing driving assembly, an arc-shaped groove is formed in the inner side of the clamping portion, and the bottom of the arc-shaped groove is in a supporting plate shape.

9. The serve cup type multi-variety beverage supplying robot according to claim 1, wherein the robot body comprises a head, an upper body compartment, a middle body compartment, a lower body compartment, and feet which are sequentially arranged from top to bottom, the cup dispenser is provided in the upper body compartment, the first arm and the second arm are respectively located at the outer sides of the upper body compartment, the middle body compartment forms a refrigerating compartment, the storage device is provided in the middle body compartment, the feet are fixed or movable support legs, and the head, the upper body compartment, or the lower body compartment is further provided with a display screen.

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