CN215874292U

CN215874292U - Get fortune cup system and capsule drink machine suitable for high density

Info

Publication number: CN215874292U
Application number: CN202121970761.1U
Authority: CN
Inventors: 蔡异
Original assignee: Zhuhai Thybot Robotics Co ltd
Current assignee: Zhuhai Thybot Robotics Co ltd
Priority date: 2021-08-20
Filing date: 2021-08-20
Publication date: 2022-02-22
Anticipated expiration: 2031-08-20

Abstract

The utility model discloses a high-density cup taking and transporting system and a capsule beverage machine, which comprise a cup taking manipulator mechanism, a horizontal cup transporting mechanism, a vertical cup transporting mechanism, a cup storage unit, a cup cover storage unit and a gland mechanism, wherein the cup storage unit, the cup cover storage unit and the gland mechanism are arranged right above the horizontal cup transporting mechanism, the cup taking manipulator mechanism can realize the actions of pressing and loosening, an up-and-down motion lead screw is arranged on the cup taking manipulator mechanism, the cup taking manipulator mechanism can move up or down along the up-and-down motion lead screw, the cup taking manipulator mechanism is fixed on the horizontal cup transporting mechanism and can move forward or backward on the horizontal cup transporting mechanism, the vertical cup transporting mechanism is arranged at the front end of the horizontal cup transporting mechanism, and the vertical up-and-down motion of a cup and the opening and closing of equipment are realized through a connecting rod mechanism. The cup taking manipulator mechanism is used for grabbing the cups, the horizontal cup conveying mechanism and the vertical cup conveying opening and closing mechanism are used for conveying the cups, and the cup taking manipulator mechanism is simple in structure, small in size and suitable for a high-density capsule beverage machine.

Description

Get fortune cup system and capsule drink machine suitable for high density

Technical Field

The utility model belongs to the technical field of capsule beverage machines, and particularly relates to a high-density taking and transporting cup system and a capsule beverage machine.

Background

In recent years, with the increasing income of the people, the living standard of the people is improved, and the demand of capsule drinks is increased. The capsule beverage machine has also appeared on the market at present, and the working process is as follows: after a customer selects a corresponding capsule drink and finishes payment, the capsule drink machine firstly grabs the cup, then grabs the corresponding capsule according to the drink purchased by the customer to brew into the drink, the drink directly falls into the cup after brewing, then the cup is covered with a cover and pressed, and finally the drink is transported to a delivery port, and the customer can take the drink to drink.

Therefore, the capsule beverage machine is very critical to grab the cup and complete the corresponding cover-falling pressing cover and conveying operation, and the normal use of the equipment is directly influenced because the equipment can be directly influenced whether the brewed beverage can be normally taken over. The cup dropping mechanism of the existing equipment has large integral volume and large occupied space, and cannot meet the requirement of operators on high density; in addition, the existing capsule beverage machine has low intelligent degree, and if the last customer does not take the beverage, the next customer cannot normally purchase the beverage, so that the shopping experience of the customer is influenced and the operation and maintenance cost is increased; moreover, the existing capsule beverage machine is limited to internal components, so that the position of a goods taking port is relatively low, and the shopping experience for customers is poor. Therefore, the system suitable for high-density cup taking and transporting is necessary to be researched, and the problems that the existing cup dropping mechanism is large in whole size, large in occupied space, incapable of meeting the requirements of operators on high density, low in intelligent degree, poor in customer shopping experience and the like are solved.

Disclosure of Invention

Based on the above problems, the utility model aims to provide a cup taking and transporting system and a capsule beverage machine suitable for high density, and the technical problems that the existing cup dropping mechanism is large in whole volume, large in occupied space, incapable of meeting the requirements of operators on high density, low in intelligent degree, poor in customer shopping experience and the like are solved.

A system suitable for high-density cup taking and conveying is used for a capsule beverage machine and comprises a cup taking mechanical arm mechanism, a horizontal cup conveying mechanism, a vertical cup conveying mechanism, a cup storage unit, a cup cover storage unit and a gland mechanism, wherein the cup storage unit, the cup cover storage unit and the gland mechanism are arranged right above the horizontal cup conveying mechanism; the cup taking mechanical arm mechanism comprises a base, a first transmission motor, a cup taking mechanical arm, an up-and-down movement screw rod and a second transmission motor are arranged on the base, a vertical screw rod nut and a horizontal screw rod nut are arranged on the cup taking mechanical arm, the cup taking mechanical arm penetrates through the horizontal screw rod nut through a left screw rod and a right screw rod and is connected with the first transmission motor through a coupler, the actions of pressing and loosening the cup taking mechanical arm can be realized, the cup taking mechanical arm penetrates through the vertical screw rod nut through the up-and-down movement screw rod and is connected with the second transmission motor, and the cup taking mechanical arm mechanism can move up or down along the up-and-down movement screw rod; the horizontal cup conveying mechanism comprises a sliding table, a horizontal guide rail, a supporting rod, a driving wheel, a driven wheel, a synchronous belt and a third transmission motor, the sliding table is fixed on the horizontal guide rail, the upper surface of the sliding table is fixed with a base of the cup taking manipulator mechanism, the driving wheel is directly connected with the third transmission motor and is connected with the driven wheel and the sliding table through the synchronous belt, the supporting rod is positioned on one side parallel to the horizontal guide rail, a drag chain is arranged on the supporting rod, one end of the drag chain is fixed with the supporting rod, the other end of the drag chain is fixed with the sliding table, and a cup storage unit, a cup cover storage unit and a gland mechanism are arranged right above the horizontal cup conveying mechanism; the vertical cup conveying mechanism is arranged at the front end of the horizontal cup conveying mechanism and consists of a vertical cup conveying platform, a vertical guide rail, a vertical power unit and a connecting rod mechanism, the vertical cup conveying platform is connected with the vertical guide rail through a sliding block, and the vertical cup conveying platform is connected with the vertical power unit through the connecting rod mechanism.

Preferably, the upper end and the lower end of the cup taking mechanical arm are respectively provided with a cover falling correlation sensor and a cup falling correlation sensor, the upper part of the inner side of the cup taking mechanical arm is provided with a liquid level sensor, the cup taking mechanical arm is provided with three position sensors which respectively correspond to the positions of loosening, receiving and taking the cup limit, the cup taking mechanical arm adopts stainless steel or aluminum material as a supporting framework, the supporting framework is wrapped with a layer of high-flexibility soft material, and the surface of the supporting framework is provided with anti-skid stripes.

Preferably, the left-handed screw rod and the right-handed screw rod are made of stainless steel materials, the left-handed end of the left-handed screw rod and the right-handed screw rod are connected with the cup taking mechanical arm through left-handed nuts, and the right-handed end of the left-handed screw rod and the right-handed screw rod are connected with the cup taking mechanical arm through right-handed nuts.

Preferably, the sliding table is in contact with the horizontal guide rail through upper and lower rollers, the upper and lower rollers are rubber-coated rollers, the sliding table is provided with a separation blade, the positions corresponding to the guide rail are respectively provided with a sending-out position sensor, a pressing cover position sensor, a cover falling position sensor and a cup falling position sensor, and the synchronous belt is a strip steel wire synchronous belt.

Preferably, the cup storage unit is composed of an upper cover, a cup storage tube and a support frame, the upper cover is positioned at the upper part of the cup storage tube, and the support frame is positioned at the lower part of the cup storage tube.

Preferably, the cup cover storage unit is composed of an upper cover, a cup cover storage pipe and an electric cover falling device, the upper cover is located on the upper portion of the cup cover storage pipe, and the electric cover falling device is located on the lower portion of the cup cover storage pipe.

Preferably, the gland mechanism is composed of a gland support, a gland motor, a gland connecting rod, a gland plane, a gland position sensor and a lifting position sensor, wherein the gland motor is fixed on the gland support and is connected with the gland plane through the gland connecting rod.

Preferably, the vertical power unit consists of a fourth transmission motor and a speed reducer, an output shaft of the speed reducer is connected with the connecting rod mechanism, the vertical cup conveying mechanism is provided with a cup receiving position sensor and a cup outputting position sensor, and the vertical cup conveying platform is provided with a cup detecting correlation sensor.

A capsule beverage machine comprising a handling cup system as described above adapted for high density.

The utility model has the beneficial effects that: compared with the prior art, the cup taking mechanical arm is suitable for a high-density cup taking and transporting system and a capsule beverage machine, the cup taking mechanical arm penetrates through the horizontal lead screw nut through the left and right screw rods to be connected with the first transmission motor through the coupler, and the actions of pressing and loosening the cup taking mechanical arm can be realized; the cup taking mechanical arm penetrates through the vertical screw rod nut through the up-and-down movement screw rod to be connected with the second transmission motor, the cup taking mechanical arm mechanism can move upwards or downwards along the up-and-down movement screw rod, namely, when a cup is taken, the cup taking mechanical arm moves upwards and performs pressing operation, after the cup is taken, the cup taking mechanical arm moves downwards, and after the cup is sent to a specified position, the cup taking mechanical arm performs loosening operation to complete cup sending; the upper end and the lower end of the cup taking mechanical arm are respectively provided with a cover dropping correlation sensor and a cup dropping correlation sensor, so that a cup and a cover dropping on the cup taking mechanical arm can be detected, the falling-off condition is avoided, and the normal operation of equipment is further influenced; the upper part of the inner side of the cup taking mechanical arm is provided with a liquid level sensor which can detect the liquid level of the beverage falling into the cup, effectively control the volume of the liquid and avoid the abnormal condition of insufficient beverage volume or excessive beverage volume overflow; three position sensors are arranged on the cup taking mechanical arm and respectively correspond to the positions of the cup loosening, cup receiving and cup taking limits, so that the action effectiveness of the cup taking mechanical arm can be effectively controlled; the cup taking mechanical arm adopts stainless steel or aluminum materials as a supporting framework, a layer of high-flexibility soft material is wrapped on the supporting framework, and the surface of the supporting framework is provided with anti-skid stripes, so that the cup taking mechanical arm can play a role in buffering, can increase the friction force between the cup taking mechanical arm and a cup, and can ensure that the cup can be taken down and cannot fall off in the conveying process; the left and right rotating screw rods are made of stainless steel materials, so that the antirust effect is good, and the service life is long; the sliding table is contacted with the horizontal guide rail through the upper and lower rollers, the upper and lower rollers are rubber-coated rollers, the sliding table runs smoothly, and the noise is small; the sliding table is provided with a blocking piece, and a sending-out position sensor, a gland position sensor, a cover falling position sensor and a cup falling position sensor are respectively arranged at the positions corresponding to the guide rail, so that the sliding table can be ensured to accurately stop at different positions to complete corresponding actions; the synchronous belt is a strip steel wire synchronous belt, so that the strength is high and the service life is long; it examines cup correlation sensor to be provided with on the perpendicular fortune cup platform, can detect that the customer has or not to take away the cup, if the customer does not take away the cup under the overtime condition, gets cup robotic arm and will take away the cup and take away and retrieve, and intelligent degree is high, avoids the unable normal use of next customer, and customer experience feels good. Compared with a finished product cup falling device, the cup falling device has the advantages of good fault-tolerant performance and safe cup detection measures, high density can be met, when the number of the cups reaches more than 100, the cup falling device has an obvious cost advantage, the cup storage structure is simple, and accordingly the unreliability is greatly reduced.

Drawings

FIG. 1 is a schematic diagram of a high density shipping cup system of the present invention.

The numbers in the figures illustrate the following: 1-cup taking manipulator mechanism, 2-horizontal cup conveying mechanism, 3-vertical cup conveying mechanism, 4-cup storage unit, 5-cup cover storage unit, 6-capping mechanism, 7-base, 8-cup taking manipulator arm, 9-sliding table, 10-horizontal guide rail, 11-vertical cup conveying platform, 12-vertical guide rail, 13-vertical power unit, 14-link mechanism, 15-cover falling correlation sensor, 16-cup falling correlation sensor, 17-upper cover, 18-cup storage tube, 19-support frame, 20-upper cover, 21-cup cover storage tube and 22-electric cover falling device.

Detailed Description

The technical scheme of the utility model is further explained by the specific implementation mode in combination with the attached drawings.

Fig. 1 is a schematic diagram of a high-density cup taking and conveying system, which includes a cup taking manipulator mechanism 1, a horizontal cup conveying mechanism 2, a vertical cup conveying mechanism 3, and a cup storage unit 4, a cup cover storage unit 5 and a capping mechanism 6 which are installed right above the horizontal cup conveying mechanism 2; the cup taking mechanical arm mechanism 1 comprises a base 7, a first transmission motor, a cup taking mechanical arm 8, an up-and-down motion screw rod and a second transmission motor are arranged on the base 7, a vertical screw rod nut and a horizontal screw rod nut are arranged on the cup taking mechanical arm 8, the cup taking mechanical arm 8 penetrates through the horizontal screw rod nut through a left-and-right screw rod and is connected with a first transmission motor through a coupler, the action of pressing and loosening the cup taking mechanical arm 8 can be realized, the cup taking mechanical arm 8 penetrates through the vertical screw rod nut through the up-and-down motion screw rod and is connected with the second transmission motor, the cup taking mechanical arm mechanism can move up or down along the up-and-down motion screw rod, namely, when a cup is taken, the cup taking mechanical arm 8 moves up and presses, after the cup is taken, the cup taking mechanical arm 8 moves down, and after the cup is sent to a designated position, the cup taking mechanical arm 8 loosens to finish cup sending, because the operation is completed by the cup taking mechanical arm 8, the structure of the cup storage unit 4 is relatively simple, the whole volume is small, the occupied space is small, and the requirement of high density is met; the horizontal cup conveying mechanism 2 comprises a sliding table 9, a horizontal guide rail 10, a supporting rod, a driving wheel, a driven wheel, a synchronous belt and a third transmission motor, the sliding table 9 is fixed on the horizontal guide rail 10, the upper surface of the sliding table 9 is fixed with a base 7 of the cup taking manipulator mechanism 1, the driving wheel is directly connected with the third transmission motor and is connected with the driven wheel and the sliding table 9 through the synchronous belt, the supporting rod is positioned on one side parallel to the horizontal guide rail, a drag chain is arranged on the supporting rod, one end of the drag chain is fixed with the supporting rod, the other end of the drag chain is fixed with the sliding table, and a cup storage unit 4, a cup cover storage unit 5 and a gland mechanism 6 are arranged right above the horizontal cup conveying mechanism 2; the vertical cup conveying mechanism 3 is arranged at the front end of the horizontal cup conveying mechanism 2, the vertical cup conveying mechanism 3 is composed of a vertical cup conveying platform 11, a vertical guide rail 12, a vertical power unit 13 and a connecting rod mechanism 14, the vertical cup conveying platform 11 is connected with the vertical guide rail 12 through a sliding block, and the vertical cup conveying platform 11 is connected with the vertical power unit 13 through the connecting rod mechanism 14.

The upper end and the lower end of the cup taking mechanical arm 8 are respectively provided with a cover dropping correlation sensor 15 and a cup dropping correlation sensor 16, so that a cup and a cover dropping on the cup taking mechanical arm 8 can be detected, the falling-off condition is avoided, and the normal operation of the equipment is further influenced; a liquid level sensor is arranged at the upper part of the inner side of the cup taking mechanical arm 8, so that the liquid level of the beverage falling into the cup can be detected, the volume of the liquid can be effectively controlled, and the abnormal condition that the volume of the beverage is insufficient or the volume of the beverage is excessive and overflows is avoided; three position sensors are arranged on the cup taking mechanical arm 8 and respectively correspond to the positions of the cup loosening, cup receiving and cup taking limits, so that the action effectiveness of the cup taking mechanical arm 8 can be effectively controlled; get a glass robotic arm 8 and adopt stainless steel or aluminium material as supporting framework, the parcel has the soft material of one deck high elasticity on supporting framework, and the surface is provided with anti-skidding stripe, both can play the effect of buffering, can increase again and get the frictional force between glass robotic arm 8 and the cup, can ensure that the cup can be taken off and transport the condition that the in-process can not take place to drop.

The left and right rotating screw rods are made of stainless steel materials, so that the antirust effect is good, and the service life is long; the left-handed end of the left-handed screw rod and the right-handed screw rod is connected with the cup taking mechanical arm 8 through a left-handed nut, the right-handed end of the left-handed screw rod and the right-handed screw rod is connected with the cup taking mechanical arm 8 through a right-handed nut, the action of pressing the cup taking mechanical arm 8 is realized through the interaction between the left-handed screw rod and the right-handed screw rod when the first transmission motor rotates forwards, and the action of loosening the cup taking mechanical arm 8 is realized through the interaction between the left-handed screw rod and the right-handed screw rod when the first transmission motor rotates backwards.

The sliding table 9 is contacted with the horizontal guide rail through an upper roller and a lower roller, the upper roller and the lower roller are rubber-coated rollers, the sliding table runs smoothly, and the noise is small; a blocking piece is arranged on the sliding table 9, and a sending-out position sensor, a gland position sensor, a cover falling position sensor and a cup falling position sensor are respectively arranged at the positions corresponding to the guide rails, so that the sliding table can be accurately stopped at different positions to complete corresponding actions; the synchronous belt is a strip steel wire synchronous belt, and has high strength and long service life.

The cup storage unit 4 is composed of an upper cover 17, a cup storage tube 18 and a support frame 19, the upper cover 17 is positioned at the upper part of the cup storage tube 18 and plays a role in dust prevention and insect prevention and guarantees sanitation and safety, and the support frame 19 is positioned at the lower part of the cup storage tube 18 and plays a role in supporting a cup.

The cup cover storage unit 5 is composed of an upper cover 20, a cup cover storage pipe 21 and an electric cover dropping device 22, the upper cover 20 is located on the upper portion of the cup cover storage pipe 21, the dustproof and insect-proof effects are achieved, the sanitation and safety are guaranteed, the electric cover dropping device 22 is located on the lower portion of the cup cover storage pipe 21, and the cup cover is dropped into the upper portion of the cup in an electric mode.

The gland mechanism 6 is composed of a gland support, a gland motor, a gland connecting rod, a gland plane, a gland position sensor and a lifting position sensor, wherein the gland motor is fixed on the gland support and is connected with the gland plane through the gland connecting rod.

The vertical power unit 13 consists of a fourth transmission motor and a speed reducer, an output shaft of the speed reducer is connected with the link mechanism 14, power generated by the fourth transmission motor and the speed reducer is transmitted to the vertical cup conveying platform 11 through the link mechanism 14, so that the vertical cup conveying platform 11 moves up and down along the vertical guide rail 12, the vertical cup conveying mechanism 3 is provided with a cup receiving position sensor and a cup discharging position sensor, when the connecting rod mechanism 14 is contacted with the cup receiving position sensor, the vertical cup conveying mechanism 3 is positioned at the lowest position, the cup taking mechanical arm 8 can place the cup on the vertical cup conveying mechanism 3, at the moment, the goods outlet of the device is shielded by the vertical cup conveying mechanism 3 to close the door, when the link mechanism 14 is in contact with the cup discharging position sensor, the vertical cup conveying mechanism 3 is positioned at the highest position, and at the moment, the vertical cup conveying mechanism 3 is lifted to the position of a goods discharging opening of the equipment, and the goods taking opening is opened; it examines cup correlation sensor to be provided with on the perpendicular fortune cup platform 11, can detect that the customer has or not to take away the cup, if the customer does not take away the cup under the overtime condition, gets cup robotic arm 8 and will take away the cup and take away and retrieve, and intelligent degree is high, avoids the unable normal use of next customer, and customer experience feels good.

The working principle of the utility model is as follows: after a customer selects corresponding drinks and finishes payment, the cup taking mechanical arm mechanism 1 is conveyed to the position under the cup storage unit 4 under the action of the sliding table 9 of the horizontal cup conveying mechanism 2, the first transmission motor rotates reversely, the cup taking mechanical arm 8 is gradually opened through the interaction between the left-handed screw rod and the right-handed screw rod and the left-handed screw nut, when the cup taking limit position sensor of the cup taking mechanical arm 8 is touched, the first transmission motor stops rotating reversely, meanwhile, the second transmission motor rotates positively, the cup taking mechanical arm mechanism 1 gradually moves upwards along the up-and-down screw rod through the interaction between the up-and-down screw rod and the vertical screw nut until the lower part of a cup blocks the cup falling opposite-jet sensor 16, the first transmission motor rotates positively, and the cup taking mechanical arm 8 is gradually pressed through the interaction between the left-handed screw rod and the right-handed screw rod, when the cup receiving position sensor of the cup taking mechanical arm 8 is touched, the first driving motor stops rotating forwards, the cup taking mechanical arm 8 is made of flexible material, anti-skid stripes are arranged on the surface of the cup taking mechanical arm, the friction force between the cup taking mechanical arm 8 and the cup can be increased, the cup can be ensured to be taken down smoothly, the second transmission motor rotates reversely, through the interaction between the up-and-down motion screw rod and the vertical screw rod nut, the cup taking manipulator mechanism 1 gradually moves down to a set position along the up-and-down motion screw rod, the cup taking manipulator mechanism is continuously conveyed to the position right below the cup cover storage unit 5 under the action of the sliding table 9 of the horizontal cup conveying mechanism 2, the electric cap falling device 22 is positioned at the lower part of the cup cover storage pipe 21, the cup cover falls into the upper part of the cup in an electric mode, and the cover falling correlation sensor 15 can detect the falling condition of the cup cover to ensure the successful cover falling; the cup taking mechanical arm mechanism 1 is continuously conveyed to the position right below the gland mechanism 6 under the action of the sliding table 9 of the horizontal cup conveying mechanism 2, the gland motor rotates forwards, the gland plane gradually descends through the gland connecting rod, when the gland position sensor is touched, the gland is completed, then the gland motor rotates backwards, the gland plane gradually ascends through the gland connecting rod, and when the gland lifting position sensor is touched, the gland motor stops working; then, the cup taking mechanical arm mechanism 1 conveys the cup with the pressed cover to a vertical cup conveying platform 11 under the action of a sliding table 9 of the horizontal cup conveying mechanism 2, the first transmission motor rotates reversely, the cup taking mechanical arm 8 is gradually opened through the interaction between the left-handed screw rod and the right-handed screw rod and the left-handed nut and the right-handed screw nut, when a release position sensor of the cup taking mechanical arm 8 is touched, the first transmission motor stops rotating reversely, and the cup taking mechanical arm mechanism 1 retreats to a set position under the action of the sliding table 9 of the horizontal cup conveying mechanism 2; then the fourth transmission motor rotates forwards, power generated by the fourth transmission motor and the speed reducer is transmitted to the vertical cup transporting platform 11 through the link mechanism 14, so that the vertical cup transporting platform 11 moves upwards along the vertical guide rail 12, when the link mechanism 14 is contacted with the cup discharging position sensor, the vertical cup transporting mechanism 3 is positioned at the highest position, at the moment, the vertical cup transporting mechanism 3 is lifted to the position of a goods discharging port of the equipment, and a goods taking port is opened, so that a client can take corresponding beverage cups; a cup detection correlation sensor is arranged on the vertical cup conveying platform 11, whether a cup is taken by a client or not can be detected, after the cup is taken, the fourth transmission motor rotates reversely, power generated by the fourth transmission motor and the speed reducer is transmitted to the vertical cup conveying platform 11 through the connecting rod mechanism, so that the vertical cup conveying platform 11 moves downwards along the vertical guide rail 12, when the connecting rod mechanism 14 is in contact with the cup receiving position sensor, the vertical cup conveying mechanism 3 is located at the lowest position, and at the moment, a goods outlet of the device is shielded by the vertical cup conveying mechanism 3 to close the door; if not take away the cup under the overtime condition of customer, get cup robotic arm 8 and will take away the cup and take and retrieve, intelligent degree is high, avoids the unable normal use of next customer, and customer experience feels good.

The cup taking and transporting system suitable for high density solves the technical problems that the existing cup dropping mechanism is large in whole volume, large in occupied space, incapable of meeting the requirement of an operator on high density, low in intelligent degree, poor in customer shopping experience and the like, and is simple in structure, small in size and suitable for a high-density capsule beverage machine.

Compared with a finished product cup falling device, the cup falling device has the advantages of good fault-tolerant performance and safe cup detection measures, high density can be met, when the number of the cups reaches more than 100, the cup falling device has an obvious cost advantage, the cup storage structure is simple, and accordingly the unreliability is greatly reduced.

Based on the above-mentioned cup picking and transporting system suitable for high density, the present invention further provides a capsule beverage machine, which includes the above-mentioned cup picking and transporting system suitable for high density, and since the above-mentioned cup picking and transporting system suitable for high density has been described in detail, it is not described herein again.

The above-mentioned embodiments are merely illustrative of the preferred embodiments of the present invention, and do not limit the scope of the present invention, and various modifications and improvements of the technical solution of the present invention by those skilled in the art should fall within the protection scope of the present invention defined by the claims of the present invention without departing from the spirit of the present invention.

Claims

1. A get fortune cup system suitable for high density for capsule drink machine which characterized in that: the cup taking and conveying device comprises a cup taking manipulator mechanism, a horizontal cup conveying mechanism, a vertical cup conveying mechanism, a cup storage unit, a cup cover storage unit and a gland mechanism, wherein the cup storage unit, the cup cover storage unit and the gland mechanism are arranged right above the horizontal cup conveying mechanism;

the cup taking mechanical arm mechanism comprises a base, a first transmission motor, a cup taking mechanical arm, an up-and-down movement screw rod and a second transmission motor are arranged on the base, a vertical screw rod nut and a horizontal screw rod nut are arranged on the cup taking mechanical arm, the cup taking mechanical arm penetrates through the horizontal screw rod nut through a left screw rod and a right screw rod and is connected with the first transmission motor through a coupler, the actions of pressing and loosening the cup taking mechanical arm can be realized, the cup taking mechanical arm penetrates through the vertical screw rod nut through the up-and-down movement screw rod and is connected with the second transmission motor, and the cup taking mechanical arm mechanism can move up or down along the up-and-down movement screw rod;

the horizontal cup conveying mechanism comprises a sliding table, a horizontal guide rail, a supporting rod, a driving wheel, a driven wheel, a synchronous belt and a third transmission motor, the sliding table is fixed on the horizontal guide rail, the upper surface of the sliding table is fixed with a base of the cup taking manipulator mechanism, the driving wheel is directly connected with the third transmission motor and is connected with the driven wheel and the sliding table through the synchronous belt, the supporting rod is positioned on one side parallel to the horizontal guide rail, a drag chain is arranged on the supporting rod, one end of the drag chain is fixed with the supporting rod, the other end of the drag chain is fixed with the sliding table, and a cup storage unit, a cup cover storage unit and a gland mechanism are arranged right above the horizontal cup conveying mechanism;

the vertical cup conveying mechanism is arranged at the front end of the horizontal cup conveying mechanism and consists of a vertical cup conveying platform, a vertical guide rail, a vertical power unit and a connecting rod mechanism, the vertical cup conveying platform is connected with the vertical guide rail through a sliding block, and the vertical cup conveying platform is connected with the vertical power unit through the connecting rod mechanism.

2. A system for high density shipping cups according to claim 1, wherein: get a cup robotic arm upper and lower both ends and be provided with respectively and fall and cover correlation sensor and cup correlation sensor, get the inboard upper portion position of cup robotic arm and be provided with level sensor, get and be provided with three position sensor on the cup robotic arm, correspond respectively and loosen, connect the cup and get the position of cup limit, get cup robotic arm and adopt stainless steel or aluminium material as supporting the skeleton, it has the soft material of one deck high elasticity to wrap up on supporting the skeleton, and the surface is provided with anti-skidding stripe.

3. A system for high density shipping cups according to claim 1, wherein: the left-handed screw rod and the right-handed screw rod are made of stainless steel materials, the left-handed ends of the left-handed screw rod and the right-handed screw rod are connected with the cup taking mechanical arm through left-handed nuts, and the right-handed ends of the left-handed screw rod and the right-handed screw rod are connected with the cup taking mechanical arm through right-handed nuts.

4. A system for high density shipping cups according to claim 1, wherein: the sliding table is in contact with the horizontal guide rail through an upper roller and a lower roller, the upper roller and the lower roller are rubber-coated rollers, a blocking piece is arranged on the sliding table, a sending-out position sensor, a pressing cover position sensor, a cover falling position sensor and a cup falling position sensor are respectively arranged at positions corresponding to the guide rail, and the synchronous belt is a strip steel wire synchronous belt.

5. A system for high density shipping cups according to claim 1, wherein: the cup storage unit is composed of an upper cover, a cup storage tube and a support frame, wherein the upper cover is positioned at the upper part of the cup storage tube, and the support frame is positioned at the lower part of the cup storage tube.

6. A system for high density shipping cups according to claim 1, wherein: the cup cover storage unit is composed of an upper cover, a cup cover storage pipe and an electric cover falling device, the upper cover is located on the upper portion of the cup cover storage pipe, and the electric cover falling device is located on the lower portion of the cup cover storage pipe.

7. A system for high density shipping cups according to claim 1, wherein: the gland mechanism is composed of a gland support, a gland motor, a gland connecting rod, a gland plane, a gland position sensor and a lifting position sensor, wherein the gland motor is fixed on the gland support and is connected with the gland plane through the gland connecting rod.

8. A system for high density shipping cups according to claim 1, wherein: the vertical power unit consists of a fourth transmission motor and a speed reducer, an output shaft of the speed reducer is connected with the connecting rod mechanism, the vertical cup conveying mechanism is provided with a cup receiving position sensor and a cup outputting position sensor, and the vertical cup conveying platform is provided with a cup detecting correlation sensor.

9. A capsule beverage machine comprising a high density serving cup system according to any one of claims 1 to 8.