CN220713666U

CN220713666U - Multi-station double-rotation module and intelligent beverage robot

Info

Publication number: CN220713666U
Application number: CN202320183033.9U
Authority: CN
Inventors: 王国栋
Original assignee: Aimeishi Beijing Catering Technology Co ltd
Current assignee: Aimeishi Beijing Catering Technology Co ltd
Priority date: 2023-01-20
Filing date: 2023-01-20
Publication date: 2024-04-05
Anticipated expiration: 2033-01-20

Abstract

A multi-station double-rotation module comprises a first rotation member, a container falling mechanism, a second rotation member and a liquid adding mechanism; the first rotary member is movable to carry the finished cups and through a plurality of first stations, including a container drop station and a first transfer station; the container falling mechanism can perform a cup falling operation of falling the finished cup onto the first rotary member at a container falling station; the second rotary member can carry the mixing cup and can move through a plurality of second-class stations, and the plurality of second-class stations comprise a liquid adding station and a second handover station; the liquid adding mechanism performs liquid adding operation of adding liquid into the mixing cup at a liquid adding station; the first handover station corresponds with the second handover station, the multi-station double-rotation module further comprises a handover mechanism for performing handover operation between the first handover station and the second handover station, and the handover operation comprises pouring materials in a mixing cup into a finished cup. An intelligent beverage robot comprises the multi-station double-rotation module.

Description

Multi-station double-rotation module and intelligent beverage robot

Technical Field

The application relates to the field of intelligent robots, in particular to a multi-station double-rotation module for fully automatically making beverages and a method for fully automatically making beverages by using the multi-station double-rotation module.

Background

With the development of the beverage industry, there is a higher demand for the quality of various beverages, but the current state of the beverage industry still makes a compromise between the labor cost of beverage preparation and the quality of the beverage, because higher quality beverages generally mean more specialized operators and finer beverage preparation operations by the operators. In addition, the prior art has not achieved fully automatic beverage making, and has not achieved making a wide variety of beverages of high quality in a fully automatic manner.

Therefore, there is a need for a product that can fully automatically produce a wide variety of beverages of high quality that can greatly reduce labor costs while also meeting space compactness requirements.

Disclosure of Invention

For this reason, a multi-station double-rotation module for fully automatic beverage making is proposed, comprising:

a first swivel assembly comprising:

a first driving mechanism; and

a first swing member configured to carry a finished cup and capable of being driven by the first drive mechanism along a first trajectory through a plurality of first type stations including at least a container drop station and a first handoff station,

a container dropping mechanism configured to perform at least a cup dropping operation of dropping the finished cup onto the first rotary member at the container dropping station,

A second swivel assembly comprising:

a second driving mechanism; and

a second rotary member configured to carry a mixing cup and capable of being driven by the second drive mechanism along a second trajectory through a plurality of second type stations including at least a charging station and a second handing-over station,

a liquid adding mechanism configured to perform at least a liquid adding operation of adding liquid into the mixing cup at the liquid adding station,

the first handover station corresponds to the second handover station, when the finished cup is located at the first handover station, the corresponding mixing cup is located at the second handover station, the multi-station double-rotation module further comprises a handover mechanism for performing handover operation at the first handover station and the second handover station, and the handover operation comprises pouring materials in the mixing cup into the finished cup.

The utility model also provides a method for using multi-station double-rotation module to make beverage fully automatically, multi-station double-rotation module includes:

a first rotary member configured to carry a finished cup and to be movable along a first trajectory through a plurality of stations of a first type, the plurality of stations of the first type including at least a container drop station at which at least a cup drop operation is performed in which the finished cup drops onto the first rotary member and a first interface station;

The second rotary component is configured to carry a mixing cup and can move along a second track passing through a plurality of second type stations, the plurality of second type stations at least comprise a liquid adding station and a second connecting station, and at least liquid adding operation for adding liquid into the mixing cup is performed at the liquid adding station;

the first connecting station corresponds to the second connecting station, and when the finished cup is located at the first connecting station, the corresponding mixing cup is located at the second connecting station so as to execute connecting operation at the first connecting station and the second connecting station, wherein the connecting operation comprises pouring materials in the mixing cup into the finished cup;

the method at least comprises the following steps:

a starting step including detecting an origin of the first swing member and detecting an origin of the second swing member;

a handover step, after the start step, of including the handover operation;

a first type of intermediate step performed at a respective first type of station of the plurality of first type of stations, the first type of intermediate step performed after the initiating step and before the handing-over step, including at least the cup-dropping operation;

A second type intermediate step performed at a respective second type station of the plurality of second type stations, the second type intermediate step performed after the initiating step and before the handing-over step, including at least the priming operation.

Drawings

In order to more clearly illustrate the technical solutions of the embodiments of the present disclosure, the drawings that are needed in the embodiments will be briefly described below, it being understood that the following drawings only illustrate some embodiments of the present disclosure and therefore should not be considered as limiting the scope, and other related drawings may be obtained according to these drawings without inventive effort for a person of ordinary skill in the art. In the drawings:

FIG. 1 is a schematic perspective view of a material storage and supply module according to an exemplary embodiment, showing a portion of a material storage device;

FIG. 2 is a top view of a material storage device according to an exemplary embodiment, wherein the dashed line portions are when the various doors of the material storage device are open;

FIG. 3 illustrates a top portion of a material storage device according to an exemplary embodiment;

FIG. 4 illustrates a schematic view of the relative positions between a magazine chamber and an ice ejection chamber of a material storage device and a multi-station dual swing module according to an exemplary embodiment;

FIG. 5 illustrates in a perspective schematic view a magazine chamber of a material storage device of a material storage and supply module and a mechanism for supplying a magazine from the magazine chamber to a multi-station dual swing module in accordance with an exemplary embodiment;

FIG. 6 illustrates a portion of a material storage and supply module in a perspective view showing one material cassette compartment, a corresponding robot drive mechanism, and a portion mechanism for supplying material cassettes in the material cassette compartment to a multi-station dual swing module in accordance with an exemplary embodiment;

FIG. 7 illustrates a portion of a material storage and supply module in a perspective view showing one material cassette compartment, a robot for gripping a material cassette from the material cassette compartment, and a robot drive mechanism, according to an example embodiment;

FIG. 8 illustrates a portion of a material storage and supply module in another perspective view showing one material cassette compartment, a robot for gripping a material cassette from the material cassette compartment, and a robot drive mechanism, according to an example embodiment;

FIG. 9 illustrates, in a perspective schematic view, a robot and a robot drive mechanism for gripping a cassette from a cassette bay according to an exemplary embodiment;

FIG. 10 illustrates, in another perspective view, a robot and a robot drive mechanism for gripping a cassette from a cassette bay according to an exemplary embodiment;

FIG. 11 illustrates a bottom schematic view of a robot and a robot drive mechanism grabbing a cassette from a cassette bay according to an exemplary embodiment;

FIG. 12 illustrates a first conveyor and a first waste cartridge collector for conveying cartridges from a cartridge chamber to other mechanisms in a perspective view according to an exemplary embodiment;

FIG. 13 illustrates a second transfer device for transferring a cassette from a cassette bay to another mechanism in a perspective view according to an exemplary embodiment;

FIG. 14 illustrates in a perspective view a first conveyor, a first film opening mechanism, a first material feed device, and a first waste cartridge collector, wherein a first material cartridge is being slit while a first film opening cylinder of the first film opening mechanism is in an operative position, according to an exemplary embodiment;

FIG. 15 illustrates in a perspective view a first conveyor, a first film opening mechanism, a first material handling device, and a first waste cartridge collector wherein material in a first material cartridge for making a previous cup of beverage is being poured into a finished cup by the first material handling device, the first material cartridge for making a subsequent beverage has just been placed on a first tray of the first conveyor by a first robot, a first film opening cylinder of the first film opening mechanism is in a stowed position so as not to interfere with subsequent movement of the first conveyor;

FIG. 16 illustrates, in a perspective view, a first conveyor, a first film opening mechanism, a first material handling device, and a first waste cartridge collector, wherein a first material cartridge is being discarded by the first material handling device to the first waste cartridge collector, according to an example embodiment;

FIG. 17 illustrates a cartridge chamber and a portion of a first and second transfer device and a portion of a second material charging mechanism for transferring a cartridge from the cartridge chamber in a perspective view according to an exemplary embodiment;

FIG. 18 illustrates a second tray and a second inclined run of a second conveyor according to an example embodiment in a perspective view;

FIG. 19 illustrates, in a perspective view, a second conveyor, a second inclined ramp, a second intermediate conveyor, a second film cutting mechanism in a retracted position, a second material feed mechanism, and a second scrap box receptacle, wherein the second conveyor is shown with a second intermediate tray in a film cutting height position and a second intermediate tray in a material feed height position;

FIG. 20 illustrates a second inclined ramp second intermediate conveyor and a second material charging mechanism in a perspective schematic view in accordance with an exemplary embodiment;

FIG. 21 illustrates, in a perspective view, a second conveyor, a second inclined ramp, a second intermediate conveyor, a second film cutting mechanism, a second material loading mechanism, and a second scrap box receptacle, wherein the second intermediate tray of the second conveyor is shown in a film cutting height position, and the second film cutting mechanism is in an operative position and is performing a film cutting operation on the second scrap box in accordance with an exemplary embodiment;

FIG. 22 illustrates a second inclined ramp, a second intermediate transfer device, and a second material charging mechanism in a perspective view, wherein the charging jaws of the second material charging mechanism are shown gripping a second magazine located on a second intermediate tray, according to an exemplary embodiment;

FIG. 23 illustrates in a perspective view a second conveyor, a second inclined ramp, a second intermediate conveyor, a second film cutting mechanism, and a second material charging mechanism according to an example embodiment, wherein the second material charging mechanism is shown pouring material in a second cartridge into a mixing cup;

FIG. 24 illustrates in a perspective view a second conveyor, a second inclined ramp, a second intermediate conveyor, a second film cutting mechanism, a second material charging mechanism, and a second waste cartridge collector, wherein the second material charging mechanism is shown pouring material in a second cartridge for a previous cup of beverage into a mixing cup, the second cartridge for a subsequent beverage being film cut, according to an example embodiment;

FIG. 25 illustrates a second intermediate transfer device and a second film cutting mechanism in a perspective schematic view in accordance with an exemplary embodiment;

FIG. 26 illustrates a linkage according to an exemplary embodiment in a perspective schematic view;

FIG. 27 shows a cylindrical cam and cover plate of a linkage according to an exemplary embodiment in a perspective schematic view;

fig. 28 illustrates a portion of an ice-out chamber and an ice-out mechanism in a perspective schematic view according to an exemplary embodiment;

FIG. 29 illustrates a portion of an ice outlet chamber and a portion of an ice outlet mechanism with an ice cube storage bin of the ice outlet mechanism removed to show an ice cube transport assembly in a perspective schematic view according to an exemplary embodiment;

fig. 30 illustrates in a perspective schematic view an ice cube transport member and a transport drive member of a de-icing mechanism according to an exemplary embodiment;

fig. 31 shows a first specific embodiment of an ice-out mechanism in a perspective schematic view;

FIG. 32 shows a second specific embodiment of an ice ejection mechanism in a perspective schematic view;

FIG. 33 shows a second particular embodiment of a deicing mechanism in a partial perspective schematic view;

FIGS. 34-35 show in perspective schematic views the closed and open states of the main box, respectively, useful for the first and second embodiments of the ice dispensing mechanism;

FIGS. 36 and 36a show a third particular embodiment of an ice-dispensing mechanism in a perspective view;

FIGS. 37-38 show a third particular embodiment of an ice-dispensing mechanism in partial perspective views, respectively, with the auxiliary cartridges in different states, respectively;

39-40 show a multi-station dual swing module according to the first embodiment in perspective schematic views from different angles;

fig. 41 shows a multi-station double-swing module according to the first embodiment in a top view;

FIG. 42 shows in perspective schematic view a second swivel assembly of a multi-station dual swivel module, a portion of a mixing cup retention mechanism, a portion of a cup washing mechanism, and a mixing cup lid capping and cleaning mechanism according to a second embodiment;

fig. 43 shows in a perspective schematic view a first swing assembly of a multi-station dual swing module according to a second embodiment;

FIG. 44 illustrates in top view the first drive mechanism of the first swing assembly when the first swing member is a first turntable;

FIG. 45 illustrates in a perspective schematic view a first drive mechanism of the first swing assembly when the first swing member is a first turntable;

FIG. 46 illustrates in a cut-away perspective view a first drive mechanism of the first swing assembly when the first swing member is a first turntable;

FIG. 47 is another angular perspective view of the first drive mechanism of the first swing assembly when the first swing member is a first turntable;

fig. 48 shows in a perspective schematic view a first swing assembly when the first swing member is a first swing belt, i.e. a first swing assembly of a multi-station dual swing module according to the first embodiment;

FIGS. 49-51 show, in partial perspective schematic views, a portion of the first swing assembly when the first swing member is a first swing belt;

fig. 52 shows in perspective schematic view a second swivel assembly and support column of a multi-station dual swivel module according to a second embodiment;

53-54 show in perspective schematic views from different perspectives a second swing assembly and support column of a multi-station dual swing module according to the first embodiment;

55-56 illustrate a turntable in a perspective schematic view according to an exemplary embodiment;

fig. 57 shows a mixing cup with a hoop according to an exemplary embodiment in a perspective schematic view;

fig. 58 shows in a perspective schematic view a mixing cup and a mixing cup holding mechanism according to a first embodiment;

fig. 59 shows in a perspective schematic view a drive shaft of a mixing cup drive mechanism of a mixing cup holding mechanism according to a first embodiment;

Fig. 60 shows in a cut-away perspective schematic view a mixing cup drive mechanism of a mixing cup holding mechanism according to a first embodiment;

fig. 61 shows a part of a mixing cup drive mechanism of a mixing cup holding mechanism according to a first embodiment in a partially cut-away perspective schematic view;

fig. 62 shows in a perspective schematic view a part of a mixing cup drive mechanism of a mixing cup holding mechanism according to a second embodiment;

fig. 63 shows in a perspective schematic view an electric cylinder of a mixing cup drive mechanism of a mixing cup holding mechanism according to a second embodiment;

fig. 64 shows a part of a mixing cup drive mechanism of a mixing cup holding mechanism according to a second embodiment in a cut-away perspective view;

FIG. 65 illustrates an electrical slip ring mechanism in a cut-away perspective schematic view according to an exemplary embodiment;

fig. 66 shows in a perspective view a container dropping mechanism used in the multi-station double-swing module according to the first embodiment;

fig. 67 shows a part of a container dropping mechanism used in the multi-station double-swivel module according to the first embodiment in a perspective view, in which a driving mechanism of the container dropping mechanism and a support plate frame are shown;

FIGS. 68-71 show different states of a container dropping mechanism used in the multi-station double-swing module according to the first embodiment, respectively, in front view;

FIG. 72 shows a multi-station dual swivel module in a perspective schematic view, showing a labeling station and a cup wash station, according to a first embodiment;

FIG. 73 illustrates in partial enlarged view a labeling mechanism in a multi-station dual turn module according to an exemplary embodiment;

FIGS. 74-78 illustrate a labeling mechanism according to an exemplary embodiment in different views;

FIGS. 79-80 respectively show a priming mechanism in perspective schematic views at different perspectives according to an exemplary embodiment;

FIG. 81 illustrates a first filling valve in a cut-away view according to an exemplary embodiment;

fig. 82 to 83 show different states of the charging mechanism according to the first modification in perspective views, respectively, in which fig. 82 corresponds to a state when the charging operation is performed, and fig. 83 corresponds to a state when the charging operation is not performed;

fig. 84 shows in a perspective schematic view a charging mechanism according to a second variant;

FIG. 85 illustrates a stirring mechanism in a perspective schematic view according to an exemplary embodiment;

FIG. 86 illustrates in a partially cut-away perspective schematic view a mixing bowl cover capping and cleaning mechanism according to an exemplary embodiment;

FIG. 87 illustrates in a perspective schematic view a mixing bowl cover capping and cleaning mechanism according to an exemplary embodiment;

FIG. 88 illustrates in a perspective schematic view a mixing bowl cover cleaning tray of a mixing bowl cover capping and cleaning mechanism according to an exemplary embodiment;

FIG. 89 illustrates a portion of a mixing bowl cover capping and cleaning mechanism in a partially enlarged perspective schematic view in accordance with an exemplary embodiment;

FIG. 90 illustrates in partial enlarged schematic view a handoff mechanism of a multi-station dual swing module according to an exemplary embodiment;

FIG. 91 illustrates a handover mechanism in a perspective schematic view according to an exemplary embodiment;

fig. 92-96 show the interface mechanism in a partially perspective view in a different state according to an exemplary embodiment of the multi-station dual swing module, wherein fig. 92-93 shows the interface mechanism in an initial or as-initially operated state, fig. 94 shows the state when the finished cup is removed from the cup holder on the first swing member, fig. 95 shows the state corresponding to the first stage material interface operation, and fig. 96 shows the state corresponding to the second stage material interface operation;

FIG. 97 illustrates a cup washing mechanism in a perspective schematic view, according to an exemplary embodiment;

FIG. 98 illustrates a cup washing mechanism according to an exemplary embodiment in a perspective schematic view from a different angle;

Fig. 99 shows a milk capping mechanism according to a first embodiment in a perspective schematic view;

FIG. 100 illustrates in a perspective schematic view a second filling valve and an ultrasonic level sensor of a milk capping mechanism according to an exemplary embodiment;

FIG. 101 illustrates a second filling valve in a cut-away view according to an exemplary embodiment;

fig. 102 shows a milk capping mechanism according to a second embodiment in a perspective schematic view;

fig. 103 shows an example of a container dropping mechanism used for the multi-station double-swing module according to the second embodiment;

fig. 104 shows an example of a drop cap capping mechanism used for the multi-station double-swing module according to the second embodiment;

fig. 105 shows in a perspective schematic view an example of a milk capping mechanism and a cap drop capping mechanism at a finishing station of a multi-station double-swing module according to a second embodiment, wherein the milk capping mechanism is the milk capping mechanism according to the second embodiment shown in fig. 102;

figures 106 and 107 illustrate different states of the drop cap mechanism described in figure 104, wherein the diagram 106 corresponds to a state in which the cap-dropping operation is performed, and the diagram 107 corresponds to a state in which the cap-dropping operation is not performed;

FIG. 108 illustrates in a perspective view a side view of a side wall of an intelligent side wall module according to an exemplary embodiment;

FIG. 109 shows a compartment in a side view in partial cutaway perspective according to an exemplary embodiment;

FIG. 110 illustrates in a perspective view a compartment in a meal order according to an exemplary embodiment;

figures 111-112 illustrate in perspective schematic views a grasping assembly and a gland assembly of an intelligent get chest module according to an exemplary embodiment;

FIG. 113 illustrates in side view the grasping assembly and the gland assembly of the intelligent get chest module according to an exemplary embodiment;

FIG. 114 illustrates in a perspective schematic view a transfer assembly of an intelligent sideboard module according to an exemplary embodiment;

figures 115-117 illustrate in partial perspective schematic views a transfer assembly of an intelligent sideboard module according to an exemplary embodiment;

FIG. 118 illustrates in a perspective schematic view a transport rotary drive assembly of a transport assembly of an intelligent food preparation module in accordance with an exemplary embodiment;

FIG. 119 illustrates in a perspective view the transfer assembly of the intelligent food preparation module in accordance with an exemplary embodiment in a state of just grabbing a finished cup;

FIG. 120 illustrates in a perspective view the transfer jaw of the transfer assembly of the intelligent food preparation module, as it has just grasped the finished cup, in accordance with an exemplary embodiment;

FIG. 121 illustrates in a perspective view a transfer jaw of the transfer assembly of the intelligent food preparation module in accordance with an exemplary embodiment when the finished cup is retracted;

FIG. 122 illustrates in a perspective view the transport horizontal drive assembly of the transport assembly of the intelligent food preparation module in accordance with an exemplary embodiment rotated 90 relative to FIG. 121;

FIG. 123 illustrates in a perspective view a first horizontal slider of the transport horizontal drive assembly of the transport assembly of the intelligent food getting module according to an exemplary embodiment when extended outwardly relative to FIG. 122;

FIG. 124 illustrates in a perspective view a finished cup as placed in a compartment on a first side of a chest of a smart cut-out in accordance with an exemplary embodiment by a transfer assembly of the intelligent cut-out module;

FIG. 125 illustrates in a perspective view the transport horizontal drive assembly of the transport assembly of the intelligent food preparation module in accordance with an exemplary embodiment rotated 180 relative to FIG. 121;

FIG. 126 is a perspective view of a first horizontal slide of the transfer horizontal drive assembly of the transfer assembly of the intelligent food preparation module in accordance with an exemplary embodiment as it extends outwardly relative to FIG. 125;

Figure 127 illustrates in a perspective view the transfer assembly of the intelligent food preparation module in accordance with an exemplary embodiment in a state in which the finished cup is placed into a compartment on the second side of the food preparation module;

FIG. 128 illustrates a material bowl in a perspective schematic view according to an exemplary embodiment;

fig. 129 and 130 show the interior of a material bowl according to an exemplary embodiment in perspective schematic views from different angles;

fig. 131 shows in perspective view the placement of the material bowl in the respective liquid or milk cap chamber;

fig. 132 and 133 show the constituent components of the robot cleaning module in schematic diagrams.

DETAILED DESCRIPTION OF EMBODIMENT (S) OF INVENTION

Hereinafter, the intelligent drink robot and the respective modules thereof according to the embodiments of the present disclosure are described in detail with reference to the accompanying drawings. For the purposes of making the objects, technical solutions and advantages of the present disclosure more apparent, the technical solutions in the embodiments of the present disclosure will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present disclosure, and it is apparent that the described embodiments are some embodiments of the present disclosure, but not all embodiments.

Accordingly, the following detailed description of the embodiments of the present disclosure, provided in connection with the accompanying drawings, is not intended to limit the scope of the disclosure, as claimed, but is merely representative of selected embodiments of the disclosure. All other embodiments, which can be made by one of ordinary skill in the art without inventive effort, based on the embodiments in this disclosure are intended to be within the scope of this disclosure.

The singular forms include the plural unless the context defines otherwise. Throughout the specification the terms "comprises," "comprising," "includes," "including," and the like are used herein to specify the presence of stated features, integers, steps, operations, elements, components, or groups thereof, but do not preclude the presence or addition of one or more other features, integers, steps, operations, elements, components, or groups thereof.

In addition, even though terms including ordinal numbers such as "first", "second", etc. may be used to describe various components, the components are not limited by these terms, and these terms are used only to distinguish one element from other elements. For example, a first component may be referred to as a second component, and similarly, a second component may be referred to as a first component, without departing from the scope of the present disclosure.

In the description of the present utility model, it should be understood that the directions or positional relationships indicated by the terms "upper", "lower", "left", "right", "inner", "outer", etc. are based on the directions or positional relationships shown in the drawings, or the directions or positional relationships conventionally put in place when the disclosed product is used, or the directions or positional relationships conventionally understood by those skilled in the art are merely for convenience of describing the present disclosure and simplifying the description, and do not indicate or imply that the apparatus or elements referred to must have a specific direction, be configured and operated in a specific direction, and therefore should not be construed as limiting the present disclosure.

In the sense of the present utility model, two or more components are "coupled" means that the movement of the two or more components is integral.

The present disclosure relates generally to intelligent beverage robots for fully automated beverage making.

In some embodiments, the intelligent drink robot may include a material storage and supply module 1000, as shown in fig. 1-6 and 17, the material storage and supply module 1000 configured to store various materials for automatic drink making and supply the corresponding materials to various actuators or components for automatic drink making, the actuators including various mechanisms disposed at the multi-station dual swing module.

In some embodiments, the intelligent beverage robot may include multi-station dual-turn modules 2000, 3000, as shown in fig. 4, 6, 39-43, 48, 52-54, 72, the multi-station dual-turn modules 2000, 3000 are configured to perform beverage making at different stations, and in some embodiments, operations of different stations may be performed simultaneously, so long as no mutual interference occurs.

In some embodiments, as shown in fig. 108-127, the intelligent drink robot may include an intelligent taking chest module 4000, the intelligent taking chest module 4000 being configured to transfer finished drinks, i.e., finished cups 2101, from the multi-station dual swivel modules 2000, 3000 to respective compartments 4110A, 4110B of the intelligent taking chest module 4000 taking chest 4100 in an automated manner.

In some embodiments, the smart drink robot may include a one-touch type auto-cleaning module configured to automatically clean the components of the entire smart drink robot that require regular cleaning.

In some embodiments, the intelligent drink robot may also include a central control, the central control including a programmable logic controller, and is configured to control the movement and operation of the various operating mechanisms, components and members, etc. in the materials storage and supply module 1000 and/or the multi-station dual swing modules 2000, 3000 and/or the intelligent taking and table module 4000 and/or the self-cleaning module.

1. Material storage and supply module 1000

According to some embodiments, the material storage and supply module 1000 is configured to store various materials for automatic beverage making and supply the corresponding materials to a multi-station dual swing module 2000, for example, as will be described in detail below, for automatic beverage making.

According to one embodiment, as shown in fig. 1-3, a material storage and supply module 1000 includes a material storage device 1100, which material storage device 1100 may be configured to function as a refrigeration or insulation and/or fresh. More specifically, the material storage device 1100 may include a housing 1110 defining an interior space that may include one or more chambers for storing one or more materials. More specifically, the one or more materials may include various liquids, various fresh materials, various semi-finished solids (references herein to solids or solids materials refer to semi-finished solids), ice cubes, milk caps, and the like. More specifically, the material storage device 1100 may comprise a material bucket for holding liquid material or cream milk lids, i.e. the material bucket may further comprise a liquid bucket for storing various liquid materials and a milk lid bucket for storing cream milk lids. The material storage device 1100 may also be provided with a refrigeration unit 1115 (shown in fig. 1 and 2) located outside of the housing 1110 for performing a corresponding refrigeration or thermal insulation function on a corresponding material compartment of the material storage device 1100. According to some embodiments, the material storage device 1100 may be provided with one or more doors, for example, shown in fig. 2 and 3 as being provided with two doors on a first side that may close the first side, namely a first door 1101 and a second door 1102, and one door on a second side adjacent to the first side, namely a third door 1103.

1.1 storage and supply of cartridges

As shown in fig. 1, 4-8, the one or more chambers of the material storage device 1100 may include one or more material cartridge chambers 1120 for storing and supplying respective material cartridges M that may then contain respective fresh or semi-finished solid materials. The fresh material may include fresh fruit such as various fresh fruit pieces, pieces or sheets of grape, strawberry, mango, grapefruit, lemon, etc. The fresh material can be used for preparing cold or hot fruit tea beverage, ice beverage, etc. The solid materials can be pearl, crisp wave, taro, pudding, jelly, etc., and can be used for preparing milk tea beverage or fruit tea beverage. It should be apparent that the types of fresh and solid materials listed herein are illustrative only and that any other reasonable fresh and solid materials are intended to be within the scope of the present utility model.

As shown in fig. 1, 4-8, each cartridge chamber 1120 is provided with a supply 1121, a cartridge guide 1130 and a bottom wall 1140, the cartridge guide 1130 being provided in the respective cartridge chamber 1120 and configured to support and guide a cartridge M to the supply 1121, the bottom wall 1140 being provided with at least one cartridge outlet 1141, 1142 (shown in fig. 3).

As shown in fig. 7-11, the material storage and supply module 1000 further includes at least one robot 1150, 1160, a robot drive 1400, and at least one conveyor 1500, 1600 (fig. 5-6 and 12-25). Each manipulator 1150, 1160 includes a cassette jaw 1151, 1161 that is capable of being tightened and opened to allow for gripping and placement of a respective cassette M1, M2. More specifically, each robot 1150, 1160 is configured with its cassette jaws 1151, 1161 capable of gripping a respective cassette M1, M2 at a supply 1121 of the cassette compartment 1120, more specifically gripping a respective cassette M1, M2 located on a cassette guide 1130 at the supply 1121, and moving the cassette M1, M2 to a respective cassette outlet 1141, 1142 (shown in fig. 3) of the cassette compartment 1120. More specifically, the tightening and opening of each material cassette jaw 1151, 1161 is driven by a respective grasping jaw cylinder 1151D, 1161D (best shown in fig. 11). The robot drive mechanism 1400 (best shown in fig. 8-9) is then configured to drive the robots 1150, 1160 in motion to move the respective cartridges M1, M2 from the supply 1121 of the cartridge chamber 1120 to the respective cartridge outlets 1141, 1142. As shown in fig. 12-16, each conveyor 1500, 1600 may include a tray 1510, 1610 and a conveyor drive mechanism 1520, 1620, the tray 1510, 1610 being configured to receive a pod M1, M2 placed by a respective robot 1150, 1160 at a respective pod outlet 1141, 1142, the conveyor drive mechanism 1520, 1620 being configured to drive the respective conveyor 1500, 1600 in motion and thus the respective tray 1510, 1610 in motion to convey the respective pod M1, M2 to a desired location, thereby allowing for the transfer of the pod to, for example, a finished cup 2101 and a mixing cup 2201 at respective stations on a multi-station dual-swivel module 2000, 3000, first swivel members 2150, 3150 and second swivel members 2250, 3250, as will be described below. In a more specific embodiment, as shown in fig. 12-16, the transmission drive mechanisms 1520, 1620 are transfer rodless cylinders that include slidable transfer slides 1521, 1621, with each tray 1510, 1610 coupled to a respective transfer slide 1521, 1621, more specifically secured to a respective transfer slide 1521, 1621. Thus, the trays 1510, 1610 can be driven by the conveyor slides 1521, 1621 to reach respective material feed mechanisms 1700, 1800 from respective material cartridge outlets 1141, 1142 as will be described below. The finished cup is for example a paper or plastic cup for holding a beverage; the mixing cup is a common ice-making cup for making beverage.

In some embodiments, as shown in fig. 1, 5-8, the magazine guide 1130 includes a plurality of fluid bar rails 1131 disposed in an inclined arrangement, more specifically, each fluid bar rail 1131 is inclined downwardly toward the supply 1121, and a plurality of magazines M are placed on each fluid bar rail 1131, whereby the magazines M can automatically slide on the fluid bar rails 1131 toward the supply 1121. More specifically, each time the robot 1150, 1160 picks up a cassette M on the respective fluid bar sled 1131 at the supply 1121, the remaining material cassettes M on the fluid bar rail 1131 slide along the fluid bar rail 1131 toward the supply 1121 for later grasping by the robots 1150, 1160 as needed. More specifically, each fluid bar rail 1131 is configured to be adjustable in inclination. More specifically, the plurality of fluid bar rails 1131 are arranged in layers and/or in different columns, allowing the cartridges M to be layered and/or arranged in columns. Preferably, the material boxes M placed on the same fluent strip sliding rail 1131 are the same material box, that is, the materials contained in the material boxes M are the same material; within the scope of the present application, "identical" is to be understood as meaning that the raw materials are identical. More specifically, the cartridges M of different kinds may be placed in different layers and/or in different columns. In this case, when a particular magazine M needs to be grasped, for example, the central controller controls the robot drive mechanism 1400 to drive the respective robot 1150, 1160 to the position corresponding to the respective layer and column.

In some embodiments, as shown in figures 14-17 and 19-24, the materials storage and supply module 1000 may also include at least one materials feeding mechanism 1700,1800, the cassettes M1, M2 from the cassette chamber 1120 are transferred to the respective material charging arrangements 1700, 1800 via the at least one transfer device 1500, 1600. It should be noted that the at least one material feeding mechanism 1700, 1800 is arranged to feed material from a material cassette M1, M2 into a finished cup 2101 on a first rotary member 2150, 3150 and/or a mixed cup 2201 on a second rotary member 2250, 3250 of a multi-station dual rotary module 2000, 3000 as will be described in more detail below.

In a particular embodiment, the bottom wall 1140 of each cartridge chamber 1120 may be provided with two cartridge outlets, a first cartridge outlet 1141 and a second cartridge outlet 1142 (shown in fig. 3). More specifically, the pod M1 for supplying the final cup 2101 referred to above may be withdrawn from the pod compartment 1120 via the first pod outlet 1141, the cartridge M2 for supplying the above mentioned mixing cup 2201 may be taken out of the cartridge chamber 1120 via the second cartridge outlet 1142. More specifically, as shown in fig. 7-11, the material storage and supply module 1000 may further include two robots, namely a first robot 1150 and a second robot 1160, the first robot 1150 may be provided with a first material cassette jaw 1151 and a first gripper jaw cylinder 1151D driving the first material cassette jaw 1151, and the second robot 1160 may be provided with a second material cassette jaw 1161 and a second gripper jaw cylinder 1161D driving the second material cassette jaw 1161; for example, the first robot 1150 may move the first cassette M1 from the supply 1121 of the cassette chamber 1120 to the first cassette outlet 1141, the second robot 1160 may then move the second pod M2 from the supply 1121 of the pod compartment 1120 to the second pod outlet 1142.

More specifically, as shown in fig. 5-6 and 12-25, the material storage and supply module 1000 may include two conveyors, namely, a first conveyor 1500 and a second conveyor 1600, the tray of the first conveyor 1500 being referred to as a first tray 1510, the conveyor drive mechanism of the first conveyor 1500 being referred to as a first conveyor drive mechanism 1520, the tray of the second conveyor 1600 being referred to as a second tray 1610, the conveyor drive mechanism of the second conveyor 1600 being referred to as a second conveyor drive mechanism 1620. More specifically, as shown in FIGS. 14-17 and 19-24, the material storage and supply module 1000 may also include two material charging mechanisms, namely a first material charging mechanism 1700 and a second material charging mechanism 1800. More specifically, according to actual needs, the first tray 1510 of the first conveyor 1500 may receive the first magazine M1 placed by the first robot 1150 at the first magazine outlet 1141, and then the first conveyor drive mechanism 1520 drives the first conveyor 1500, more specifically the first tray 1510 carrying the first magazine M1, to move from the first magazine outlet 1141 to the first material charging mechanism 1700; and/or the second tray 1610 of the second conveyor 1600 may receive the second pod M2 placed by the second robot 1160 at the second pod outlet 1142, and then the second conveyor drive mechanism 1620 drives the second conveyor 1600, and more particularly the second tray 1610 carrying the second pod M2, from the second pod outlet 1142 to the second material charging mechanism 1800. More specifically, as will be described in detail below in the multi-station dual swing module 2000, 3000, the first material charging mechanism 1700 may be configured to add respective materials to the finished cups 2101 on the first swing members 2150, 3150, and the second material charging mechanism 1800 may be configured to add respective materials to the mixing cups 2201 on the second swing members 2250, 3250.

In such an embodiment, it may be considered that the first robot 1150, the first conveyor 1500 and the first material charging mechanism 1700 constitute a first supply line, more specifically, the first supply line for supplying the first material cartridge M1 to the finished cups 2101 on the first rotary members 2150, 3150 of the multi-station dual rotary modules 2000, 3000; the second robot 1160, the second conveyor 1600 and the second material charging mechanism 1800 constitute a second supply line for supplying the second material cartridge M2 to the mixing cups 2201 on the second swivel members 2250, 3250 of the multi-station dual swivel modules 2000, 3000. It should be noted that the first and second supply lines may also comprise other mechanisms, which may be described below, such as respective film opening mechanisms, intermediate transfer devices, inclined slides. Depending on the kind of beverage to be made, one or both of the first and second supply lines may be activated, for example to add the desired material only in finished cup 2101 or in mixing cup 2201 or to add the desired material in finished cup 2201 and mixing cup 2201 simultaneously. In a more specific embodiment, in the case where the first supply line and the second supply line are simultaneously activated, the first magazine M1 grasped by the first manipulator 1150 and the second magazine M2 grasped by the second manipulator 1160 may be the same magazine, i.e., a magazine containing the same material. More specifically, the first magazine M1 is used to supply finished cups 2101; the second magazine M2 is used to supply mixing cups 2201, for example, for further stirring refinement operations, for example, to break down the material into fine particles to meet the taste requirements.

In some embodiments, as shown in fig. 7-11, the robots 1150, 1160 described above are XYZ coordinate axis robots. In a specific embodiment, the robot drive mechanism 1400 may include: a Z-axis servo motor 1410 driving the at least one robot 1150, 1160 to move in the Z-axis to reach the material cartridge layers of the different material cartridge chambers 1120, more specifically, the Z-axis servo motor 1410 may drive the at least one robot 1150, 1160 via a ball screw; an X-axis servo motor 1420 driving the at least one robot 1150, 1160 to move in the X-axis to reach different material cassette columns, more specifically, the X-axis servo motor 1420 drives the at least one robot 1150, 1160 via a timing belt; and a Y-axis motor 1430, 1440 driving a corresponding one of the at least one robot 1150, 1160 to move in the Y-axis to grasp the material cartridge, more specifically, each Y-axis motor 1430, 1440 driving a corresponding robot 1150, 1160 via a rack and pinion. More specifically, the Y-axis motors 1430, 1440 can drive a respective one of the at least one robot 1150, 1160 to move toward the cassette M at the supply 1121 of the cassette chamber 1120 after the respective robot reaches a position corresponding to a desired cassette layer and a desired cassette column of the cassette chamber 1120 to enable the respective cassette jaw 1151, 1161 to grip the cassette.

In a more specific embodiment, as shown in fig. 7-11, where the material storage and supply module 1000 includes a first robot 1150 and a second robot 1160, a Z-axis servo motor 1410 and an X-axis servo motor 1420 may be provided to simultaneously drive the first robot 1150 and the second robot 1160 to move synchronously along the Z-axis and the X-axis, respectively, but a first Y-axis motor 1430 and a second Y-axis motor 1440 are provided to drive the first robot 1150 and the second robot 1160, respectively, to drive one or both of the first robot 1150 and the second robot 1160 to move in the Y-axis, respectively, according to the activation condition of the first supply line and the second supply line. More specifically, in the case where only the first supply line is enabled, only the first Y-axis motor 1430 is operated to drive the first robot 1150 to perform the relevant action along the Y-axis; in the case of only enabling the second supply line, only the second Y-axis motor 1440 is required to operate to drive the second manipulator 1160 to perform the related motion along the Y-axis; with the first and second supply lines simultaneously enabled, the first and second Y-axis motors 1430 and 1440 are simultaneously operated to simultaneously drive the first and second robots 1150 and 1160 to perform related actions along the Y-axis.

In a more specific embodiment, as shown in fig. 7-11, the robot drive mechanism 1400 may further include: a Z-axis guide 1411 disposed along the Z-axis for guiding movement of the at least one robot 1150, 1160 in the Z-axis; more specifically, two Z-axis guide rails 1411 parallel to each other are provided along the Z-axis; an X-axis guide rail 1421 disposed along the X-axis for guiding movement of the at least one robot 1150, 1160 in the X-axis; more specifically, the X-axis guide rail 1421 is configured to move in synchronization with the at least one robot 1150, 1160 in the Z-axis; y-axis guides 1431, 1432 are provided along the Y-axis for guiding the movement of the respective robots 1150, 1160 in the Y-axis, i.e. a respective Y-axis guide 1431, 1432 is provided for each robot 1150, 1160. More specifically, where the material storage and supply module 1000 includes a first robot 1150 and a second robot 1160, the robot drive mechanism 1400 includes a first Y-axis guide rail 1431 for guiding the first robot 1150 to move on the Y-axis and a second Y-axis guide rail 1432 for guiding the second robot 1160 to move on the Y-axis.

In a specific embodiment, the manipulator drive mechanism 1400 may include a first Z-axis slider and a second Z-axis slider, the first Z-axis slider and the second Z-axis slider being arranged to each slide along one of the Z-axis rails 1411; the X-rail 1421 is coupled to the first Z-axis slider at one end and to the second Z-axis slider at the other end. In addition, as shown in fig. 7-10, the manipulator drive 1400 may further include an X-axis slider 1422 configured to slide along the X-axis guide rail 1421, with both y-axis guide rails 1431, 1432 coupled to the X-axis slider 1422. In addition, each robot 1150, 1160 is configured to be supported by a respective Y-axis rail 1431, 1432 and to be capable of sliding along the respective Y-axis rail 1431, 1432, with the respective magazine clamp jaw 1151, 1161 being coupled to one end of the respective robot 1150, 1160, for example. Thus, upon operation of the Z-axis motor, the first and second Z-axis sliders can move along the Z-axis, so that the X-axis guide rails 1421, and even the X-axis servo motor 1420, can be moved along the Z-axis by the first and second Z-axis sliders, while the Y-axis guide rails 1431, 1432 coupled to the X-axis slider 1422 can move along the Z-axis, and so that the robot arms 1150, 1160 supported by the Y-axis guide rails 1431, 1432 can move along the Y-axis; when the X-axis servo motor 1420 is operated, the X-axis slider 1422 can move along the X-axis guide rail 1421, and thus, the Y-axis guide rails 1431, 1432 coupled to the X-axis slider 1422 can move along the X-axis, and thus, the robot arms 1150, 1160 supported by the Y-axis guide rails 1431, 1432 can move along the X-axis; the respective robots 1150, 1160 can move along the Y-axis rails 1431, 1432 when the respective Y-axis motors 1430, 1440 are operated. Thereby, positioning of the robots 1150, 1160 and thus the magazine clamping jaws 1151, 1161 in the Z-axis, X-axis and Y-axis is achieved.

In some embodiments, the material cartridge M includes a cartridge body and a sealing membrane configured to seal a cartridge body opening of the cartridge body. As shown in fig. 14-16, 19, 21, 23-25, the material storage and supply module 1000 may then further include at least one film opening mechanism 1580, 1590, the film opening mechanisms 1580, 1590 being configured to open the sealing film before the material cassettes M1, M2 are transferred to the respective material loading mechanisms 1700, 1800 to allow the material in the material cassettes M1, M2 to be poured out.

More specifically, as shown in fig. 14-16, 19, 21, 23-25, the material storage and supply module 1000 may include two film opening mechanisms, namely, a first film opening mechanism 1580 and a second film opening mechanism 1590, for example, the first film opening mechanism 1580 may be provided as a sealing film for opening the first material cartridge M1, and the second film opening mechanism 1590 may be provided as a sealing film for opening the second material cartridge M2.

In some embodiments, as shown in fig. 14-16, 19, 21, 23-25, each film opening mechanism 1580, 1590 may include a film opening knife 1581, 1591, the film opening knife 1581, 1591 being configured to at least partially slit the sealing film. More specifically, the film-opening knife 1581, 1591 is configured with a cut-in 1582, 1592 that is capable of cutting into the sealing film of the respective material cassette M1, M2, the cut-in 1582, 1592 being configured to cut a portion of the sealing film, whereby it can be ensured that the sealing film is opened to enable the material in the material cassette M1, M2 to be removed or poured out, while the cut sealing film does not fall out of the material cassette M1, M2 uncontrolled or fly away. More specifically, the cuts 1582, 1592 of the knife 1581, 1591 are configured as cylindrical members with toothed edges having a notch provided therein that allows the sealing film to be notched in a portion other than the aligned notch portion without the aligned notch portion being notched, thereby allowing the sealing film to be disengaged from the cartridges M1, M2.

More specifically, as shown in fig. 14-16, 19, 21, 23-25, each film opening mechanism 1580, 1590 may further include a resilient member, referred to as a first resilient member 1583, 1593, disposed about the cut-in 1582, 1592, the first resilient member 1583, 1593 being configured to bear against the perimeter of the box opening of the material box M1, M2 when the respective material box M1, M2 reaches the cut-in 1582, 1592, to enable the first resilient member 1583, 1593 to compress and store the elastic potential energy, and then to stretch to release the elastic potential energy to push the material box M1, M2 away from the cut-in 1582, 1592, thereby effectively preventing the material box M1, M2 from hanging over the cut-in 1582, 1592, thereby ensuring proper operation of the machine.

In a more specific embodiment, as shown in fig. 14-16, 19, 21, 23-25, each film opening mechanism 1580, 1590 may further include a film opening drive mechanism capable of driving the film opening knife 1581, 1591 between a stowed position and an operative position, the film opening knife 1581, 1591 being configured to open the sealing film of the respective material cassette M1, M2 in the operative position. More specifically, the knife 1581, 1591 does not block movement of other mechanisms when in the stowed position. In a specific embodiment, the film opening drive mechanism is a film opening cylinder 1584, 1594, the film opening cylinder 1584, 1594 comprising a film opening cylinder movable member, and the film opening knife 1581, 1591 is configured to be coupled to the film opening cylinder movable member for movement by the film opening cylinder movable member between the stowed position and the operative position. Fig. 14 shows the film opening mechanism 1580 in the working position, while fig. 15 and 16 each show the film opening mechanism 1580 in the stowed position.

In some embodiments, the respective cassettes M1, M2 are sent by the respective conveyor drive mechanisms 1520, 1620 to the respective film opening mechanisms 1580, 1590, and more specifically to the film opening knives 1581, 1591 of the film opening mechanisms 1580, 1590 to perform a film cutting operation to cut the sealing film. More specifically, the first magazine M1 is conveyed to the film opening knife 1581 of the film opening mechanism 1580, more specifically, to the film opening knife 1581 of the first film opening mechanism 1580 via the first conveyance driving mechanism 1520 of the first conveyance device 1500. In such an embodiment, the first cassette M1 may be grasped via the first cassette clamping jaw 1151 of the first robot 1150 and placed in the first tray 1510 of the first conveyor 1500 at the first cassette outlet 1141, the first tray 1510 being driven by the first conveyor drive mechanism 1520 to move in a first vertical direction (e.g., vertically downward) from the first cassette outlet 1141 of the cassette chamber 1120 to a charging height position corresponding to the operating position of the first material charging mechanism 1700; the first film opening drive mechanism, more specifically the first film opening cylinder 1584, then drives the film opening knife 1581 to extend from the retracted position to the working position; simultaneously or then, the first transfer drive motor 1520 drives the first tray 1510 carrying the first material cassette M1 to move in a second vertical direction (e.g., vertically upward) opposite to the first vertical direction from the feed height position to a film cutting height position where the film slitting knife 1511 can slit the sealing film of the first material cassette M1; after the film cutting operation, the first film opening driving mechanism 1584 drives the film opening knife 1581 to return from the working position to the retracted position, and at the same time, the first transfer driving mechanism 1520 drives the first tray 1510 carrying the first material cassette M1 with the sealing film opened to return from the film cutting height position to the feeding height position in the first vertical direction so that the first material cassette M1 can be operated by the first material feeding mechanism 1700 to feed the material in the first material cassette M1 into the finished cup 2101 of the first rotary member 2150 of the multi-station double rotary module 2000, for example, which will be described in detail later. Of course, in a similar manner, the second magazine M2 may also be conveyed to the film opening knife 1591 of the second film opening mechanism 1590 via the second conveying drive mechanism 1620 of the second conveying device 1600, and the description will not be repeated here.

However, in some embodiments, the material storage and supply module 1000 may further include a first intermediate conveyor (not shown) disposed between the first conveyor 1500 and the first film opening mechanism 1580, the first intermediate conveyor may include a first intermediate tray and a first intermediate conveyor drive mechanism configured to drive the first intermediate conveyor to move; the first magazine M1 can be transferred from the first transfer device 1500 to a first intermediate tray of a first intermediate transfer device that can transfer the first magazine M1 to the first film opening mechanism 1580 and the first material charging mechanism 1700. In such an embodiment, the first cassette M1 may be grasped via a cassette jaw 1151 of the first robot 1150 and placed in the first tray 1510 of the first conveyor 1500, the first tray 1510 being driven by the first conveyor drive mechanism 1520 to reach the first intermediate tray of the first intermediate conveyor from the first cassette outlet 1141 of the cassette compartment 1120. Then, if a film cutting operation is required, the first film opening driving mechanism 1584 of the first film opening mechanism 1580 may drive the film opening knife 1581 to extend from the retracted position to the working position. Simultaneously or later, the first intermediate conveying driving mechanism can drive the first intermediate tray carrying the first material box M1 to move to a film cutting height position along the second vertical direction so as to perform film cutting operation. After the film cutting operation is finished, the first film opening driving mechanism 1584 of the first film opening mechanism 1580 can drive the film opening knife 1581 to return to the retracted position from the working position, and meanwhile, the first intermediate conveying driving mechanism drives the first intermediate tray carrying the first material box M1 after film cutting to return to the feeding height position from the film cutting height position along the first vertical direction. In a specific embodiment, the first intermediate transfer drive mechanism is a first intermediate rodless cylinder that may include a slidable first intermediate transfer slide with which the first intermediate tray is coupled, more specifically secured, whereby the first intermediate tray can be driven by the first intermediate transfer slide to the first film opening mechanism 1580 and the first material feed mechanism 1700.

In a specific embodiment, the material storage and supply module 1000 may further include a first inclined ramp (not shown) via which the first material cassette M1 is capable of being transferred from the first tray 1510 of the first transfer device 1500 to the first intermediate tray of the first intermediate transfer device. More specifically, the first inclined ramp is configured to include a comb-shaped first receiving end, and the first tray 1510 is configured to include a comb-shaped structure complementary to the shape of the first receiving end such that the first tray 1510 can be inserted into the first receiving end by the first conveyor, more specifically, the comb teeth of the first receiving end of the first inclined ramp are inserted into gaps between the comb teeth of the first tray 1510 or vice versa, thereby enabling the first magazine M1 to be transferred from the first tray 1510 to the first receiving end and then slid into the first intermediate tray via the first ramp. More specifically, in such an embodiment, the first conveyor drive mechanism 1520 of the first conveyor 1500 is capable of driving the first tray 1510 vertically downward from the first magazine outlet 1141 to the first receiving end of the first inclined ramp and continuing the downward movement such that the teeth of the first tray 1510 are inserted into the gaps of the teeth of the first receiving end until the bottom of the first magazine M1 falls onto the first receiving end, thereby transferring the first magazine M1 from the first tray 1510 to the first inclined ramp, and then the first magazine M1 can slide along the first inclined ramp to the first intermediate tray. More specifically, the first inclined ramp comprises a fluent strip, which facilitates the sliding of the first magazine M1 along the first inclined ramp.

Similarly, in some embodiments, as shown in fig. 19, 22, and 25, the material storage and supply module 1000 may further include a second intermediate conveyor 1650 disposed between the second conveyor 1600 and the second film opening mechanism, the second intermediate conveyor 1650 including a second intermediate tray 1651 and a second intermediate conveyor drive mechanism 1660 configured to drive movement of the second intermediate conveyor 1650; the second magazine M2 can be transferred from the second conveyor 1600 to a second intermediate tray 1651 of a second intermediate conveyor 1650, the second intermediate conveyor 1650 being capable of transferring the second magazine M2 to the second film opening mechanism 1590 and the second material charging mechanism 1800. In such an embodiment, the second cartridge jaw 1161 of the second robot 1160 may grasp the second cartridge M2 from the supply 1121 of the cartridge chamber 1120 and place it in the second tray 1610 of the second conveyor 1600 at the second cartridge outlet 1142 of the cartridge chamber 1120, the second tray 1610 being driven by the second conveyor drive mechanism 1620 to reach the second intermediate tray 1651 of the second intermediate conveyor 1650 from the second cartridge outlet 1142 of the cartridge chamber 1120. Then, if a film cutting operation is required, the second film opening driving mechanism 1594 of the second film opening mechanism 1590 may drive the film opening knife 1591 to extend from the retracted position to the working position. Simultaneously or thereafter, the second intermediate transfer drive mechanism 1660 may drive the second intermediate tray 1651 carrying the second magazine M2 to move in the second vertical direction to the film cutting height position for film cutting operations. After the film cutting operation is finished, the second film opening driving mechanism 1594 of the second film opening mechanism 1590 may drive the film opening knife 1591 to return from the working position to the retracted position, while the second intermediate transfer driving mechanism 1660 drives the second intermediate tray 1651 carrying the second magazine M2 after film cutting to return from the film cutting height position to the feeding height position in the first vertical direction. In a specific embodiment, the second intermediate transfer drive mechanism 1660 is a second intermediate rodless cylinder that can include a second intermediate transfer slide 1661 that is slidable, the second intermediate tray 1651 being coupled to the second intermediate transfer slide 1661 such that the second intermediate tray 1651 can be driven by the second intermediate transfer slide 1661 to the second film opening mechanism 1590 and the second material feeding mechanism 1800.

In a specific embodiment, the material storage and supply module 1000 of fig. 6, 17-25 may further include a second inclined slide 1680, via which the second magazine M2 is capable of being transferred from the second tray 1610 of the second conveyor 1600 to the second intermediate tray 1651 of the second intermediate conveyor 1650. More specifically, as best shown in fig. 18, the second inclined slide 1680 is configured to include a comb-shaped second receiving end 1681, and the second tray 1610 is configured to include a comb-shaped structure 1611 complementary to the shape of the second receiving end 1681, such that the second tray 1610 can be brought into the second receiving end 1681 via the second conveyor 1600, more specifically, the comb teeth of the second receiving end 1681 of the second inclined slide 1680 are inserted into gaps between the comb teeth of the second tray 1610, or vice versa, such that the second magazine M2 can be transferred from the second tray 1610 to the second receiving end 1681 and then slid into the second intermediate tray 1681 via the second inclined slide 1680. More specifically, in such an embodiment, the second transfer drive mechanism 1620 of the second transfer device 1600 is capable of driving the second tray 1610 to move vertically downward from the second cartridge outlet 1142 of the cartridge chamber 1120 to the second receiving end 1681 of the second inclined slide 1680 and continue to move downward such that the teeth of the second tray 1610 are inserted into the gaps of the teeth of the second receiving end 1681 until the bottom of the second cartridge M2 falls onto the second receiving end 1681, thereby transferring the second cartridge M2 from the second tray 1610 to the second inclined slide 1680, and then the second cartridge M2 may slide along the second inclined slide 1680 to the second intermediate tray 1651. More specifically, the second inclined ramp 1680 includes a fluent strip that facilitates sliding of the second magazine M2 along the second inclined ramp 1680.

As mentioned above, the material storage device 1100 may be configured to perform refrigeration or insulation and/or freshness functions, and the material cartridge compartment 1120 may be configured to perform refrigeration or insulation and/or freshness functions, accordingly. In some embodiments, to ensure that the cooling or warming and/or fresh keeping functions of the cartridge chamber 1120 are not affected during removal of the cartridge from the cartridge chamber 1120, the trays 1510, 1610 of each conveyor 1500, 1600 (e.g., the first tray 1510 of the first conveyor 1500 and the second tray 1610 of the second conveyor 1600, above) are positioned to be inserted into the respective cartridge outlets 1141, 1142 of the cartridge chamber 1120 prior to the start of operation of the conveyors 1500, 1600 so that the trays 1510, 1610 can block the cartridge outlets 1141, 1142 when not in operation, thereby ensuring the cooling or warming and/or fresh keeping functions of the cartridge chamber 1120.

In a more specific embodiment, as shown in fig. 26-27, the material storage and supply module 1000 may also include a linkage that is linked with the trays 1510, 1610 of each conveyor 1500, 1600. Each linkage is identically configured, so only one linkage is specifically described herein, more specifically the linkage 1530 associated with the first cartridge outlet 1141 and the first tray 1510, although the description herein is certainly applicable to other linkages, more specifically to linkages associated with the second cartridge outlet 1142 and the second tray 1610. As shown in fig. 26-27, the linkage 1530 is configured to: blocking the first cartridge outlet 1141 as the first tray 1510 moves away from the first cartridge outlet 1141 with the first conveyor drive mechanism 1520, thereby ensuring refrigeration or insulation and/or freshness preservation of the cartridge chamber 1120; the first tray 1510 exits the first cartridge outlet 1141 as the first conveyor drive mechanism 1520 returns to the first cartridge outlet 1141, thereby allowing the first tray 1510 to reinsert into the first cartridge outlet 1141 upon return, thereby ensuring proper operation of the entire machine.

In a particular embodiment, as shown in fig. 26-27, each linkage 1530 can include: the body 1531 is fixedly disposed with respect to the cartridge chamber 1120, for example, may be fixedly disposed in a side wall or a bottom wall of the cartridge chamber 1120; a lever 1532 movable between a first lever position and a second lever position; a cylindrical cam 1533, the lever 1532 being inserted into the cylindrical cam 1533 to be able to rotate the cylindrical cam 1533; a cover plate 1534 coupled with the cylindrical cam 1533 to be rotatable with the cylindrical cam 1533 between a closed position in which the cover plate 1534 closes the cartridge outlet 1141 and an off position in which the cover plate 1534 no longer closes the first cartridge outlet 1141; the second elastic member 1535 is connected between the body 1531 and the lever 1532. In such an embodiment, the linkage 1530 may be configured to: during insertion of the first tray 1510 into the first magazine outlet 1141, the first tray 1510 drives the lever 1532 from the first lever position to the second lever position to cause the second elastic member 1535 to store potential energy and the cylindrical cam 1533 to rotate, thereby causing the cover plate 1534 to rotate from the closed position to the off position; when the first tray 1510 is positioned at the first magazine outlet 1141, the first tray 1510 blocks movement of the lever 1532; when the first tray 1510 leaves the first magazine outlet 1141, the second resilient member 1535 releases energy to move the lever 1532 from the second lever position back to the first lever position and thus rotate the cylindrical cam 1533, thereby rotating the cover plate 1534 from the off position to the closed position. In the embodiment shown, during insertion of the first tray 1510 into the first magazine outlet 1141, the first tray 1510 will push the lever 1532 upward to push the lever 1532 from the lower first lever position to the upper second lever position, while the second resilient member 1535 is stretched to store potential energy and the cover plate 1534 rotates with the cylindrical cam 1533 driven by the lever 1532 from the closed position to the off position. After first tray 1510 is fully inserted into first cartridge outlet 1141, first tray 1510 will block return of lever 1532 from the second lever position toward the first lever position; after the first tray 1510 is pulled out of the first material box outlet 1141 again, the second elastic member 1535 resets and releases the potential energy to drive the lever 1532 from the second lever position back to the first lever position, while the cover plate 1534 rotates with the cylindrical cam 1533 driven by the lever 1532 from the off position back to the closed position. Such an arrangement ensures that the cartridge chamber 1120 is well closed at any time without affecting the cooling or warming and/or fresh keeping effect due to the opening of the cartridge outlets 1141, 1142.

In some embodiments, as shown in fig. 14-17, first material charging mechanism 1700 includes a first swing cylinder 1710, a first swing arm 1720 driven by first swing cylinder 1710, and a first charging jaw 1730 coupled to first swing arm 1720, first swing cylinder 1710 configured to drive first swing arm 1720 to swing between a first swing arm position and a second swing arm position, first charging jaw 1730 configured to grasp first material cartridge M1 when first swing arm 1720 is in the first swing arm position, and to invert first material cartridge M1 as first swing arm 1720 is rotated from the first swing arm position to the second swing arm position to enable pouring of material in first material cartridge M1 into a corresponding receiving container, and more particularly into finished cup 2101 on first swing member 2150, 3150 of multi-station dual swing module 2000, 3000, as will be described in detail below. More specifically, after the material in the first material cassette M1 is poured out, the first swing arm 1720 is returned to the original position, and after returning to the home position, first charging jaw 1730 releases first material cartridge M1 to place it in first waste cartridge collector 1740. More specifically, the home position corresponds to the first swing arm position. More specifically, in the event that the material storage and supply module 1000 does not include a first intermediate conveyor, the first swing arm 1710 in the first swing arm position enables the first charging jaw 1730 to grasp the first material cassette M1 on the first tray 1510 of the first conveyor 1500 in the charging height position; where the material storage and supply module 1000 includes a first intermediate conveyor, the first swing arm 1720 in the first swing arm position enables the first charging jaw 1730 to grasp a first material cassette M1 on a first intermediate tray of the first intermediate conveyor in the charging height position.

In a particular embodiment, first swing arm 1720 swings 180 between a first swing arm position and a second swing arm position; and in both the first swing arm position and the second swing arm position, the first swing arm 1720 is horizontally oriented. Thus, the first swing arm 1720, upon pivoting from the first swing arm position to the second swing arm position, can allow the first material cartridge M1 to be flipped 180 ° so that the material therein can be completely poured out.

In some embodiments, as shown in fig. 17 and 19-25, the second material charging mechanism 1800 includes a second swing cylinder 1810, a second swing arm 1820 driven by the second swing cylinder 1810, and a second charging jaw 1830 coupled with the second swing arm 1820, the second swing cylinder 1810 configured to drive the second swing arm 1820 to swing between a third swing arm position and a fourth swing arm position, the second charging jaw 1830 configured to grasp the second material cartridge M2 when the second swing arm 1820 is in the third swing arm position and flip the second material cartridge M2 as the second swing arm 1820 swings from the third swing arm position to the fourth swing arm position to enable pouring of material in the second material cartridge M2 into a corresponding receiving container, more particularly into a mixing cup 2201 on a second swing member 2250, 3250 of a multi-station dual swing module 2000, 3000, as will be described in detail below. More specifically, after the material in second cartridge M2 is poured out, second swing arm 1820 is returned to its original position, and after return to its original position, second charging jaw 1830 releases second cartridge M2 to place it in second waste cartridge collector 1840. More specifically, the home position corresponds to the third swing arm position. More specifically, in the event that the material storage and supply module 1000 does not include the second intermediate conveyor 1650, the second swing arm 1820 in the third swing arm position enables the second charging jaw 1830 to grasp the second magazine M2 on the second tray 1610 of the second conveyor 1600 in the charging height position; where the material storage and supply module 1000 includes the second intermediate conveyor 1650, the second swing arm 1820 in the second swing arm position enables the second charging jaw 1830 to grasp the second magazine M2 on the second intermediate tray 1651 of the second intermediate conveyor 1650 in the charging height position.

In a particular embodiment, the second swing arm 1820 swings 180 ° between the third swing arm position and the fourth swing arm position, and in both the third swing arm position and the fourth swing arm position, the second swing arm 1820 is horizontally oriented. Thereby, the second swing arm 1820 can allow the second magazine M2 to be turned 180 ° when being rotated from the third swing arm position to the fourth swing arm position, so that the material therein can be completely poured out.

It should be noted that while in this application it is described in the materials storage and supply module 1000 that it may include the at least one materials feeding mechanism, more particularly the first materials feeding mechanism 1700 and the second materials feeding mechanism 1800, the first material charging mechanism and the second material charging mechanism may also be considered as constituent elements of a multi-station dual swing module as will be described in detail hereinafter.

In some embodiments, as shown in fig. 5, 15-17, the material storage and supply module 1000 may further include a skid cylinder 1750, the skid cylinder 1750 including a skid cylinder movable component, at least one of the at least one material charging mechanisms 1700, 1800 is configured to be coupled to the slipway cylinder movable member to be movable by the slipway cylinder movable member between an extended position and a retracted position. More specifically, at least one of the material charging mechanisms coupled to the moveable member of the slipway cylinder is used to pour material in the material cartridge into the receiving receptacles having different heights. For example, a movable member of a sliding table cylinder is arranged to drive at least one material charging mechanism to move between a higher extending position and a lower retracting position along the vertical direction, so that the corresponding material charging mechanism can reach material receiving containers with different heights. More specifically, the lower retracted position corresponds to the above-described feed height position, with the material feed mechanism being located at a higher extended position when the slide cylinder 1750 is operated, i.e., allowing material to be fed into a receiving container having a higher height when the slide cylinder 1750 is operated. It is further noted that slide cylinder 1750 is operated with the corresponding material cassette already transferred to the material charging mechanism, and more particularly in the case where the respective charging jaw has gripped the respective magazine.

More specifically, as will be described below in the multi-station dual swivel module 2000, the receiving container may be a first type of finished cup, such as a smaller height paper cup, and a second type of finished cup, such as a larger height plastic cup, having different heights. In this case, the slipway cylinder movable components of the slipway cylinder 1750 may be coupled to the first material charging mechanism 1700 to allow the first material charging mechanism 1700, and more particularly the first charging jaw 1730 of the first material charging mechanism 1700, to access the first type of finished cup and the second type of finished cup having different heights located on the first swivel member 2150 of the multi-station dual swivel module 2000. More specifically, the cylinder body of first swing cylinder 1710 of first material charging mechanism 1700 may be configured to couple with the slipway cylinder movable member such that first swing arm 1720 and first charging jaw 1730 connected to first swing arm 1720 are movable up and down with the slipway cylinder movable member.

In a specific embodiment, the material storage device 1100 of the present application is configured to include two material cartridge chambers, a first material cartridge chamber for housing a material cartridge containing fresh material therein and a second material cartridge chamber for housing a material cartridge containing solid material therein.

In some embodiments, the first cartridge chamber includes the first and second supply lines mentioned above, and only the first supply line or the second supply line may be activated, or both the first supply line and the second supply line may be activated, according to actual needs. More specifically, fresh material may be added only to the finished cups 2101 on the first rotary members 2150, 3150 or the mix cups 2201 on the second rotary members 2250, 3250 of the multi-station dual rotary modules 2000, 3000 as will be described hereinafter, or to both finished cup 2101 and mixing cup 2201. Of course, depending on the type of beverage to be made, the material in the first material cartridge chamber may not be needed, thus neither the first supply line nor the second supply line may be enabled. More specifically, the first material cartridge compartment is required to have refrigeration and fresh keeping functions.

In some embodiments, the second cartridge chamber may include only the first supply line mentioned above. More specifically, solid material may be added only to finished cup 2101 or not to mixing cup 2201, such as in the preparation of a milk tea beverage. Of course, according to the type of beverage to be made, the material in the second magazine chamber may not be needed. More specifically, the method comprises the steps of, the second material box chamber needs to have heat preservation and fresh keeping functions.

In some embodiments, the first and second cartridge chambers may each include one or both of the first and second supply lines mentioned above. More specifically, depending on the type of beverage to be made, the materials in the first and second magazine chambers may be required simultaneously, so that the respective supply lines of the respective magazine chambers may be activated simultaneously or in stages.

Of course, the present application is not limited to the number and types of magazine chambers described above, and any relevant possible technical solutions should be considered as being within the scope of the present application.

It should be understood that the operations of all the above-mentioned movement mechanisms, including the robot, the robot driving mechanism, the transfer device, the intermediate transfer device, the film opening mechanism, the slide table cylinder, and the like, are controlled by the central control computer, and can be reset after the corresponding operations are completed. More specifically, these movement mechanisms may be reset after one operation is completed to continue the next operation, and the operations of different movement mechanisms may be performed simultaneously, for example, the material feeding operation for the preceding cup of beverage and the film cutting operation for the subsequent beverage may be performed simultaneously, as long as the movements of these movement mechanisms do not interfere with each other.

1.2 storage and supply of ice cubes

In some embodiments, as shown in fig. 1, the interior space of the material storage apparatus 1100 may further include at least one ice outlet chamber 1170, in which ice outlet chamber 1170 is disposed an ice outlet mechanism 1900, which ice outlet mechanism 1900 may be configured to store ice cubes and output ice cubes, for example, for supplying ice cubes to the multi-station dual swing module 2000, 3000, and more particularly to the mixing cup 2201 on the second swing member 2250, 3250 of the multi-station dual swing module 2000, 3000, as will be described below.

In some embodiments, as shown in fig. 28-29, 32-33, and 36-38, the ice-making mechanism 1900 may include a base 1921, an ice-cube conveying assembly 1930, an ice-cube output assembly 1940, a load cell 1922, and a programmable logic controller.

The base 1921 may be configured to be stationary; in one particular embodiment, the base 1921 may be secured to the ice outlet housing floor 1171 of the ice outlet housing 1170 as shown in FIGS. 28-29, 31, 33.

As shown in fig. 25-26 and 33, the ice cube transport assembly 1930 can be mounted on the base 1921 and can include a conveyor housing 1931, a transport drive member 1932, and an ice cube transport member 1933. The conveyor housing 1931 defines a conveying space and may define an ice delivery outlet 1931a. The ice cubes transporting member 1933 is at least partially disposed in the transporting space, and is configured to be able to be driven by the transporting driving member 1932 to transport the ice cubes toward the ice cubes outlet 1931a. In a particular embodiment, the ice cube transport member 1933 can be a screw conveyor 1933 and the transport drive 1932 can be a motor 1932, as shown in fig. 30. More specifically, the screw conveyor 1933 is provided to be detachably coupled with a motor shaft of a motor 1932 as a conveying drive mechanism 1932. The motor 1932 more specifically may employ a variable frequency speed motor to allow the screw conveyor 1933 speed to automatically decrease as the amount of ice produced approaches a target value.

In a specific embodiment, as shown in fig. 28, the ice cube transport member 1933 is disposed in an inclined rather than horizontal manner. More specifically, in the case where the ice cube conveying member 1933 is a screw conveyor, the screw shaft 1933a of the screw conveyor 1933 is disposed at an angle of 10 ° to 30 °, for example, 15 °, with respect to the horizontal plane. This allows for better control of the amount of ice out. In addition, in order to be able to conveniently adjust the inclination angle of the screw conveyor 1933, a lifting device may be provided on the base 1921 to allow one end of the screw conveyor 1933 near the ice delivery outlet 1931a to be lifted up and down with the lifting device to change the inclination angle. The jacking device may more particularly be a hydraulic or pneumatic cylinder arranged vertically, or may be a screw nut mechanism.

In some embodiments, as shown in fig. 28, the ice-making mechanism 1900 also includes an ice storage bin 1901 disposed above the conveyor housing 1931, such as two or more ice storage bins disposed side-by-side. An ice is stored in each ice storage bin 1901, and an ice receiving opening 1931b is provided at the top of the conveyor housing 1931, and an ice supply opening for aligning with the ice receiving opening 1931b is provided at the bottom of the ice storage bin 1901, thereby allowing ice stored in the ice storage bin 1901 to enter the conveying space of the conveyor housing 1931. In a specific embodiment, to facilitate the passage of ice from the ice storage bin 1901 into the conveyor housing 1931, the floor of the ice storage bin 1901 may be configured as a drawer-type insert to allow the insert to be withdrawn when needed to drop ice from the ice storage bin 1901 into the conveyor housing 1931. In addition, a handle may be provided at the top or side of the ice storage case 1901 for convenience of handling. In addition, to facilitate placement of the ice cube storage bin 1901, a rail may be provided on top of the conveyor housing 1931, and only a slight pushing to a designated position may be required to place the ice cube storage bin 1901 above the conveyor housing 1931. In addition, a handle 1902 may be provided at a side of the ice bank 1901 to allow the ice bank 1901 to be pulled out along the slide rail.

As shown in fig. 28-29 and 30-38, the ice cube output assembly 1940 can be mounted on the base 1921 and configured to output ice cubes. In one embodiment, the ice cube transport assembly 1940 includes a main bin 1950 and an auxiliary bin 1960, the main bin 1950 and the auxiliary bin 1960 being configured to receive ice cubes transported by the ice cube transport member 1933 from an ice cube transport outlet 1931a of the conveyor housing 1931. In addition, the ice cube output assembly 1940 can further include an output drive assembly configured to drive the main cassette 1950 and the auxiliary cassette 1960 to output ice cubes.

28-29, 32, 36-37, a load cell 1922 is then provided in association with the main cassette 1950 and the auxiliary cassette 1960 to be able to sense the weight of the main cassette 1950 and the auxiliary cassette 1960, i.e., the weight sensed by the load cell 1922 is the sum of the weight of the main cassette 1950 and the weight of the auxiliary cassette 1960. The programmable logic controller is, for example, part of a central control machine of the integrated smart drink robot and is configured to communicate with the load cell 1922 and the output drive assembly to control the output drive assembly to drive the main and auxiliary cartridges 1950 and 1960 to output ice cubes when the sensed weight is within a predetermined threshold range, and to control the output drive assembly to drive only the main cartridge 1950 to output ice cubes when the sensed weight is greater than the predetermined threshold range.

Thus, the ice discharge mechanism 1900 according to the present invention can ensure accurate control of the amount of ice to be discharged. More specifically, the transport drive member 1932 is also provided to be able to communicate with a programmable logic controller. More specifically, a programmable logic controller is provided that is capable of receiving weight data from the load cell 1922 in real time as the ice discharge mechanism 1900 operates, and controlling the transport drive member 1932 to cease operation when the received weight data begins to enter the predetermined threshold range described above. However, during the time that the programmable logic controller controls the transport driving member 1932 to stop operating, especially in the case where the ice transporting member 1933 is a screw conveyor, it is still possible that ice cubes, even relatively large ice cubes, are dropped from the ice cube transport outlet 1931a to the main bin 1950 or the auxiliary bin 1960, so that it is possible to make the weight weighed by the load cell 1922 larger than the expected weight, at which time only ice cubes in the main bin 1950 or ice cubes in both the main bin 1950 and the auxiliary bin 1960 can be selectively outputted, so that the outputted ice cube amount can better meet the expectation.

31-32 and 36-38, the volume of the main cassette 1950 is greater than the volume of the auxiliary cassette 1960. In a specific embodiment, the ice cubes of the auxiliary box 1960 are contained in a range of 5 to 10 grams. It should be noted that the above-described predetermined threshold range is different depending on the application background.

More specifically, the auxiliary cassette 1960 may be located within or above or to the side of the main cassette 1950.

In some embodiments, as shown in FIGS. 31-36a, the main cassette 1950 includes a main cassette floor 1951, the main cassette floor 1951 being openable. Specifically, at least a portion of the main box floor 1951 is capable of being driven by the output drive assembly to switch the main box floor 1951 between a main box floor closed state in which the main box floor 1951 closes the bottom of the main box 1950 such that ice cubes in the main box 1950 cannot come out through the bottom thereof, and a main box floor open state in which the main box floor 1951 opens the bottom of the main box 1950 such that ice cubes in the main box 1950 can come out through the bottom thereof.

In one particular embodiment, as shown in FIG. 36a, the main cassette 1950 is configured such that its entire main cassette floor 1951 can be driven by an output drive assembly to switch between a main cassette floor closed state and a main cassette floor open state. That is, in such an embodiment, when it is desired to output ice cubes in the main box 1950 via the bottom, the entire main box floor 1951 can be driven via the output drive assembly to move from the open state to the open state; illustratively, the entire main cassette floor 1951 can be driven to move downward to the right in the drawing to open the bottom of the main cassette 1950. It should be noted that in this case, portions of the main cassette 1950 other than the main cassette floor 1951 may remain stationary, e.g., the peripheral wall 1954 of the main cassette 1950 may remain stationary. In a more specific embodiment, the peripheral wall 1954 of the main box 1950 can also include a main box tilt guide portion 1952 extending obliquely inward to the main box floor 1951 to facilitate quick and smooth sliding out of ice cubes in the main box 1950 under the guidance of the main box tilt guide portion 1952 in an open state of the main box floor 1951.

In another specific embodiment, as shown in fig. 31-36, the main cassette floor 1951 can include a first main half 1951a and a second main half 1951b, at least one of the first main half 1951a and the second main half 1951b being drivable by an output drive assembly to enable the main cassette floor 1951 to switch between a main cassette floor closed state and a main cassette floor open state, wherein: in the main box floor closed state, the first main half 1951a and the second main half 1951b are engaged with each other such that the main box floor 1951 cannot open the bottom of the main box 1950, and thus ice cubes cannot be output through the bottom of the main box 1950; in the main box bottom plate open state, the first main half 1951a and the second main half 1951b are separated from each other such that the main box bottom plate 1951 opens the bottom of the main box 1950, and thus ice cubes can be output through the bottom of the main box 1950. More specifically, the peripheral wall of the main cassette 1950 may further include a first inclined guide portion 1952a connected to the first main half 1951a of the main cassette bottom plate 1951 and a second inclined guide portion 1952b connected to the second main half 1951b, and more specifically, the first inclined guide portion 1952a and the second inclined guide portion 1952b are arranged to gather each other in a downward direction and are capable of being engaged with each other when the first main half 1951a and the second main half 1951b are engaged. Such a configuration allows for directing the full output of ice cubes when the main box floor 1951 is in an open state.

According to one embodiment, the auxiliary cassette 1960 includes an auxiliary cassette bottom plate 1961, the auxiliary cassette bottom plate 1961 being openable. In particular, at least a portion of the auxiliary bin bottom plate 1961 is capable of being driven by the output drive assembly to switch the auxiliary bin bottom plate 1961 between an auxiliary bin bottom plate closed state in which the auxiliary bin bottom plate 1961 closes the bottom of the auxiliary bin 1960 such that ice cubes in the auxiliary bin 1960 cannot exit through the bottom thereof, and an auxiliary bin bottom plate open state in which the auxiliary bin bottom plate 1961 opens the bottom of the auxiliary bin 1960 such that ice cubes in the auxiliary bin 1960 can exit through the bottom thereof.

In a specific embodiment, not shown, the auxiliary cassette 1960 is configured such that its entire auxiliary cassette floor 1961 can be driven by the output drive assembly to switch between an auxiliary cassette floor closed state and an auxiliary cassette floor open state. That is, in such an embodiment, when it is desired to output ice cubes in the auxiliary bin 1960 via the bottom, the entire auxiliary bin floor 1960 may be driven via the output drive assembly to move from the closed state to the open state. It should be noted that in this case, the portion of the auxiliary tank 1960 other than the auxiliary tank bottom plate 1961 may remain stationary, for example, the peripheral wall of the auxiliary tank 1960 may remain stationary. In a more specific embodiment, it may also be provided that the peripheral wall of the auxiliary bin 1960 includes an auxiliary bin tilt guide portion that extends obliquely inward to the auxiliary bin bottom plate 1961 to facilitate the ice cubes in the auxiliary bin 1960 to quickly and smoothly slide out under the guidance of the auxiliary bin tilt guide portion in the auxiliary bin bottom plate open state.

In another specific embodiment, as shown in fig. 31, the auxiliary cassette floor 1961 may comprise a first auxiliary half 1961a and a second auxiliary half 1961b, at least one of the first auxiliary half 1961a and the second auxiliary half 1961b being drivable by an output drive assembly to enable the auxiliary cassette floor 1961 to be switched between an auxiliary cassette floor closed state and an auxiliary cassette floor open state, wherein: in the auxiliary box floor closed state, the first auxiliary half 1961a and the second auxiliary half 1961b are engaged with each other such that the auxiliary box floor 1961 cannot open the bottom of the auxiliary box 1960, and thus ice cubes cannot be output through the bottom of the auxiliary box 1960; in the auxiliary box bottom plate open state, the first auxiliary half 1961a and the second auxiliary half 1961b are separated from each other such that the auxiliary box bottom plate 1961 opens the bottom of the auxiliary box 1960, and thus ice cubes can be output through the bottom of the auxiliary box 1960. More specifically, the peripheral wall of the auxiliary cassette 1960 may further include a third inclined guide 1962a connected to the first auxiliary half 1961a of the auxiliary cassette bottom plate 1961 and a fourth inclined guide 1962b connected to the second auxiliary half 1961b, more specifically, the third inclined guide 1962a and the fourth inclined guide 1962b are provided to converge toward each other in a downward direction and are capable of engaging with each other when the first auxiliary half 1961a and the second auxiliary half 1961b are engaged. Such a configuration allows for the promotion of complete output of ice cubes when the auxiliary cartridge floor 1961 is in an open state.

According to another embodiment, as shown in fig. 32 and 36-38, the auxiliary cartridge 1960 is rotatable. Specifically, the main and auxiliary cartridges 1950 and 1960 are provided as open-top, and the output drive assembly is capable of driving the auxiliary cartridges to rotate 1960 to allow ice cubes in the auxiliary cartridges 1960 to be poured out.

First embodiment of the ice discharge mechanism

As shown in fig. 31, in this first embodiment, the main cassette floor 1951 of the main cassette 1950 is openable, while the auxiliary cassette floor 1961 of the auxiliary cassette 1960 is openable.

In this case, the output drive assembly may include a first pinch cylinder 1970, the first pinch cylinder 1970 being configured to drive movement of at least a portion of the main cassette floor 1951. More specifically, the first finger cylinder 1970 may include a first translational movement portion 1971 and a second translational movement portion 1972 capable of translating in opposite directions simultaneously.

In some embodiments, a first finger cylinder 1970 may be provided to enable movement of the entire main cassette floor 1951. More specifically, the main cassette is configured as shown in FIG. 36a, and the main cassette may comprise a unitary main cassette floor 1951 and peripheral walls 1954, wherein the entire main cassette floor 1951 is arranged to be movable relative to the peripheral walls 1954. In these embodiments, one of the first translational movement portion 1971 and the second translational movement portion 1972 of the first pinch cylinder 1970 may be coupled with the main cassette floor 1951 such that the first pinch cylinder 1970 can drive the main cassette floor 1951 to switch between a main cassette floor closed state and a main cassette floor open state.

While in embodiments where the main cassette floor 1951 includes first and second main halves 1951a and 1951b that can be engaged and disengaged from each other, a first finger cylinder 1970 can be provided to enable movement of at least one of the first and second main halves 1951a and 1951 b.

In a particular embodiment, as shown in fig. 34 and 35, the main cassette 1950 can include a first main cassette part 1953a with a first main half 1951a of the main cassette floor 1951 and a second main cassette part 1953b with a second main half 1951b of the main cassette floor 1951, the first main cassette part 1953a and the second main cassette part 1953b also each with a respective peripheral wall 1954a, 1954b of the main cassette 1950. The first main cassette part 1953a or the second main cassette part 1953b is arranged to be movable with the first main half 1951a or the second main half 1951b, respectively, when the main cassette bottom plate 1951 switches between a main cassette bottom plate closed state and a main cassette bottom plate open state. More specifically, a first translational movement 1971 of the first finger cylinder 1970 may be coupled with the first main half 1951a and/or a second translational movement 1972 may be coupled with the second main half 1951 b.

In addition, the output drive assembly may also include a second pinch finger cylinder 1980, the second pinch finger cylinder 1980 being configured to drive movement of at least a portion of the auxiliary cartridge floor 1961. More specifically, the second finger cylinder 1980 includes a third translational movement portion 1981 and a fourth translational movement portion 1982 capable of translating in opposite directions at the same time.

In some embodiments, a second finger cylinder 1980 may be provided to drive the movement of the entire auxiliary cassette floor 1961. More specifically, the auxiliary cassette configuration may include an integrated auxiliary cassette bottom plate 1961 and peripheral walls, wherein the entire auxiliary cassette bottom plate 1961 is provided to be movable relative to the peripheral walls. In these embodiments, one of the third translational movement portion 1981 and the fourth translational movement portion 1982 of the second pinch cylinder 1980 may be coupled with the auxiliary cassette bottom plate 1961 such that the first pinch cylinder 1980 is capable of driving the auxiliary cassette bottom plate 1961 to switch between the auxiliary cassette bottom plate closed state and the auxiliary cassette bottom plate open state.

While in embodiments where the auxiliary cassette floor 1961 includes first and second auxiliary halves 1961a and 1961b that are capable of engaging and disengaging from each other, a second finger cylinder 1980 may be provided that is capable of driving movement of at least one of the first and second auxiliary halves 1961a and 1961 b.

In a particular embodiment, the auxiliary cassette 1960 can include a first auxiliary cassette portion 1963a with a first auxiliary half 1961a of the auxiliary cassette bottom plate 1961 and a second auxiliary cassette portion 1963b with a second auxiliary half 1961b of the auxiliary cassette bottom plate 1961, the first auxiliary cassette portion 1963a and the second auxiliary cassette portion 1963b also each having a respective peripheral wall 1964a, 1964b of the auxiliary cassette 1960. The first auxiliary cassette part 1963a or the second auxiliary cassette part 1963b is arranged to be movable with the first auxiliary half 1961a or the second auxiliary half 1961b, respectively, when the auxiliary cassette bottom plate 1961 is switched between an auxiliary cassette bottom plate closed state and an auxiliary cassette bottom plate open state. More specifically, the third translational movement 1981 of the second finger cylinder 1980 may be coupled with the first auxiliary half 1961a and/or the fourth translational movement 1982 may be coupled with the second auxiliary half 1962 b.

In the embodiment schematically shown in fig. 31, the main cassette 1950 and the auxiliary cassette 1960 may be disposed adjacent side by side. More specifically, a first main cassette section 1953a of the main cassette 1950 is disposed adjacent to a first auxiliary cassette section 1963a of the auxiliary cassette 1960. In this case, the second main half 1951b of the main cassette bottom plate 1951 is provided to be coupled with the second translating part 1972 of the first finger cylinder 1970 to be able to translate by the latter, while the first main half 1951a of the main cassette bottom plate 1951 is not coupled with the first translating part 1971 of the first finger cylinder 1970, i.e. in this case only the second main half 1951b of the main cassette bottom plate 1951 can be moved to engage and disengage with the first main half 1951a, thereby switching the main cassette bottom plate 1951 between a main cassette bottom plate closed state and a main cassette bottom plate open state. Furthermore, in this case, the second auxiliary half 1961b of the auxiliary cassette bottom plate 1961 is provided so as to be coupled with the fourth translational movement portion 1982 of the second pinch cylinder 1980 to be able to be translated by the latter, while the first auxiliary half 1961a of the auxiliary cassette bottom plate 1961 is not coupled with the third translational movement portion 1981 of the second pinch cylinder 1980, i.e., in this case only the second auxiliary half 1961b of the auxiliary cassette bottom plate 1961 is movable to engage and disengage with the first auxiliary half 1961a, so that the auxiliary cassette bottom plate 1961 is switched between the auxiliary cassette closed state and the open state.

In one embodiment, not shown, the auxiliary cassette 1960 may be positioned above or within the main cassette 1950 such that ice cubes in the auxiliary cassette 1960 can first fall into the underlying main cassette 1950 when the auxiliary cassette floor 1961 is in an open state and can be output via the main cassette floor 1951 in the open state. In another embodiment not shown in the drawings, the main cassette 1950 and the auxiliary cassette 1960 may also be disposed in a row separately from each other. In these embodiments, a first main half 1951a of the main cassette floor 1951 may be provided to be coupled to a first translational motion 1971 of a first clamping finger cylinder 1970 to enable translation by the latter, while a second main half 1951b of the main cassette floor 1951 is coupled to a second translational motion 1972 of the first clamping finger cylinder 1970 to enable translation by the latter, thereby switching the main cassette floor 1951 between a main cassette floor closed state and a main cassette floor open state. Furthermore, it is also possible to provide that the first auxiliary half 1961a of the auxiliary cassette bottom plate 1961 is coupled with the third translational movement 1981 of the second pinch cylinder 1980 so as to be able to be translated by the latter, while the second auxiliary half 1961b of the auxiliary cassette bottom plate 1961 is coupled with the fourth translational movement 1982 of the second pinch cylinder 1980 so as to be able to be translated by the latter, so as to switch the auxiliary cassette bottom plate 1962 between the auxiliary cassette bottom plate closed state and the auxiliary cassette bottom plate open state.

Second embodiment of the ice discharge mechanism

In this second embodiment, as shown in FIG. 32, the main cassette floor 1951 of the main cassette 1950 is openable, while the auxiliary cassette 1960 is rotatable.

In this case, the output drive assembly may include a first pinch cylinder 1970, the first pinch cylinder 1970 being configured to drive movement of at least a portion of the main cassette floor 1951. In addition, the output drive assembly may further include an auxiliary cartridge rotating cylinder 1990, the auxiliary cartridge rotating cylinder 1990 being configured to be capable of driving the auxiliary cartridge 1960 to rotate.

In this second embodiment, similar to the first embodiment described above, the first finger cylinder 1970 may include a first translating portion 1971 and a second translating portion 1972 that are capable of translating in opposite directions simultaneously. Where the main cassette 1950 includes an integrated main cassette floor 1951 and peripheral wall 1954, one of the first and second translational movement portions 1971, 1972 of the first pinch cylinder 1970 may be coupled with the main cassette floor 1951 such that the first pinch cylinder 1970 is capable of driving the main cassette floor 1951 to switch between a main cassette floor closed state and a main cassette floor open state. In the case where the main cassette floor 1951 includes a first main half 1951a and a second main half 1951b that are capable of engaging and disengaging from each other, as shown in fig. 34 and 35, the main cassette 1950 may include a first main cassette portion 1953a with the first main half 1951a of the main cassette floor 1951 and a second main cassette portion 1953b with the second main half 1951b of the main cassette floor 1951, the first main cassette portion 1953a and the second main cassette portion 1953b also each with a respective peripheral wall 1954a, 1954b of the main cassette 1953. The first main cassette part 1953a or the second main cassette part 1953b is arranged to be movable with the first main half 1951a or the second main half 1951b, respectively, when the main cassette bottom plate 1951 switches between a main cassette bottom plate closed state and a main cassette bottom plate open state. More specifically, first translational movement 1971 may be coupled with first main half 1951a, and/or second translational movement 1972 may be coupled with second main half 1951 b.

More specifically, the auxiliary cartridge rotating cylinder 1990 includes a rotatable shaft 1991, which shaft 1991 is provided to rotate within an angular range of 180 °, for example. The shaft 1991 is provided to be coupled with the auxiliary cartridge 1960 so as to be capable of rotating the auxiliary cartridge 1960. More specifically, when ice cubes do not need to be output, the top opening of the auxiliary box 1960 is upward; when it is desired to output ice cubes, the rotary shaft 1991 of the auxiliary cartridge rotary cylinder 1990 rotates the auxiliary cartridge 1960 by 180 ° so that the top opening thereof is downward, thereby allowing the ice cubes to be poured out.

In the particular embodiment shown in fig. 32, the auxiliary cassette 1960 may be positioned inside the main cassette 1950 such that ice cubes in the auxiliary cassette 1960 can first fall into the underlying main cassette 1950 after rotation of the auxiliary cassette 1960 and can be output via the main cassette bottom plate 1951 in an open state. In a specific embodiment not shown, the auxiliary cassette 1960 may be positioned in other ways relative to the main cassette 1950, such as above or beside the main cassette 1950.

Third embodiment of the ice discharge mechanism

In this third embodiment, as shown in FIGS. 36-38, the main cassette floor 1951 of the main cassette 1950 is openable, while the auxiliary cassette 1960 is rotatable. The main difference between this third embodiment and the second embodiment is the construction and arrangement of the output drive assembly.

In the particular embodiment shown in fig. 36-38, the auxiliary cassette 1960 may be positioned inside the main cassette 1950 such that ice cubes in the auxiliary cassette 1960 can first fall into the underlying main cassette 1950 after the auxiliary cassette 1960 rotates and can be output via the main cassette bottom plate 1951 in an open state. In a specific embodiment not shown, the auxiliary cassette 1960 may be positioned in other ways relative to the main cassette 1950, such as above or beside the main cassette 1950.

In this third particular embodiment, the output drive assembly is configured to: when the weight of load cell sensing 1922 is greater than a predetermined threshold range, at least a portion of main cassette floor 1951 can be driven to move in a first stroke to enable main cassette floor 1951 to switch between a main cassette floor closed state and a main cassette floor open state; when the weight of load cell sensing 1922 is within a predetermined threshold, at least a portion of main cassette floor 1951 can be driven to move with a second stroke greater than the first stroke to enable main cassette floor 1951 to switch between a main cassette floor closed state and a main cassette floor open state. And, the output drive assembly is also configured to not drive the auxiliary cartridge 1960 to rotate during a first stroke and to be able to drive the auxiliary cartridge 1960 to rotate during a remaining portion of the second stroke beyond the first stroke.

In some embodiments, the master 1950 is configured as shown in FIG. 36a, and the master 1950 can include a unitary master floor 1951 and peripheral walls 1954, wherein the entire master floor 1951 is disposed movable relative to the peripheral walls 1954. More specifically, in this case, the output drive assembly is configured to: when the weight of load cell sensing 1922 is greater than a predetermined threshold range, main cassette floor 1951 can be driven to move in a first stroke to enable main cassette floor 1951 to switch between a main cassette floor closed state and a main cassette floor open state; when the weight of load cell sensing 1922 is within a predetermined threshold range, main cassette floor 1951 can be driven to move with a second stroke greater than the first stroke to enable main cassette floor 1951 to switch between a main cassette floor closed state and a main cassette floor open state. And, the output drive assembly is also configured to not drive the auxiliary cartridge 1960 to rotate during a first stroke and to be able to drive the auxiliary cartridge 1960 to rotate during a remaining portion of the second stroke beyond the first stroke.

While in embodiments where the main cassette floor 1951 includes a first main half 1951a and a second main half 1951b that can be engaged and disengaged from each other, as shown in fig. 36, 37 and 38, the output drive assembly is configured to: when the weight of load cell sensing 1922 is greater than the predetermined threshold range, second main half 1951b can be driven to move in a first stroke, more specifically, second main half 1951b of main cassette floor 1951 is driven to move away from or close to first main half 1951a in the first stroke, so that main cassette floor 1951 is switched between a main cassette floor closed state and a main cassette floor open state, and first main half 1951a of main cassette floor 1951 is set to be stationary; when the weight of load cell sensing 1922 is within a predetermined threshold, second main half 1951b can be driven to move with a second stroke, more specifically, second main half 1951b of main cassette floor 1951 is driven to move away from or close to first main half 1951a with a second stroke to switch main cassette floor 1951 between a main cassette floor closed state and an open state; wherein the second stroke is greater than the first stroke and the output drive assembly is configured to not drive the auxiliary cartridge 1960 for rotation during the first stroke and to be able to drive the auxiliary cartridge 1960 for rotation during a remaining portion of the second stroke beyond the first stroke.

In a specific embodiment, as shown in fig. 36-38, the output drive assembly is a linear motor module 1910, the linear motor module 1910 including a fixed rail 1911 and a movable slider 1912 that is capable of sliding along the fixed rail 1911, the movable slider 1912 being coupled to at least a portion of the main cassette floor 1951 (e.g., the entire main cassette floor or a second main half 1951b of the main cassette floor), and the movable slider 1912 being capable of rotating the auxiliary cassette 1960 during the remaining portion of the second stroke beyond the first stroke. More specifically, the ice ejection mechanism 1900 includes a fixedly mounted support plate 1903, with a fixed slide rail 1911 fixedly disposed relative to the support plate 1903.

More specifically, as shown in fig. 36-38, linear motor module 1910 includes a linkage rod 1913 coupled to a movable slider 1912, the linkage rod 1913 being fixed, for example, to the movable slider 1912, and the linkage rod 1913 including a drive pin 1914, and the auxiliary cartridge 1960 correspondingly including a driven plate 1965 with a slot 1965 a. During the remaining part of the second stroke beyond the first stroke, the drive pin 1914 of the linkage rod 1914 can enter the groove 1965a of the driven plate 1965 to be able to rotate the auxiliary cartridge 1960. More specifically, the auxiliary cartridge 1960 includes a shaft 1966 configured to rotate, the driven plate 1965 is configured to couple with the shaft 1966 of the auxiliary cartridge 1960, and the slot 1965a is configured as a radial slot. More specifically, the shaft 1966 may be configured to be inserted into a boss 1967 and rotatable within the boss 1967, the boss 1967 being fixedly disposed on the support plate 1903. In the particular embodiment shown in fig. 37-38, the driven plate 1965 is configured to be at least partially circular and the slot 1965a is configured to extend radially from a peripheral edge of the driven plate 1965 toward the mandrel 1966. As the drive pin 1914 enters the slot 1965a, as the drive pin 1914 moves with the movable slider 1912, the drive pin 1914 will apply a force to the slot side walls of the driven plate 1965 around the slot 1965a, thereby driving the shaft 1966 and thus the auxiliary cartridge 1960 to rotate, for example, over an angular range of 180 °.

More specifically, in this particular embodiment, as shown in fig. 36 and 37, the ice-making mechanism 1900 may further include a fixedly disposed sensing assembly 1915, e.g., fixedly disposed on the support plate 1903, the sensing assembly 1915 being capable of communicating with the programmable logic controller such that in the event that the weight sensed by the load cell 1922 is greater than a predetermined threshold range, the presence of the movable slider 1912 can be sensed when the movable slider 1912 is at the first end of travel and the sensed result can be communicated to the programmable logic controller to allow the programmable logic controller to control the movable slider 1912 to stop there without continuing to move.

The ice discharging chamber 1170 is provided to allow the ice discharging mechanism 1900 to output ice cubes to a second swing member of the multi-station double swing module 2000, 3000, for example, which will be described later2250、3250And upper mixing cup 2201. In some embodiments, the ice outlet chamber 1170 includes an ice outlet chamber bottom plate 1171, and an ice outlet opening 1171a (shown in fig. 3, 28, 29, 31) is provided in the ice outlet chamber bottom plate 1171 to allow ice to pass therethrough, the ice outlet opening 1171a being configured to be capable of being closed and opened by the main cassette 1950 and/or the auxiliary cassette 1960.

More specifically, as shown in FIGS. 28-29, 31 and 33, when the auxiliary cassette 1960 is positioned above or within the main cassette 1950, the ice outlet 1171a in the ice outlet chamber bottom plate 1171 can be closed or opened by the main cassette bottom plate 1951, i.e., with the main cassette bottom plate 1951 in a closed state or an open state. When the auxiliary cassette 1960 is located beside the main cassette 1950, the ice outlet 1171a in the ice outlet chamber bottom plate 1171 can be closed or opened by the main cassette bottom plate 1951 and the auxiliary cassette bottom plate 1961, i.e., with the main cassette bottom plate 1951 and the auxiliary cassette bottom plate 1961 in a closed state or an open state. This ensures that the temperature of the ice-out chamber 1170 is not affected at any time.

More specifically, as shown in fig. 28-29 and 33, a funnel-shaped guide portion 1172 aligned with the ice outlet 1171a is provided below the ice outlet bottom plate 1171 of the ice outlet 1170, and ice cubes exiting from the ice outlet 1171a fall into the second rotary member of the multi-station double rotary module 2000, 3000 as will be described in detail below2250、3250The funnel-shaped guide 1172 will align with mixing cup 2201 to guide ice cubes into mixing cup 2201.

1.3 storage and supply of liquid and milk caps

1.3.1 Material bucket

As mentioned above, the mass storage device block 1100 may include a liquid bucket for storing various liquids and a milk lid bucket for storing cream milk lids, collectively referred to as a mass bucket 1200, as shown in fig. 128-131. It should be noted that the size and volume of the material bowl may vary according to actual needs.

In some embodiments, as shown in fig. 128-131, each of the material barrels 1200 includes a top cover 1210, a bottom 1220 disposed opposite the top cover 1210, and a peripheral wall 1230 extending between the top cover 1210 and the bottom 1220, the top cover 1210, the bottom 1220, and the peripheral wall 1230 together defining a receiving space of the material barrel 1200 that can receive and store a respective liquid or cream milk cap. In addition, a cleaning ball 1240 for performing a cleaning operation of the material bucket 1200, such as a 360 ° rotary jetting high pressure cleaning ball, may be provided in the material bucket 1200. In one particular embodiment, the cleaning ball 1240 is positioned near top cover 1210, i.e., below top cover 1210, slightly below top cover 1210, which ensures that there are no dead corners within material bucket 1200 where cleaning ball 1240 cannot be ejected. More specifically, the cleaning ball 1240 is fixed to the top cover 1210. More specifically, to avoid submerging the cleaning ball 1240 with liquid, a maximum level indicator 1250 below the cleaning ball 1240, such as a score line on the peripheral wall 1230, may be provided on the material bucket 1200 to alert an operator that the maximum level indicator 1250 is not being exceeded when adding material to the material bucket 1200. Further, the material bucket 1200 also includes an inlet tube disposed in flow communication with the purge ball 1240 such that a purge fluid may be delivered to the purge ball 1240 via the inlet tube. The material bucket 1200 is also provided with a discharge port 1260 in the bottom 1220, which discharge port 1260 may be used to discharge residual material or cleaning fluid out of the material bucket 1200.

In a specific embodiment, as shown in fig. 130, the bottom 1220 of the material bucket 1200 is configured to taper toward the discharge hole 1260, and the discharge hole 1260 is located at the bottommost portion of the entire material bucket 1200, which ensures that the material, residues and cleaning fluid in the material bucket 1200 can be smoothly and completely discharged through the discharge hole 1260, thereby preventing the contamination of the residual liquid or milk and the cleaning fluid, which may be harmful to the human body, from being damaged by the deterioration thereof, and ensuring the safety and sanitation. More specifically, as shown in fig. 130, the bottom 1220 of the material bucket 1200 may be configured as a cone, with the outlet 1260 being positioned at the apex of the cone.

In some embodiments, as shown in fig. 128 and 129, a fill port 1211 is provided on top cover 1210 of material bowl 1260, through which fill port 1211 material can be added to material bowl 1260. Optionally, a stirrer 1270 may be provided in the material barrel, with the stirrer head 1271 positioned near the bottom 1220 of the material barrel 1200 to allow stirring of the material in the material barrel 1200, ensuring uniform product quality as a whole. More specifically, the agitator 1270 may be driven by a motor to perform an agitating operation. In addition, to be able to indicate when material needs to be added, the material bucket 1260 also includes at least one level probe 1280 disposed in the receiving space near the bottom 1220. More specifically, the liquid level probe may be in the form of an electrode probe. Without the agitator 1270, two level probes 1280 may be provided; while in the case where agitators 1270 are provided, only one level probe 1280 may be provided and agitators 1270 may act as another level probe, it should be noted that in this case the agitation head 1271 of agitators 1270 may be provided below the level probe 1280 to avoid interfering with the agitation operation. Thus, when the liquid level in the material bucket 1200 is below either of the level probes 1280, no electrical conduction is possible between the two level probes, thereby allowing a starved alarm to be raised to alert the operator of a charge. More specifically, level probe 1280 and/or agitator 1270 are provided on top cover 1210 of material bucket 1200.

In one particular embodiment, fill port 1211 of cask 1200 is positioned proximate to the perimeter of top cover 1210. This allows for the pouring of material into the material bucket 1260 via the fill port 1211 without moving the material bucket 1200 in a row of material buckets 1200, as shown in fig. 128 and 129.

1.3.2 storage and supply of liquid

In some embodiments, as shown in fig. 1, the material storage device 1100 of the material storage and supply module 1000 further includes at least one liquid chamber 1180 for storing and supplying various liquid materials, and a plurality of liquid barrels in the form of the above-described material barrels may be provided in the liquid chamber 1180, and a specific kind of liquid material is stored in the corresponding liquid barrel.

In some embodiments, the liquid may include one or more of oolong tea, nectar green tea, grape juice, strawberry juice, mango juice, grapefruit juice, cranberry wine, lemon juice, milk tea green tea, fresh milk, loved milk, warm water, hot water, sucrose syrup, erythrose syrup, etc., or other liquids not listed herein but that may be used to make a beverage. Each liquid material is placed in a corresponding liquid material bucket independently. In a specific embodiment, the at least one liquid chamber 1180 comprises a constant temperature liquid chamber in which different liquids may be placed according to different temperature control requirements.

In some embodiments, the beverage includes a smoothie beverage, a non-smoothie tea beverage (including a cold fruit tea beverage and a hot fruit tea beverage), and a milk tea beverage (including a cold milk tea beverage and a hot milk tea beverage). Oolong tea, fruit tea green tea, grape juice, strawberry juice, mango juice, grapefruit juice, cranberry wine, lemon juice and the like in the liquid material can be used for preparing smoothie drinks and non-smoothie tea drinks, milk tea green tea, fresh milk and loving milk in the liquid material can be used for preparing milk tea drinks, and the water, hot water, sucrose syrup and erythrose syrup in the liquid material can be used for preparing any drink according to actual needs.

In some embodiments, the material storage and supply module 1000 further includes a respective peristaltic pump for supplying a respective liquid material, the peristaltic pump being disposed in fluid communication with a respective liquid barrel to supply liquid material to the liquid charging mechanism 2350 of the multi-station dual swivel module 2000, 3000 as will be described in detail below, depending on the amount of liquid material required for the current beverage.

In a specific embodiment, a hot and a cold path for delivering liquid from the peristaltic pump to the liquid adding mechanism 2350 are provided between the respective peristaltic pump and the liquid adding mechanism 2350, and an instant heating rod is provided in the hot path for heating the respective liquid when making a hot beverage. The hot drink includes, for example, nectar green tea, milky tea green tea, oolong tea, and the like. Respective liquid guide tubes forming the hot and cold pathways are provided through liquid guide tube outlets 1181 provided in the bottom wall of the liquid chamber 1180 of the material storage device 1100, preferably in a sealed manner through the liquid guide tube outlets 1181, to ensure fresh and insulating and/or refrigerating effects of the liquid chamber 1180.

1.3.3 storage and supply of milk caps

In some embodiments, as shown in fig. 1, the material storage device 1100 of the material storage and supply module 1000 further comprises at least one milk cap chamber 1190 for storing and supplying milk caps, wherein at least one milk cap barrel 1192 in the form of the above-described material bowl may be placed in the milk cap chamber 1190, wherein milk cap stock is stored in the milk cap barrel 1192. More specifically, the material storage and supply module 1000 further includes a priming pump in fluid communication with the milk cap barrel 1192, the priming pump being configured to withdraw milk cap stock from the milk cap barrel 1192 and prime the milk cap as needed for feeding the milk cap mechanism 2450 of the multi-station swing module 2000, 3000, which will be described in detail below. More specifically, the material storage and supply module 1000 further comprises a milk cap guide tube arranged between the priming pump and the milk cap mechanism, which milk cap guide tube can pass through a milk cap guide tube outlet 1191 arranged in the bottom wall of the milk cap chamber 1190 of the material storage device 1100, preferably in a sealed manner through the milk cap guide tube outlet 1191, to ensure a fresh and warm and/or refrigerated effect of the milk cap chamber 1190.

2. Multi-station double-rotation module

The multi-station double-rotation modules 2000 and 3000 are configured to be used for manufacturing drinks according to the working positions. More specifically, different stations may perform corresponding operations simultaneously.

According to one embodiment, as shown in fig. 4, 39-43, 48, 52-54, 72, a multi-station dual swivel module 2000, 3000 for fully automated beverage making includes a first swivel assembly 2100, 3100 and a second swivel assembly 2200, 3200. The first swing assembly 2100, 3100 includes a first drive mechanism, 3110 and a first swing member 2150, 3150, the first swing member 2150, 3150 being configured to carry the finished cup 2101 and being drivable by the first drive mechanism, 3110 to move along a first trajectory through a plurality of stations of a first type. That is, the first rotary members 2150, 3150 are capable of carrying the finished cup 2101 along a first trajectory under the drive provided by the first drive mechanism, 3110 so as to be able to pass through the plurality of stations of the first type, at each of which a respective beverage making operation is to be performed in relation to the finished cup 2101. It should be appreciated that finished cup 2101 is a container for holding the final beverage product, although finished cups will also hold beverage material during the beverage making process. In a particular embodiment, cup holders 2151, 3151 are provided on the first swivel members 2150, 3150, and finished cups 2101 are placed in the respective cup holders 2151, 3151 for movement with the first swivel members 2150, 3150. The second rotary assembly 2200, 3200 includes a second drive mechanism 2210 and a second rotary member 2250, 3250, the second rotary member 2250, 3250 being configured to carry a mixing cup 2201 and being drivable by the second drive mechanism 2210 to move along a second trajectory through a plurality of stations of a second type. That is, second rotary members 2250, 3250 are capable of carrying mixing cup 2201 along a second trajectory under the drive provided by second drive mechanism 2210, so as to be capable of passing through the plurality of second type stations at each of which a respective beverage making operation is to be performed in relation to mixing cup 2201. It should be appreciated that mixing cup 2201 is a container for temporarily holding or handling the associated material during the manufacture of a beverage.

In order to achieve beverage preparation, the plurality of first-type stations includes at least a container drop station and a first hand-over station. Here, the container refers to finished cup 2101 and/or finished cup lid 2102. It should be noted that finished cup 2101 may include different types of finished cups, such as different materials and/or heights. It should also be noted that the finished cup lid 2102 may include different types of finished cup lids, for example, to accommodate different types of finished cups. The plurality of second class stations at least comprise a liquid charging station and a second handover station. Correspondingly, the multi-station dual swing modules 2000, 3000 further include container drop mechanisms 2300, 3300 (shown in fig. 66-71 and 103) and a charging mechanism 2350 (shown in fig. 79-84). The container drop mechanism 2300, 3300 is configured to perform at least a drop of finished cups onto the first rotary members 2150, 3150, and more particularly into respective cup holders 2251, 3251 secured to the first rotary members 2150, 3150, at a container drop station. The charging mechanism 2350 is configured to perform at least a charging operation of charging liquid into the mixing cup 2201 at the charging station. Each mechanism will be described in detail below.

Further, the multi-station dual swivel modules 2000, 3000 are configured such that a first handoff station on the first swivel members 2150, 3150 corresponds to a second handoff station on the second swivel members 2250, 3250, and that in operation, when the finished cup 2101 is in the first handoff station, the corresponding mixing cup 2201 should be in the second handoff station to enable handoff of the mixing cup 2201 from the finished cup 2101, as shown in fig. 90 and 92-96. Accordingly, the multi-station dual swing module 2000, 3000 further includes a transfer mechanism 2400 that performs a transfer operation at the first transfer station and the second transfer station, the transfer operation including pouring the material in the mixing cup 2201 into the finished cup 2101. For example, some beverage materials may require some preliminary processing in mixing cup 2201, and thus may require pouring into mixing cup 2201 before handing off from mixing cup 2201 to final cup 2101. The interface 2400 will be described in detail below.

Thus, in the multi-station dual swing module 2000, 3000 according to the present utility model, the first swing assembly 2100, 3100 and the second swing assembly 2200, 3200 can independently and simultaneously operate cooperatively, more specifically, the first swing members 2150, 3150 and the second swing members 2250, 3250 are driven by the first driving mechanism, 3110 and the second driving mechanism 2210, respectively, to perform independent movements, while allowing operations of the other stations except the first and second handover stations to be performed independently of each other, while ensuring cooperative cooperation of the operations of the first and second handover stations, enabling the preparation of the beverage in a fully automatic and efficient manner.

In some particular embodiments, first swivel member 3150 may be in the form of a turntable, referred to as first swivel 3150, as shown in fig. 43-44 and 92-96. In some particular embodiments, the first swivel member 2150 may be in the form of a swivel belt, referred to as a first swivel belt 2150, as shown in fig. 39-41, 48, and 72. According to different embodiments, the first swivel members 2150, 3150 may carry different numbers of finished cups, for example four to six finished cups. More specifically, the first rotary members 2150, 3150 may operate continuously to simultaneously carry four to six finished cups 2101 and simultaneously perform respective operations associated with respective finished cups 2101 at respective first-type stations.

In a particular embodiment, as shown in fig. 52, 53-54, 65 and 72, the second swivel assembly 2200, 3200 is supported by a support column 2280, which support column 2280 is disposed within the area encompassed by the first swivel members 2150, 3150. More specifically, the support post 2280 may be located at or near the center of the area.

In some embodiments, as shown in fig. 2, 39-42, 52-54, 64-65, 92-96, the second swivel member 2250, 3250 may be in the form of a turntable, referred to as a second turntable. As shown in fig. 52, the second turntable may comprise a plurality of branches 3251 distributed in the circumferential direction, each for carrying one mixing cup 2201, for example 4-6 branches, and these branches are preferably distributed evenly in the axial direction. More specifically, second swivel members 2250, 3250 may be supported by support column 2280 to be farther from the bottom of support column 2280 than first swivel members 2150, 3150; of course, such an embodiment is merely exemplary and not exclusive, and the relative height position between first and second swivel members 2150, 3150, 2250, 3250 may be adjusted as is practical. Further, in the radial direction, the second swivel members 2250, 3250 may be at least partially disposed within the first swivel members 2150, 3150; of course, this embodiment is also exemplary only and not exclusive, and the relative radial positions between the first and second swivel members 2150, 3150, 2250, 3250 may be adjusted as is practical. According to different embodiments, second swivel members 2250, 3250 may carry different numbers of mixing cups 2201, for example four to six mixing cups 2201. More specifically, second rotary members 2250, 3250 may simultaneously carry four to six mixing cups 2201 and operate in succession to simultaneously perform respective operations associated with respective mixing cups 2201 at respective second-type stations.

The multi-station dual swing module 2000, 3000 of the present utility model may include a corresponding origin detection assembly for determining the origin of some of the parts, components, mechanisms, assemblies, elements, etc. to be moved to help ensure proper operation of the multi-station dual swing module. It should be noted that in this context, the "origin" may be understood as the position or state that the respective part, member, mechanism, assembly, element, etc. is in when it is ready to operate, but has not yet started to operate. More specifically, these moving parts, components, mechanisms, assemblies, elements are desirably at their origin prior to each operation.

In some embodiments, the multi-station dual swing module 2000, 3000 may include a first origin detection assembly for determining the origin of the first swing member 2150, 3150. Specifically, as shown in fig. 39-40, 43, 48, the first origin detecting assembly may include a first metal piece provided on the first rotary members 2150, 3150 and a first sensor 2153 provided near a first locus along which the first rotary members 2150, 3150 move, the first sensor 2153 being capable of detecting the first metal piece; more specifically, the first sensor 2153 is a proximity sensor that is capable of detecting the proximity or presence of a first metal piece. Further, the first sensor 2153 is provided to be able to communicate with a central control (e.g., PLC) to initiate a detection signal to the central control upon detection of the first metal, so that the central control can give an indication that the first swivel members 2150, 3150 are already at the origin.

In some embodiments, as shown in fig. 4, 6, 39-40, 48-49, 72-73, cup holders 2151, 3151 are provided on the first swivel members 2150, 3150, e.g., a plurality of cup holders 2151, 3151, e.g., 3-6 cup holders 2151, 3151, with finished cups 2101 being placed in each cup holder 2151, 3151 to carry the finished cups 2101 for movement, i.e., as many or fewer finished cups 2101 as there are cup holders 2151, 3151 on the first swivel members 2150, 3150 can be present simultaneously for making one or more beverages. In this case, a first metal of the first origin detecting assembly may be provided in each cup holder 2151, 3151. Thus, the first sensor 2153 can detect the first metal in each cup 2151, 3151 and indicate that the first swivel member 2150, 3150 is at the origin regardless of which cup 2151, 3151 the first sensor 2153 detects the first metal.

In some embodiments, multi-station dual swing module 2000, 3000 may also include a second origin detection assembly for determining the origin of second swing member 2250, 3250. Specifically, as shown in fig. 53, the second origin detecting assembly may include a second metal piece provided on the second rotary members 2250, 3250 and a second sensor 2253 fixedly provided with respect to a support column 2280 supporting the second rotary members 2250, 3250, the second sensor 2253 being capable of detecting the second metal piece; more specifically, the second sensor 2253 is a proximity sensor that is capable of detecting the proximity or presence of the second metal piece. Further, the second sensor 2253 is provided to be able to communicate with the central control machine to initiate a detection signal to the central control machine when the second metal piece is detected, so that the central control machine can give an indication that the second rotary member 2250, 3250 is already at the origin.

First driving mechanism when first rotary member is first rotary table

As described above, in some embodiments, as shown in fig. 43-44 and 92-96, first swivel member 3150 is a first dial. In such an embodiment, as shown in fig. 44-47, the first drive mechanism 3110 for driving the movement of the first swing member 3150 may then be configured to include the first motor 3111, the first transmission assembly, and the at least one roller 3113, 3114. The first transmission assembly is configured to be driven 3111 by the first motor, the at least one roller 3113, 3114 is configured to be rotated by the first transmission assembly, and the at least one roller 3113, 3114 is disposed against an outer edge of the first drum 3150 to rotate the first drum 3150 by friction between an outer peripheral surface of the first roller 3113, 3114 and an outer peripheral surface of the first drum 3150 upon rotation. In a more specific embodiment, the at least one roller 3113, 3114 is an embossing type glue roller.

In one particular embodiment, as shown in fig. 44-47, the first drive mechanism 3110 includes two rollers, a first roller 3113 and a second roller 3114. The first transmission assembly is configured to include a first driving shaft 3123 coupled to the first roller 3113 and a first driven shaft 3124 coupled to the second roller 3114, wherein the first driving shaft 3123 can be driven to rotate by the first motor 3111 and thus can drive the first roller 3113 to rotate, and the first driven shaft 3124 can be rotated with the first driving shaft 3123 and thus can drive the second roller 3114 to rotate. More specifically, the first motor 3111 includes a first motor shaft 3112, and the first driving shaft 3123 is coupled to the first motor shaft 3112 so as to be rotatable with the first motor shaft 3112; for example, the first driving shaft 3123 may be rotatably coupled with the first motor shaft 3112 through a first coupling 3115. The first transmission assembly may then further comprise: the first driving wheel 3121 is configured to be coupled with the first driving shaft 3123 so as to be capable of rotating with the first driving shaft 3123, and the first driving wheel 3121 may be, for example, interference fit, riveting, spline coupling, or even welding on the first driving shaft 3123; the first driven wheel 3122 is configured to be coupled with the first driven shaft 3124 so as to be capable of rotating with the first driven shaft 3124, and the first driven wheel 3122 may be, for example, interference fit, riveted, spline-coupled, or even welded to the first driven shaft 3124; the first timing belt 3125 is provided to be rotatable by the first driving wheel 3121 and simultaneously to be rotatable by the first driven wheel 3122. Thus, the first motor 3111 may simultaneously drive the first roller 3113 and the second roller 3114 to rotate through the first transmission assembly.

In some embodiments, as shown in fig. 45-47, the first drive mechanism 3110 is further configured to include a fixedly disposed first mounting plate 3130 and a first mount 3131 mounted on the first mounting plate 3130, the first mounting plate 3130 being more specifically secured to a frame of the machine, the first mount 3131 then being configured to support the first motor 3111 and the first drive assembly. To be able to adjust the fit of the at least one roller 3113, 3114 relative to the outer peripheral surface of the first pan 3150 as needed to create a desired friction between the rollers 3113, 3114 and the first pan 3150, the distance that the first mount 3131 is mounted relative to the outer peripheral surface of the first pan 3150 is adjustable. In a more specific embodiment, to achieve this adjustability, one or more elongated holes 3132 are provided on the first mounting plate 3130, and bolts can be threaded into the first mounting plate 3131 through the respective first elongated holes 3132 to mount the first mounting plate 3131 to the first mounting plate 3130. In such an embodiment, more specifically, the first driving mechanism 3110 may further include a first compression screw 3314 disposed through a first threaded hole 3133 in the first mount 3131, the first compression screw 3134 being disposed with a free end thereof capable of abutting the first mount 3131 to allow adjustment of a distance of the first mount 3131 relative to the outer peripheral surface of the first dial 3150 by screwing the first compression screw 3134 to allow adjustment of a degree of fit between the rollers 3113, 3114 and the outer peripheral surface of the first dial 3150. For example, as shown in fig. 45, in order to facilitate a compact structure, the first screw hole 3133 is provided in a protruding plate 3130b of the first mounting plate 3130 protruding with respect to the main body plate 3130a thereof, the first mounting block 3131 is provided with a protruding portion 3131b corresponding to the protruding plate 3130b, and the first pressing screw 3134 can pass through the protruding plate 3130b to abut against the protruding portion 3231b.

In some specific embodiments, as shown in fig. 45-47, the first drive assembly further includes a drive assembly mounting plate 3140 mounted to the first mount 3131, the drive assembly mounting plate 3140 including opposed first and second mounting plate ends 3141, 3142, the first mounting plate end 3141 being provided with a first bearing mount that supports a first bearing 3143 for the first drive shaft 3123, the second mounting plate end 3142 being provided with a second bearing mount that supports a second bearing 3144 for the first driven shaft 3124, the drive assembly mounting plate 3140 being configured to be rotatable about the first drive shaft 3123 over a range of angles. Thus, the rotatability of the drive assembly mounting plate 3140 ensures that both the first roller 3113 and the second roller 3114 are able to produce a desired fit with the outer peripheral surface of the first turntable 3150 during operation of the multi-station dual swing module 3000. Further, the first drive mechanism 3110 may also include a second compression screw 3136 disposed through the second threaded bore 3135 of the first mount 3131, the free end of the second compression screw 3136 being configured to abut the drive assembly mounting plate 3140 to allow adjustment of the angular position of the drive assembly mounting plate 3140 about the first drive shaft 3123 by threading the second compression screw 3136. This allows for adjustment of the rotational angle of the drive assembly mounting plate 3140 about the first drive shaft 3123, as desired, thereby adjusting the fit of the first roller 3113 and the second roller 3114 against the outer peripheral surface of the first rotor 3150.

In some specific embodiments, as shown in fig. 45-47, the first drive assembly may further include a first connecting plate 3137 and a press block 3138 secured to the first mount 3131, with the first mounting plate end 3141 of the drive assembly mounting plate 3140 disposed between the first connecting plate 3137 and the press block 3138 to define a height position of the first drive assembly to prevent positional play of the first drive assembly in the height direction. More specifically, as shown in fig. 47, the first mount 3131 has a U-shaped portion including a first branch plate 3131c and a second branch plate 3131d disposed in parallel with each other, a first connection plate 3137 is fixed between the first branch plate 3131c and the second branch plate 3131d, and a pressing block 3138 is provided in a U-shape and includes a first leg 3138a and a second leg 3138b that can be fixed to the first connection plate 3137.

First driving mechanism when the first rotary member is first rotary belt

As described above, in some embodiments, as shown in fig. 39-41, 48, and 72, the first swivel member 2150 is a first swivel belt. In such an embodiment, the first drive mechanism may be configured to include a second motor 2111 capable of driving the first swivel belt 2150 in a swivel motion, as shown in fig. 40 and 48. For example, the second motor 2111 may be a stepper motor. More specifically, the first driving mechanism may further include a second driving wheel 2112, and the second driving wheel 2112 is configured to be drivable by the second motor 2111 and to be capable of rotating the first rotating belt 2150.

In a more specific embodiment, as shown in fig. 40 and 48, the first driving mechanism further includes at least two second driven wheels 2113, and the first rotary belt 2150 is sleeved on the second driving wheel 2112 and the at least two second driven wheels 2113, so that the at least two second driven wheels 2113 can be rotated by the first rotary belt 2150 and simultaneously play a role in guiding the rotary motion of the first rotary belt 2150.

Further, and more specifically, as shown in fig. 48-51, the first swivel assembly 2100 may further include at least one carrier 2154, the carrier 2154 being configured to carry the finished cups 2101 and being configured to couple with the first swivel 2150 to be movable with the first swivel 2150, whereby the carrier 2154 is configured to carry the finished cups 2101 along the second trajectory and thus through the plurality of first-type stations described above. The carrier 2154 may be directly screwed or riveted to the first swivel 2150, for example. More specifically, first swivel assembly 2100 may be configured to include a plurality of carriers 2154, with one finished cup 2101 carried on each carrier 2154. More specifically, a cup holder 2151 for holding a finished cup 2101 is provided on each carrier 2154.

More specifically, as shown in fig. 48, the first rotary belt 2150 may be configured to be a rounded rectangle as a whole, the first driving mechanism including three second driven wheels 2113, the second driving wheel 2112 and the three second driven wheels 2113 being provided at four corners of the rounded rectangle, respectively.

In some embodiments, as shown in fig. 48-51, the first swivel assembly 2100 may further include a first track 2160, the first track 2160 being configured to surround the first swivel belt 2150 and configured to support and guide movement of the carriers 2154. More specifically, the first track 2160 may be a wrap around first swivel 2150. In a specific embodiment, the grooves 2165a, 2165b are provided on at least one of the inboard and outboard sides of the first track 2160, and the first drive mechanism can also include guide wheels 2155a, 2155b coupled to the carrier 2154, the guide wheels 2155a, 2155b being capable of rolling in the grooves 2165a, 2165b to guide the carrier 2154 for sliding along the first rail 2160. More specifically, the first guide rail 2160 is provided with grooves on both the inside and outside, respectively referred to as an inside groove 2165a and an outside groove 2165b, and each carrier 2154 is coupled with two inside guide wheels 2155a for rolling in the inside groove 2165a and two outside guide wheels 2155b for rolling in the outside groove 2165 b. Thereby achieving smooth sliding of the carrier 2154 on the first rail 2160.

Second driving mechanism

As mentioned above, in one particular embodiment, second swivel assembly 2200, 3200 is supported by support post 2280. In such an embodiment, as shown in fig. 53-54, the second drive mechanism 2210 may be configured to include a third motor 2211, the third motor 2211 including a third motor shaft. In addition, as shown in fig. 52 to 56 and 65, the second driving mechanism 2210 further includes a turntable 2220 mounted on the support column 2280, more specifically, mounted on the top end of the support column 2280, the turntable 2220 being configured to include a lower fixing plate 2221 and an upper rotating flange 2222, wherein the lower fixing plate 2221 is coupled to the support column 2280, the upper rotating flange 2222 is rotatably driven by a third motor 2211, and the second swivel members 2250, 3250 are coupled to the upper rotating flange 2222 to be rotatable with the upper rotating flange 2222. In some particular embodiments, second drive mechanism 2210 also includes a gear drive mechanism (shown) for transmitting power from the third motor shaft to upper rotating flange 2222. As shown in fig. 55-56, in some embodiments, a motor mount 2223 is provided on the lower fixing plate 2221, the motor mount 2223 may be fixed to a lower surface of the lower fixing plate 2221, for example, and the third motor 2211 is mounted in the motor mount 2223.

Of course, the second drive mechanism 2210 described herein is merely illustrative and not exclusive, and other mechanisms that enable the drive of second rotary members 2250, 3250 are within the scope of the utility model.

Mixing cup holding mechanism

As described above, second swivel members 2250, 3250 carry mixing cup 2201 along a second trajectory for passing through the plurality of second type stations and for performing beverage making operations associated with mixing cup 2201 at each second type station.

To this end, second swivel assembly 2200, 3200 then further comprises one or more mixing cup retention mechanisms, each configured to rotatably retain a respective mixing cup 2201 on second swivel member 2250, 3250. That is, mixing cup 2201 is not immovably fixed to second rotary members 2250, 3250, but is also capable of rotational movement while being held on second rotary members 2250, 3250; more specifically, mixing cup 2201 includes an upper end and a lower end, and the mixing cup is rotatable about a horizontal axis between its upper and lower ends so that the mixing cup can be tilted or even flipped to enable a corresponding operation.

In a specific embodiment, as shown in particular in fig. 57, each mixing cup 2201 is provided with a collar 2202 fixedly arranged with respect to the mixing cup 2201, which collar 2202 more particularly grips the mixing cup 2201 in a circumferential surrounding manner so that no relative sliding occurs between the collar 2202 and the mixing cup 2201. The anchor 2202 may comprise a first anchor protrusion 2202a and a second anchor protrusion 2202b disposed diametrically opposite, more specifically the first anchor protrusion 2202a and the second anchor protrusion 2202b are protrusions extending radially outwardly relative to the mixing cup 2201, more specifically the first anchor protrusion 2202a and the second anchor protrusion 2202b are each integrally formed with the anchor 2202, i.e., the anchor 2202 is a single piece; of course, in other embodiments, the first and second anchor protrusions 2202a, 2202b may be separate pieces secured to the anchor 2202.

As shown in fig. 58-62, each mixing cup retention mechanism may then comprise: a mixing cup driving mechanism for driving the corresponding mixing cup 2201 to rotate; a drive shaft, called a second drive shaft 2231, coupled between the mixing cup drive mechanism and the first staple protrusion 2202a, allows the second drive shaft 2231 to transmit power from the mixing cup drive mechanism to the first staple protrusion 2202a, again because the first staple protrusion 2202a is either integrally formed with the staple 2202 or is a separate piece that is fixed to the staple 2202, while the staple 2202 is fixedly disposed relative to the mixing cup 2201, so that power can continue to be transmitted to the mixing cup 2201 via the staple 2202 to allow the mixing cup 2201 to rotate with rotation of the second drive shaft 2231. In order to enable a rotational movement of the mixing cup 2201 in a smoother manner, the mixing cup holding mechanism may further comprise a second driven shaft 2232, which second driven shaft 2232 is coupled with the second anchor protrusion 2202b so as to be rotatable by the second driving shaft 2231. Furthermore, the mixing cup retention mechanism may also comprise a first and a second support seat 2233, 2234 fixed to the second rotary members 2250, 3250 for supporting the second driving shaft 2231 and the second driven shaft 2232, respectively, and allowing the rotation of the second driving shaft 2231 and the second driven shaft 2232. Thereby, mixing cup 2201 is rotatably held on second swivel members 2250, 3250.

In a more specific embodiment, as shown in fig. 58-59, to allow for quick installation and removal of mixing cup 2201, first and second anchor protrusions 2202a, 2202b are provided that are coupled to second drive shaft 2231 and second driven shaft 2232, respectively, by quick release pins 2235. More specifically, the first anchor coupling end 2231a of the second drive shaft 2231 is provided with a first receiving groove 2231b for receiving the first anchor protrusion 2202a, the first receiving groove 2231b being defined by at least two opposing walls 2231c, 2231d, and holes 2231e, 2202e are provided in the two walls and the first anchor protrusion 2202a that are aligned with each other, and quick release pins 2235 can be inserted into or withdrawn from these holes 2231e, 2202e to achieve quick coupling or disassembly between the anchor 2202 and the second drive shaft 2231. In the embodiment shown in the figures, the first anchor coupling end 2231a is integrally formed as a U-shaped portion, the two walls 2231c, 2231d being two branches of the U-shaped portion, the middle of the U-shaped portion being the first receiving slot 2231b. Similarly, the second anchor coupling end 2232a of the second driven shaft 2232 is also provided with a second receiving slot for receiving the second anchor protrusion 2202b, the second receiving slot being defined by at least two opposing walls, with aligned holes being provided in the two walls and the second anchor protrusion, into or from which quick release pins 2235 can be inserted or withdrawn to effect quick coupling and decoupling between the anchor 2202 and the second driven shaft 2232. Also in the embodiment shown in the figures, second hoop coupling end 2232a is generally a U-shaped section with the two walls being two branches of the U-shaped section and a second receiving slot in the middle of the U-shaped section.

The mixing cup drive mechanism may be embodied in different configurations, as described below.

In a first variation, as shown in fig. 58-61, the mixing cup drive mechanism includes a motor referred to as a fourth motor 2236, the fourth motor 2236 having a fourth motor shaft 2237. In a specific embodiment, the fourth motor shaft 2237 is directly interconnected to the second drive shaft 2231 by a shaft hole coupling, which can be more particularly accomplished using a jackscrew. Of course, such direct coupling and the corresponding coupling means are merely illustrative and not exclusive, and other structures or means capable of achieving the same function are within the scope of the utility model. More specifically, the fourth motor 2236 is a stepper motor. In a particular embodiment, the fourth motor 2236 is mounted directly to the second rotary member 2250, 3250 and is fixed relative to the second rotary member 2250, 3250. More specifically, a motor cover 2238 is provided for at least partially surrounding the fourth motor 2236 to protect the fourth motor.

In a second variation, as shown in fig. 62-64, the mixing cup drive mechanism includes a first electric cylinder 2240 and a first rack and pinion assembly disposed between the first electric cylinder 2240 and the second drive shaft 2231 for transmitting power from the first electric cylinder 2240 to the second drive shaft 2231. In a specific embodiment, the first rack and pinion assembly includes a first rack 2241 driven by the first electric cylinder 2231 to move and a first pinion 2242 rotated by the first rack 2241, for example, the first pinion 2242 may be tightly fitted on the second driving shaft 2231 to be able to drive the second driving shaft 2231 to rotate. Further, the mixing cup driving mechanism may further include a top bar 2243 disposed between the first electric cylinder 2240 and the first rack 2241 such that the first electric cylinder 2240 can drive the first rack 2241 to move via the top bar 2243. In the illustrated embodiment, the top bar 2243 is located between the first electric cylinder 2240 and the first rack 2241 in the vertical direction, and can apply an upward pushing force to the first rack 2241 to enable the first rack 2241 to move upward. In a more specific embodiment, the mixing cup drive mechanism may further include a first resilient return member 2244, the first resilient return member 2244 being connected between the second swivel members 2250, 3250 and the first rack 2241 to enable the first rack 2241 to be actuated to return when the first electric cylinder 2240 ceases to operate, i.e. to actuate the first rack 2241 to move downwardly to its home position, thereby returning the mixing cup 2201. More specifically, first resilient return member 2244 may be a constant force spring. More specifically, the first resilient return member is connected between a first rack 2241 and a mounting plate 2245 fixedly disposed relative to the second swivel members 2250, 3250, the first rack 2241 being movably disposed on the mounting plate 2245.

In some embodiments, as shown in fig. 54 and 58, the multi-station dual swivel module 2000, 3000 further includes a respective third origin detecting assembly for determining the origin of each mixing cup 2201, each of which may include a third origin detecting plate 2205 and a third sensor, the third origin detecting plate 2205 may be fixedly disposed on the second driving shaft 2231 to be rotatable with the second driving shaft 2231, and the third sensor may be disposed on the first support seat 2233 and configured to be capable of determining the angular position of the respective mixing cup 2201 by detecting the angular position of the third origin detecting plate 2205. It should be appreciated that the third sensor may be in communication with the central control computer.

Electric slip ring mechanism

As mentioned above, the second rotary member 2250, 3250 may simultaneously carry a plurality of mixing cups 2201, and each mixing cup 2201 is rotatably arranged on the second rotary member 2250, 3250 by a mixing cup drive mechanism. In this case, in some embodiments, as shown in fig. 54 and 65, the multi-station dual swing module 2000, 3000 may further comprise an electrical slip ring mechanism 2290, the electrical slip ring mechanism 2290 comprising an input line connected to the mixing cup drive mechanism and an output line connected to the central control machine to enable transfer of power and control signals between the mixing cup drive mechanism and the central control machine, more specifically the fourth motor 2236 in the first variant or the first electrical cylinder 2240 in the second variant. Therefore, the electric slip ring mechanism is arranged to realize communication between the mixing cup driving mechanism and the central control machine, so that the problem that lines are mixed and intertwined with each other and are easy to fail can be avoided.

In a particular embodiment, as shown in fig. 65, a support post 2280 for supporting the second swivel members 2250, 3250 is configured with a hollow portion 2281, and an electrical slip ring mechanism 2290 may be disposed in the hollow portion 2281, thereby facilitating a compact configuration. More specifically, the electric slip ring mechanism 2290 includes an electric slip ring driving part 2291 and a rotating member 2292 driven by the electric slip ring driving part 2291, the electric slip ring driving part 2291 extends in the hollow part 2281 of the support column 2280, and the upper end thereof is configured to be coupled with the second swing members 2250, 3250 so that the electric slip ring driving part 2291 can be rotated by the second swing members 2250, 3250, and the lower end thereof is coupled with the rotating member 2292 so that the electric slip ring driving part 2291 can rotate the rotating member 2292. More specifically, the upper end of the electric slip ring driving portion 2291 is disposed through the center hole 2224 of the above-described rotary table 2220 and fixed in the center holes of the second rotary members 2250, 3250, that is, in this case, the rotary table 2220 may be disposed below the second rotary members 2250, 3250. An example in which the upper end of the electric slip ring drive 2291 is disposed through the central hole 2224 of the turntable 2220 and fixed in the central hole 2254 of the second rotary member 2250 is shown.

2.1 Multi-station double-swing Module 2000 according to the first embodiment

A first embodiment of the multi-station dual swing module 2000 will be described. In this first embodiment, as mentioned above, the first drive mechanism of the first swing assembly 2100 of the multi-station dual swing module 2000 can drive the first swing member 2150 along a first trajectory through a plurality of first type stations including at least a container drop station and a first interface station. As shown in fig. 66-71, the multi-station dual swivel module 2000 includes a container drop mechanism 2300 configured to perform at least a drop of finished cups 2101 onto a first swivel member 2150, and more particularly into corresponding cup holders 2151 secured to the first swivel member 2150, at a container drop station. More specifically, in the first embodiment of the multi-station dual swing module 2000, the first swing member 2150 is a first swing belt, as shown in fig. 39-41, 48, and 72.

In some embodiments, the plurality of first-type stations may further include a priming station after the container drop station and before the first handing-over station, and the multi-station dual swing module may further include a first material charging mechanism 1700 (as shown in fig. 15-16), the first material charging mechanism 1700 being configured to perform a finished cup fresh charging operation and/or a finished cup reinforcement operation of charging fresh and/or solid material into the finished cup 2101 at the priming station. The first material feeding mechanism 1700 has been described in detail in the material storage and supply module 1000 and will not be repeated here.

It should be noted that the terms "before" and "after" when describing the interrelationship between the various stations denote the order of the stations that are experienced in carrying the finished cup 2101 while the first rotary member 2150 is operating.

In some embodiments, the plurality of first class stations further includes a capping station disposed after the first interface station, and the multi-station dual swing module may then correspondingly further include a capping mechanism 2450, the capping mechanism 2450 configured to perform a capping operation of adding a milk cap to the finished cup 2101 at the capping station, as shown in fig. 99-102.

In some embodiments, the plurality of first-type stations further includes a labeling station disposed after the container drop station, and accordingly, as shown in fig. 40, 72-78, the multi-station dual-swing module may further include a labeling mechanism 2500, the labeling mechanism 2500 configured to perform a labeling operation for labeling labels on finished cups 2101 at the labeling station. More specifically, the tag may have at least one of the following information thereon: a two-dimensional code; a client name; a beverage name; an ice amount; sugar addition amount, etc.

In some embodiments, as shown in fig. 66-71, container drop mechanism 2300 is further configured to perform a drop-off operation of dropping finished cup lid 2102 onto finished cup 2101 at a container drop-off station, and more specifically, dropping finished cup lid 2102 onto finished cup 2101 that has passed through the first plurality of stations or stations of the first plurality of stations other than the labeling station and returned to the container drop-off station along a first trajectory, i.e., finished cup 2101 has substantially completed each beverage making operation.

In this first embodiment, as mentioned above, the second drive mechanism 2210 of the second swing assembly 2200 of the multi-station dual swing module 2000 can drive the second swing member 2250 along a second trajectory through a plurality of second type stations including at least a charging station and a second handing-over station. The multi-station dual swivel module 2000 includes a charging mechanism 2350 configured to perform at least charging operations for charging liquid into a mixing cup 2201 at a charging station, as shown in fig. 79-84.

In some embodiments, the plurality of second class stations further includes a mixing cup fresh-adding station disposed before the second hand-over station, and the multi-station dual-swing module 2000 further includes a second material-adding mechanism 1800, respectively, the second material-adding mechanism 1800 being configured to perform a mixing cup fresh-adding operation of adding fresh material into the mixing cup 2101 at the mixing cup fresh-adding station. The second material charging mechanism 1800 is described in detail in the material storage and supply module and is not repeated here.

In some embodiments, the plurality of second type stations further comprises a mixing station disposed after the mixing cup fresh adding station and before the second handing-over station, and the multi-station dual swing module 2000 further comprises a stirring mechanism 2550 accordingly, the stirring mechanism 2550 configured to perform a stirring operation for stirring the material in the mixing cup 2102 at the mixing station, as shown in fig. 40 and 85. More specifically, in the mixing station, the materials (which may include one or more of fresh, liquid, and ice) in the mixing cup may be stirred more uniformly or the various materials may be mixed more uniformly, and the individual materials may be further refined, for example, to better blend with the liquid materials, further providing improved mouthfeel.

In some embodiments, as shown in fig. 42, 86-89, multi-station dual-swivel module 2000 further includes a mixing bowl capping and cleaning mechanism 2600, the mixing bowl capping and cleaning mechanism 2600 configured to perform a mixing bowl capping operation of capping mixing bowl 2203 onto mixing bowl 2201 prior to a mixing operation performed by mixing mechanism 2550 in the mixing station. This prevents material in mixing cup 2201 from spilling out of the mixing cup during the stirring operation due to the stirring vibration.

In a more specific embodiment, the mixing bowl cover capping and cleaning mechanism 2600 is further configured to perform a mixing bowl cover cleaning operation that cleans the mixing bowl cover 2203 after a stirring operation is performed by the stirring mechanism 2550 in the mixing station. On the one hand, because the beverage is made in different types, the materials between two adjacent mixing cups 2201 may be different, and cleaning the mixing cup cover 2203 after the stirring operation can avoid allowing the mouthfeel due to the undesired materials; on the other hand, this may ensure cleanliness and hygiene of the compound cup cover 2203, thereby ensuring hygiene of the beverage.

In some embodiments, the plurality of second class stations further comprises an ice-adding station disposed before the second handing-over station, at which ice-adding operations are performed to add ice cubes into the mixing cup 2201; this ice-on operation may be performed by the ice-out mechanism 1900 mentioned above in the materials storage and supply module. More specifically, the ice adding station is arranged before the mixing station, so that stirring operation comprising ice-making operation can be carried out on the mixing station according to the need, and the ice-making station is used for making ice-making drinks or nectar drinks.

In some embodiments, the plurality of second class stations further comprises a cup wash station disposed after the second interface station, as shown in fig. 41-42 and 97-98, and the multi-station dual-swing module 2000 further comprises a cup wash mechanism 2650, the cup wash mechanism 2650 configured to perform a cup wash operation for washing the mixing cup 2201 at the cup wash station. This thus allows the mixing cup 2201 to be cleaned after each handover operation to ensure the purity of the beverage and to ensure hygiene.

In a specific exemplary embodiment, the plurality of first-type stations are sequentially arranged in the following order: a container drop station; labeling stations; a base material adding station; a first hand-over station; and a milk cover adding station.

Accordingly, in one particular exemplary embodiment, the respective operations at the plurality of first-type stations may be performed sequentially in the following order: cup falling operation; labeling; the fresh material adding operation of the finished cup and/or the material reinforcing operation of the finished cup; a handover operation; adding a milk cover; and (5) cover falling operation.

In a specific exemplary embodiment, the plurality of second-type stations are sequentially arranged in the following order: an ice adding station; a liquid adding station; a fresh material adding station of the material mixing cup; a material mixing station; a second hand-over station; and a cup washing station.

Accordingly, in one specific exemplary embodiment, the respective operations at the plurality of second-type stations are performed sequentially in the following order: adding ice; adding liquid materials; fresh material adding operation of the material mixing cup; capping the mixing cup; mixing operation; cleaning the cup cover of the mixed material; a handover operation; and (5) cup washing operation.

More specifically, the multi-station dual swing module 2000 presented herein may be used to simultaneously make multiple beverages, in which case the respective operations at the plurality of first-type stations and the respective operations at the plurality of second-type stations may be performed simultaneously.

More specifically, in making a smoothie beverage, the following operations may be performed at the plurality of first type stations in sequence: cup falling operation; adding fresh materials into the finished cup; a handover operation; cover falling operation; optionally, a labeling operation may also be performed; optionally, the milk capping operation may also be performed before the cap falling operation. Meanwhile, at the plurality of second-type stations, the following operations may be sequentially performed: adding ice; adding liquid materials; fresh material adding operation of the material mixing cup; mixing operations (including ice and sand operations); a handover operation; optionally, the cover adding operation of the mixing cup and the cleaning operation of the mixing cup cover can be respectively carried out before and after the mixing operation; optionally, a cup-washing operation may also be performed at the end.

More specifically, in making non-iced nectar beverages, including both cold and hot nectar beverages, the following operations may be performed sequentially at the plurality of first-type stations: cup falling operation; adding fresh materials into the finished cup; a handover operation; cover falling operation; optionally, the milk capping operation may also be performed before the cap falling operation; alternatively, a labeling operation may also be performed. Meanwhile, at the plurality of second-type stations, the following operations may be sequentially performed: adding liquid materials; fresh material adding operation of the material mixing cup; mixing operation; a handover operation; optionally, the cover adding operation of the mixing cup and the cleaning operation of the mixing cup cover can be respectively carried out before and after the mixing operation; optionally, a cup-washing operation may also be performed at the end.

More specifically, in making milk tea beverages, including cold milk tea beverages and hot milk tea beverages, the following operations may be performed sequentially at the plurality of first-type stations: cup falling operation; reinforcing material operation of the finished cup; a handover operation; and (5) cover falling operation. Optionally, a labeling operation may also be performed; optionally, the milk capping operation may also be performed before the cap falling operation. Meanwhile, at the plurality of second-type stations, the following operations may be sequentially performed: adding liquid materials; a handover operation; cup washing operation; optionally, a cup-washing operation may also be performed at the end.

Container drop mechanism 2300

As mentioned above, in some embodiments, the container drop mechanism 2300 is configured to perform a cup-dropping operation at a container drop station. In some embodiments, the container drop mechanism 2300 is further configured to perform a drop cap operation at a container drop station. Various embodiments of the container drop mechanism 2300 will be described in detail below.

In some embodiments, as shown in fig. 66-71, the container drop mechanism 2300 is configured to include a third drive mechanism 2310, a carrier plate 2320, and a cup dispenser motor (not shown). The carrier plate 2320 is configured to carry at least one cup dispenser 2321, 2322, and the third drive mechanism 2300 is configured to be capable of driving movement of the carrier plate 2320 such that the carrier plate 2320 is capable of being positioned above the first swivel member 2150 when a container drop operation is desired, thereby allowing a finished cup 2101 to be dropped from the respective cup dispenser 2321, 2322. The cup dispenser motor is then configured to operate the at least one cup dispenser 2321, 2322 to enable the finished cups 2101 to be dropped onto the first rotational member 2150, and more particularly into the corresponding cup holders 2151 on the first rotational member 2150. In a more specific embodiment, each cup dispenser 2321, 2322 is configured to be able to hold a plurality of finished cups 2101 stacked one above the other and includes a holding portion for holding an upper edge of a lowermost finished cup 2101 of the plurality of finished cups 2101, for example in the form of a flange, at which a through hole is provided that is able to open at the upper edge of the lowermost finished cup 2101. When the cup-dropping mechanisms 2321, 2322 perform the cup-dropping operation, air may be blown toward the upper edge of the finished cup 2101 via the through-hole to promote the dropping of the lowermost finished cup 2101. More specifically, the machine accordingly comprises a gas tank, a gas flow conduit connected between the gas tank and the through hole, and a first solenoid valve controlling the ventilation or the interruption of the gas flow conduit, so as to enable the blowing of the gas flow towards the upper edge of the finished cup 2101 via the through hole as required.

In some embodiments, as shown in fig. 66-71, the carrier plate 2320 is further configured to carry a lid remover 2323, and the container drop mechanism 2300 further includes a lid remover motor (not shown) configured to remove the finished cup lid 2102 onto a corresponding finished cup 2101. That is, in these embodiments, both the cup-dropping operation and the lid-dropping operation of the finished cup 2101 may be performed at the container-dropping station.

In some embodiments, as shown in fig. 66-71, the third driving mechanism 2310 is configured to include at least one carrier plate lifting cylinder 2313, 2314 and at least one carrier plate horizontal cylinder 2311, 2312, wherein the at least one carrier plate lifting cylinder 2311, 2312 is configured to be capable of driving the carrier plate 2320 to move in a vertical direction, and the at least one carrier plate horizontal cylinder 2313, 2314 is configured to be capable of driving the carrier plate 2320 to move in a horizontal direction.

In a more specific embodiment, as shown in FIGS. 66-71, the container drop mechanism 2300 includes a first cup dispenser 2321 for a first type of finished cup 2101a and a second cup dispenser 2322 for a second type of finished cup 2101 b. More specifically, the heights of the finished cups 2101a, 2101b of the first type are different from those of the finished cups 2101b of the second type; for example, the first type of finished cup 2101a may be a smaller height paper cup and the second type of finished cup 2101b may be a larger height plastic cup. In this case, the third driving mechanism 2310 may be configured to include two carrier plate horizontal cylinders, i.e., a first carrier plate horizontal cylinder 2311 and a second carrier plate horizontal cylinder 2312. The first carrier plate horizontal cylinder 2311 includes a first carrier plate horizontal cylinder body 2311a and a first horizontal movable member 2311b movable with respect to the first carrier plate horizontal cylinder body, the second carrier plate horizontal cylinder 2312 includes a second carrier plate horizontal cylinder body 2312a and a second horizontal movable member 2312b movable with respect to the second carrier plate horizontal cylinder body, the second carrier plate horizontal cylinder body 2312a is coupled with the first horizontal movable member 2311b, and the second horizontal movable member 2312b is coupled with the carrier plate 2320, whereby the second carrier plate horizontal cylinder 2312 may be driven by the first horizontal movable member 2311b, and the carrier plate may be driven by the first horizontal movable member 2311b and/or the second horizontal movable member 2312 b.

More specifically, as shown in fig. 66-71, the first and second carrier plate horizontal cylinders 2311 and 2312 may be provided such that only one of them operates or operates simultaneously to horizontally displace the carrier plate 2320 by a desired distance according to actual needs, thereby dropping a desired finished cup on the first swing member. And due to the above arrangement, that is, since the second carrier plate horizontal cylinder body 2312a is coupled with the first horizontal movable member 2311b and the second horizontal movable member 2312b is coupled with the carrier plate 2320, the first carrier plate horizontal cylinder 2311 may remain stationary while the second carrier plate horizontal cylinder 2312 is operated, the carrier plate 2320 moves horizontally with the second horizontal movable member 2312b, and the horizontal movement distance is the second horizontal movable member 2312b horizontally protruding distance; when the first horizontal cylinder 2311 is operated, the second horizontal cylinder 2312 is also pushed by the first horizontal movable member 2311b to move horizontally, and thus the carrying plate 2320 coupled to the second horizontal movable member 2312b moves horizontally correspondingly, and the moving distance is the horizontal extending distance of the first horizontal movable member 2311 b; further, when the first and second carrier plate horizontal cylinders 2311 and 2312 are simultaneously operated, the carrier plate 2320 is moved horizontally by a follower, and the moving distance is the sum of the horizontal protrusion distance of the first horizontal movable piece 2311b and the horizontal protrusion distance of the second horizontal movable piece 2312 b.

In a specific embodiment, as shown in fig. 66-71, in order that the container drop mechanism 2300 does not obstruct the normal operation of the first and second swivel members 2150, 2250 when not in operation, the lid-drop 2323, the first cup-drop 2321, and the second cup-drop 2322 are provided on the carrier plate 2320 such that:

when the finished cup cover 2102 is dropped onto the finished cups 2101a, 2101b, the first and second carrier plate horizontal cylinders 2311, 1312 are not operated, and the at least one carrier plate lifting cylinder 2313, 2314 is operated; that is, when the cap falling operation is performed, the cap falling device 2323 is arranged such that it does not need to perform horizontal displacement, but only performs lifting movement, that is, in such an embodiment, the cap falling device 2323 is located above the finished cup on the first rotary member 2150 before the cap falling operation is started;

when the second type of finished cup 2101b is dropped on the first rotary member 2150, the second carrier plate horizontal cylinder 2312 and the at least one carrier plate lifting cylinder 2313, 2314 are operated, while the first carrier plate horizontal cylinder 2311 is not operated; that is, the first cup dispenser 2321 is offset from the finished cup on the first rotary member 2150 in the horizontal direction before starting the cup-dispensing operation, more specifically by the horizontal extension distance of the second horizontal movable member 2312 b;

When the first type of finished cup 2101a is dropped onto the first rotary member 2150, both the first and second carrier plate horizontal cylinders 2311, 2312 and the at least one carrier plate lifting cylinder 2313, 2314 are operated; that is, the second cup separator 2322 is also shifted from the finished cup on the first rotary member 2150 in the horizontal direction before starting the cup separating operation, more specifically, by the sum of the horizontal projecting distance of the first horizontally movable member 2311b and the horizontal projecting distance of the second horizontally movable member 2312 b.

In a specific embodiment, as shown in fig. 66-71, the at least one carrier plate lift cylinder 2313, 2314 includes a first carrier plate lift cylinder 2313 and a second carrier plate lift cylinder 2314 disposed in parallel, the first carrier plate lift cylinder 2313 including a first carrier plate lift cylinder body 2313a and a first vertically movable member 2313b movable relative to the first carrier plate lift cylinder body 2313a, and the second carrier plate lift cylinder 2314 including a second carrier plate lift cylinder body 2314a and a second vertically movable member 2314b movable relative to the second carrier plate lift cylinder body 2314 a. More specifically, the third drive mechanism 2310 may further include a support ledge 2330 disposed on a frame of the machine, the support ledge 2330 may be configured to support the third drive mechanism 2310 and may be configured to include first and second vertical sides 2333 and 2334 disposed opposite to each other and a lateral side 2331, the first carrier plate lift cylinder 2313 may be disposed at the first vertical side 2333, and accordingly the second carrier plate lift cylinder 2314 may be disposed at the second vertical side 2334, and the carrier plate 2320 may be disposed on the lateral side 2331. The first vertically movable member 2313b of the first loading plate elevating cylinder 2313 and the second vertically movable member 2314b of the second loading plate elevating cylinder 2314 are configured to be coupled with the lateral side portion 2331, more specifically, the lower end of the first vertically movable member 2313b and the lower end of the second vertically movable member 2314b are coupled with the lateral side portion 2331 to be able to move up and down the lateral side portion 2331 and thus to move up and down the loading plate 2320 provided on the lateral side portion 2331 and the at least one cup and cap dropping device 2321 and 2322 and 2323 provided on the loading plate 2320.

More specifically, as shown in fig. 66-71, the first and second vertical movable members 2313b and 2314b are coupled with the lateral side 2331 via first and second vertical sliders 2315 and 2316, respectively. In this case, the first vertical slider 2315 is coupled to the first vertical movable piece 2313b to be vertically movable therewith, and the second vertical slider 2316 is coupled to the second vertical movable piece 2314b to be vertically movable therewith. More specifically, in this case, the first vertical side portion 2333 of the support plate frame 2330 may be provided with a first slide rail 2335 for guiding the first vertical slider 2315 to move up and down; accordingly, the second vertical side portion 2334 of the support plate frame 2330 may also be provided with a second slide rail 2336 for guiding the second vertical slider 2316 to move up and down. More specifically, the second horizontally movable member 2312b of the second loading plate horizontal cylinder 2312 may be coupled with the loading plate 2320 via a horizontal slider 2317; in this case, horizontal rails 2337 for guiding the horizontal slider 2317 to move horizontally may be provided on the lateral sides 2331 of the support plate frame 2330.

More specifically, as shown in fig. 66-71, the first and/or second carrier plate horizontal cylinders 2311 and 2312 and/or the first and second carrier plate elevating cylinders 2313 and 2314 may be rod cylinders, and accordingly, the first and/or second horizontal movable members 2311b and 2312b and/or the first and second vertical movable members 2313b and 2314b may be respective cylinder rods.

Labeller mechanism 2500

As mentioned above, the labeling mechanism 2500 is configured to perform a labeling operation at a labeling station, that is, to apply labels 2501 to finished cups 2101. The label includes information such as a two-dimensional code, a customer name, a drink name, an ice amount, and a sugar amount. Various embodiments of the labeling mechanism will be described in detail below.

In some embodiments, as shown in fig. 72-78, labeling mechanism 2500 includes a label printer 2502 and a labeling roller mechanism 2510. The label printer 2502 is configured to print, eject, and primarily adhere the label 2501 to the finished cup 2101, i.e., the label 2501 is a label with an adhesive face, the label printer 2502 is configured to be capable of directly ejecting the label onto the finished cup 2101, and the label 2501 ejected, i.e., printed, from the label printer 2502 is capable of primarily adhering to the finished cup 2101. The labeling roller mechanism 2510 is configured to press and affix the label 2501 onto the finished cup 2101. The labeling roller mechanism 2510 may include a drive roller 2522 that is rotatable against the finished cup 2101 and a labeling motor 2512 that is capable of driving the drive roller 2522 to rotate. In a more specific embodiment, the drive roller 2522 is configured to have a profile that is at least partially complementary to the profile of the finished cup 2101, and more specifically to the profile of the labeling station of the finished cup 2101. Thus, drive roller 2522 is able to compress label 2501 on finished cup 2101 as it rotates against finished cup 2101.

In some embodiments, as shown in fig. 72-78, the labeling roller mechanism 2510 further includes a labeling cylinder 2513, a drive plate 2514 driven by the labeling cylinder 2513, and a first lateral linkage assembly 2520 and a second lateral linkage assembly 2530 driven by the drive plate 2514. The labeling cylinder 2513 includes a movable labeling cylinder rod. The drive plate 2514 is then coupled with the labeling cylinder rod to be movable therewith between an initial retracted position and a final extended position, and the drive plate 2514 includes a first drive plate side and a second drive plate side opposite the first drive plate side. The first lateral link assembly 2520 is disposed at the first driving plate side and is provided to be rotatable about a first fixed shaft 2521 as the driving plate 2514 moves, and the first lateral link assembly 2520 includes the driving roller 2522 as described above. The second lateral linkage assembly 2530 is disposed on the second drive plate side and is configured to rotate about the second fixed axis 2531 as the drive plate 2514 moves, and a first follower roller 2532 is disposed on the second lateral linkage assembly 2530 and is configured to abut the finished cup 2101, the first follower roller 2532 being configured to rotate as the drive roller 2522 rotates. In such embodiments, during movement of the drive plate 2514 with the labeling cylinder rod from the initial retracted position to the final extended position, the first and second lateral linkage assemblies 2520, 2530 can be rotated to bunch one another such that the drive roller 2522 and the first follower roller 2532 abut the finished cup 2101; during movement of the drive plate 2514 with the labeling cylinder rod from the final extended position to the initial retracted position, the first lateral linkage assembly 2520 and the second lateral linkage assembly 2530 can be rotated to diverge from one another such that the drive roller 2522 and the first follower roller 2532 exit the finished cup 2101.

That is, when the labeling roller mechanism 2510 is required to operate, the labeling cylinder 2513 is operated and the labeling cylinder rod is extended, thereby driving the driving plate 2514 to move from the initial retracted position to the final extended position; during this time, the first and second lateral linkage assemblies 2520 and 2530 rotate 2531 about the first and second fixed shafts 2521 and 2531, respectively, as the drive plate 2514 moves to cause the first and second lateral linkage assemblies 2520 and 2530 to bunch one another, thereby enabling the drive roller 2522 of the first lateral linkage assembly 2520 and the first follower roller 2532 of the second lateral linkage assembly 2530 to abut the finished cup 2101. The labeling motor 2512 is now operable to drive the drive roller 2522 in rotation, and the finished cup 2101 is also rotatable due to friction with the finished cup 2101 created by rotation of the drive roller 2522 against the finished cup 2101; the first follower roller 2532 can also rotate due to the friction force generated between the first follower roller 2532 and the finished cup 2101 abutting against the first follower roller 2532; thus, the active roller 2522 and first follower roller 2532 may be allowed to roll over the label 2501 on the finished cup 2101, thereby compressing the label 2501 onto the finished cup 2101. When the labeling operation is finished, the labeling motor 2512 can stop operating, and the labeling cylinder rod can retract, so that the driving plate 2514 is driven to return to the initial retraction position from the final extension position; during this time, the first and second lateral linkage assemblies 2520 and 2530 rotate about the first and second fixed shafts 2521 and 2531, respectively, as the drive plate 2514 moves such that the first and second lateral linkage assemblies 2520 and 2530 diverge from each other, thereby enabling the drive roller 2522 of the first lateral linkage assembly 2520 and the first follower roller 2532 of the second lateral linkage assembly 2530 to exit the finished cup 2101 and thus ensuring that the rotational movement of the first rotational member 2150 is not impeded.

In one particular embodiment, as shown in fig. 72-78, the first side link assembly 2520 includes a first drive rod 2523, the first drive rod 2523 being rotatably disposed about a third fixed shaft 2524, a first elongated drive aperture 2525 being disposed in the first drive rod 2523. The second lateral linkage assembly 2530 includes a second drive rod 2533, the second drive rod 2533 being rotatably disposed about a fourth fixed shaft 2534, and a second elongated drive aperture 2535 being disposed in the second drive rod 2533. The driving plate 2514 is provided with a first protrusion 2514a extending into the first elongated transmission hole 2525 and a second protrusion 2514b extending into the second elongated transmission hole 2535. More specifically, the third fixed shaft 2524 and the fourth fixed shaft 2534 are symmetrically disposed with respect to the central symmetry axis X of the labeling roller mechanism 2510, the first fixed shaft 2521 and the second fixed shaft 2531 are also symmetrically disposed with respect to the central symmetry axis X, and the third fixed shaft 2524 and the fourth fixed shaft 2534 are disposed closer to the central symmetry axis X than the first fixed shaft 2521 and the second fixed shaft 2531. In such an embodiment, as the drive plate 2514 moves with the labeling cylinder rod between the initial retracted position and the final extended position, the drive plate 2514 applies a driving force to the inner wall of the first elongated transmission aperture 2525 via the first cam 2514a to rotate the first transmission rod 2523 and to the inner wall of the second elongated transmission aperture 2535 via the second cam 2514b to rotate the second transmission rod 2533 and thereby the first lateral linkage assembly 2520 and the second lateral linkage assembly 2530. In a more specific embodiment, the first lateral linkage assembly 2520 and the second lateral linkage assembly 2530 are disposed substantially symmetrically about the central axis of symmetry X of the labeling roller mechanism 2510.

In one particular embodiment, as shown in FIGS. 72-78, a third elongated drive aperture 2526 is also provided in the first drive rod 2523, the third elongated drive aperture 2526 being further away from the third stationary shaft 2524 than the first elongated drive aperture 2525. A fourth elongated drive aperture 2536 is also provided in the second drive rod 2533, the fourth elongated drive aperture 2536 being further from the fourth fixed shaft 2534 than the second elongated drive aperture 2535. The first side link assembly 2520 further includes a first driven rod 2527 configured to rotate about a first fixed axis 2521, the first driven rod 2527 having a first post 2528 disposed thereon, the first post 2528 being inserted into a third elongated drive aperture 2526. The second lateral linkage assembly 2530 further includes a second driven rod 2537 configured to rotate about a second fixed shaft 2531, a second post 2538 is disposed on the second driven rod 2537, and the second post 2538 is inserted into the fourth elongated transmission hole 2536. In such an embodiment, as the drive plate 2514 moves with the labeling cylinder rod between the initial retracted position and the final extended position, the first transmission rod 2523 applies a driving force to the first post 2528 via the inner wall of the third elongated transmission hole 2526 to rotate the first driven rod 2527, and the second transmission rod 2533 applies a driving force to the second post 2538 via the inner wall of the fourth elongated transmission hole 2536 to rotate the second driven rod 2537.

In some specific embodiments, as shown in fig. 72-78, the labeling roller mechanism 2510 further comprises a first fixed plate 2515 fixedly disposed with respect to the frame of the machine, and the first fixed shaft 2521, the second fixed shaft 2531, the third fixed shaft 2524 and the fourth fixed shaft 2534 may be disposed on the first fixed plate 2515. In a more specific embodiment, in order to enable the second and third lateral linkage assemblies 2520, 2530 to be as far away from the first swivel members 2150, 3150 as possible when the labeling mechanism 2500 is not in operation so as not to interfere with the swivel motion of the first swivel members 2150, 3150, the second and third lateral linkage assemblies 2520, 2530 may be provided to be maximally dispersed from each other in the initial retracted position. In this case, first and second receiving grooves 2514c and 2514d for receiving the first and second pins 2514a and 2514b may also be provided in the first fixing plate 2515 to allow the driving plate 2514 to be retracted as far as possible from the first swing members 2150 and 3150 in the initial retracted position, thereby allowing the entire labeling mechanism 2500 to be as far as possible from the first swing members 2150 and 3150 when not operated.

In some specific embodiments, as shown in fig. 72-78, the first driven bar 2527 includes a first upper driven bar 2527a and a first lower driven bar 2527b, and the drive roller 2522 is rotatably disposed between the first upper driven bar 2527a and the first lower driven bar 2527 b. The second driven lever 2537 includes a second upper driven lever 2537a and a second lower driven lever 2537b, and the first follower roller 2532 is disposed between the second upper driven lever 2537a and the second lower driven lever 2537b, more specifically, rotatably disposed between the second upper driven lever 2537a and the second lower driven lever 2537 b. More specifically, the drive roller 2522 and the first follower roller 2532 are symmetrically disposed with respect to the above-described central symmetry axis X.

In a more specific embodiment, as shown in fig. 72-78, a second follower roller 2529 and a third follower roller 2539 are provided on the side of the drive plate 2514 facing the finished cup 2101, the second follower roller 2529 and the third follower roller 2539 being capable of abutting the finished cup 2101 when the labeling cylinder 2513 is in the final extended position. More specifically, the contours of first follower roller 2532, second follower roller 2529, and third follower roller 2539 are at least partially complementary to the contours of finished cup 2101. More specifically, as drive roller 2522 is brought into abutment with finished cup 2101, rotation of drive roller 2522 generates a frictional force between drive roller 2522 and finished cup 2101, which can rotate finished cup 2101; the rotation of finished cup 2101 in turn generates friction between finished cup 2101 and first, second and third follower rollers 2532, 2529, 2539 that bear against finished cup 2101, such that finished cup 2101 in turn is able to rotate first, second and third follower rollers 2532, 2529, 2539. Thus, drive roller 2522, first follower roller 2532, second follower roller 2529, and third follower roller 2539 are all capable of rolling over label 2501 on finished cup 2101, thereby further facilitating compaction of label 2501 on finished cup 2101.

In a more specific embodiment, as shown in fig. 72-78, the labeling roller mechanism 2510 further comprises a drive wheel, referred to as a third drive wheel 2516, a timing belt, referred to as a third timing belt 2517, and a driven wheel, referred to as a third driven wheel 2518. The third drive wheel 2518 is provided to be coupled with a motor shaft of the labeling motor 2512 so as to be capable of being driven to rotate by the labeling motor 2512. The third timing belt 2517 is sleeved on the third driving wheel 2516 and the third driven wheel 2518, so that the third timing belt 2517 can be driven to rotate by the third driving wheel 2516, and meanwhile, the third timing belt 2517 can also drive the third driven wheel 2518 to rotate. The third driven wheel 2518 is provided as a rotation shaft coupling of the drive roller 2522, thereby enabling rotation of the drive roller 2522.

Liquid charging mechanism 2350

As described above, the charging mechanism 2350 is configured to perform a charging operation of charging liquid into the mixing cup 2201 at the charging station. Various embodiments of the charging mechanism 2350 are described in detail below.

In some embodiments, as shown in fig. 79-84, the charging mechanism 2350 includes a charging spout carrier plate 2351, the charging spout carrier plate 2351 configured to support at least one charging spout 2352, each charging spout 2352 including a charging inlet 2352a and a charging outlet 2352b, the charging inlet 2352a capable of being in fluid communication with a liquid source via a liquid guiding tube, the charging outlet 2352b configured to be aligned with a respective mixing cup 2102. It should be noted that the liquid source may be a liquid bowl disposed in the liquid chamber 1180 of the material storage device 1100, as mentioned in describing the material storage and supply module 1000 for automatically making beverages.

In some embodiments, as shown in fig. 79-84, some of the at least one filling nozzles are in the form of filling valves, referred to as first filling valves 2360, each first filling valve 2360 including a first valve body 2361 and a liquid inlet nozzle 2362 and a liquid outlet nozzle 2363 disposed on the first valve body 2361. The charging mechanism 2350 also includes a first filling valve cylinder 2353 and a first blocking portion 2354. The first filling valve cylinder 2353 includes a first movable filling valve cylinder rod 2353a, the first movable filling valve cylinder rod 2353a being arranged to extend into a first valve body 2361 of a respective first filling valve 2360. The first blocking portion 2354 is provided to be coupled with the first movable filling valve cylinder rod 2353a to be movable with the first movable filling valve cylinder rod 2353a so that the liquid material inlet mouth 2362 can be blocked or opened accordingly. More specifically, as the first movable filling valve cylinder rod 2353a is extended, i.e., moved further toward the interior of the first valve body 2361, the first blocking portion 2354 blocks the liquid inlet nozzle 2362, thereby preventing liquid from the liquid source from entering the first valve body 2361, thereby preventing or interrupting the execution of the liquid filling operation; when the first movable filling valve cylinder rod 2353a is retracted, i.e. moved towards the outside of the first valve body 2361, the first blocking portion 2354 no longer blocks the liquid inlet mouth 2362, allowing liquid from the liquid source to be able to enter the first valve body 2361, allowing the performance of the liquid filling operation.

More specifically, the liquid may include a first type of liquid and a second type of liquid, wherein the second type of liquid is more viscous than the first type of liquid, and the first fill valve 1360 may be used for the second type of liquid.

More specifically, the at least one charging spout includes 3 to 19 charging spouts 2352. More specifically, each filling nozzle 2352 is for a particular type of liquid.

In a particular embodiment, the spout carrier plate 2351 is positioned such that the at least one charging spout 2352 is positioned above the mixing cup 2201 and aligned with the mixing cup 2201. Alternatively, the mouthpiece carrier plate 2351 may be arranged to misalign the at least one mouthpiece 2352 with the mixing cup 2201 when not in operation and to move into alignment with the mixing cup 2201 when in operation under the drive of the associated drive member.

In a specific embodiment, as shown in fig. 82-84, the charging mechanism 2350 further includes a liquid-to-drain component 2390, the liquid-to-drain component 2390 including a liquid-to-drain tray 2391 and a liquid-to-drain tube 2392 in fluid communication with the liquid-to-drain tray 2391, the liquid-to-drain tube 2392 being used to drain liquid, such as a transport and a drain pump thereof, that is dropped into the liquid-to-drain tray 2391. The liquid discharge tray 2391 is configured to be positioned below the liquid discharge nozzle carrier plate 2351, and more particularly below the liquid discharge outlet 2352b and/or the liquid discharge outlet 2363 when the liquid discharge mechanism 2350 is not operated, so as to be able to receive liquid discharge surplus material dropped therefrom, to prevent contamination, to ensure sanitation, and to ensure machine use safety.

More specifically, the charging mechanism 2350 further includes charging horizontal cylinders 2370, 2380, and the charging horizontal cylinders 2370, 2380 include charging horizontal cylinder blocks 2371, 2381 and third horizontal movable members 2372, 2382 movable with respect to the charging horizontal cylinder blocks 2371, 2381.

In one variation, as shown in fig. 82-83, charging mechanism 2350 is positioned such that the at least one charging spout 2352 is positioned above mixing cup 2201 and aligned with mixing cup 2201. At this time, the third horizontally movable member 2372 of the charge horizontal cylinder 2370 may be coupled to the charge drain tray 2391 to be able to drive the charge drain tray 2391 to move between the non-charge position and the charge position; wherein, when the charging mechanism 2350 is operated, the liquid material leakage receiving tray 2391 is in a non-receiving position, the liquid material leakage receiving tray 2391 is staggered from the at least one charging nozzle 2352 to allow a liquid material milk cap left from the at least one charging nozzle 2352 to be added into the underlying mixing cup 2201; when the charging mechanism 2350 is not operating, the liquid drain catch tray 2391 is in a catch position, the liquid drain catch tray 2391 being aligned with the at least one charging nozzle 2352 to be able to receive liquid residue that drops from the liquid outlet 2352b and/or the liquid outlet nozzle 2363.

In another variation, as shown in fig. 84, a third horizontally movable member 2382 of a priming horizontal cylinder 2380 is coupled to the nozzle carrier 2351 to be able to drive the nozzle carrier 2351 between a non-priming position and a priming position. Wherein in the non-charging position, the liquid outlet 2352b and/or liquid outlet nozzle 2363 is aligned with the liquid drain tray 2391 and not with the mixing cup 2201 at the charging station on the second rotary member 2250, 3250, such that the liquid drain tray 2391 is capable of receiving liquid residue that drops from the liquid outlet 2352b and/or liquid outlet nozzle 2363; in the priming position, the liquid outlet 2352b and/or liquid outlet mouth 2363 are aligned with a mixing cup 2201 located on the second swivel member 2250, 3250 at the priming station to enable liquid to be added to the mixing cup 2201.

Stirring mechanism 2550

As described above, the stirring mechanism 2550 is configured to perform a stirring operation of stirring the material in the mixing cup 2201 at the mixing station. Various embodiments of the agitation mechanism 2550 will be described below.

In some embodiments, as shown in fig. 64, to perform a stirring operation on the material in the mixing cup 2201, the bottom of the mixing cup 2201 is provided with a stirring shaft 2204 extending to the outside of the mixing cup 2201 and a stirring member disposed in the mixing cup 2201, and the stirring member is coupled to the stirring shaft 2204. More specifically, the stirring member may be a smoothie blade that allows the ice cubes added to mixing cup 2201 to be broken up, i.e., allows the smoothie operation to be performed.

In some embodiments, as shown in fig. 40 and 85, stirring mechanism 2550 includes a stirring motor 2560, stirring motor 2560 having a stirring motor shaft 2561, stirring motor shaft 2561 being capable of coupling with stirring shaft 2204 of mixing cup 2201 when a stirring operation is performed. The stirring mechanism 2550 further comprises a stirring cylinder 2551, which stirring cylinder 2551 is arranged to drive the stirring motor 2560 between a first rest position, in which the stirring motor shaft 2561 is remote from the stirring shaft 2204 of the mixing cup 2201, and a first operating position, in which the stirring motor shaft 2561 is coupled with the stirring shaft 2204, more specifically a spline coupling. Thereby, it can be ensured that the stirring motor 2560 does not affect the turning motion of the second turning member 2250 when the stirring operation is not performed. In one particular embodiment, the agitator motor 2560 is provided with a motor receptacle that may provide protection to the agitator motor from moisture, impact, etc. The motor housing may include a top plate 2562 and a bottom plate disposed opposite each other, and a plurality of side walls 2563 extending between the top plate 2562 and the bottom plate. The stirrer motor shaft 2561 is arranged such that its coupled end to the stirrer shaft 2204 of the mixing cup 2201 protrudes beyond the top plate 2562. Additionally, one or more stops and/or buffers 2564 may be provided on top plate 2562 to limit and/or buffer agitator motor 2560 as agitator motor 2560 moves from the first rest position to the first operating position to prevent substantial impact on mixing cup 2201 and to protect agitator mechanism 2550. More specifically, stop and/or bumper 2564 can be made of a resilient material.

In a specific embodiment, as shown in fig. 85, the agitation mechanism 2550 further includes an agitation cylinder mount 2552 fixedly disposed with respect to the frame of the machine, and the agitation cylinder 2551 is mounted on the agitation cylinder mount 2552. Further, cooperating motor guides may be provided on the side wall 2563 of the motor housing and the stirring cylinder mounting 2552 to guide movement of the stirring motor 2560 between the first rest position and the first operating position. More specifically, a linear guide 2565 may be provided on one sidewall 2563 of the motor housing for guiding the up-and-down movement of the stirring motor 2560. More specifically, a motor control panel 2566 may be further provided on the other side wall of the motor housing portion, and various operation buttons may be provided on the motor control panel 2566.

Mixing cup cover capping and cleaning mechanism 2600

As described above, mixing cup capping and cleaning mechanism 2600 may be configured to perform a capping operation of placing mixing cup cap 2203 onto mixing cup 2201 prior to a blending operation at a mixing station. Further, mixing cup capping and cleaning mechanism 2600 may also be configured to perform a capping operation of cleaning mixing cup cap 2203 after the stirring operation at the mixing station. Various embodiments of the mixing cup capping and cleaning mechanism 2600 will be described below.

In some embodiments, as shown in fig. 42 and 86-89, the mixing bowl cover capping and cleaning mechanism 2600 includes a capping lift cylinder 2610 including a capping lift cylinder body 2612 and a first lift movable member 2611 movable relative to the capping lift cylinder body 2612, the mixing bowl cover 2203 being configured to be coupled to the first lift movable member 2611 to be movable with the first lift movable member 2611 between a first height position and a second height position. In a first height position, mixing bowl cover 2203 is positioned above mixing cup 2201 and away from mixing cup 2201; in the second height position, mixing bowl cover 2203 is positioned over mixing bowl 2201. The capping lifting cylinder 2610 may be a rod cylinder. More specifically, the mixing bowl cover 2203 may be coupled to the first movable lifting member 2611 via a mixing bowl cover mounting plate 2601, and the mixing bowl cover 2203 is coupled to the mixing bowl cover mounting plate 2601 via a fastening means 2602, which may include bolts, anchors, pins, adhesive means, and the like. More specifically, the mixing bowl cover 2203 can be mounted to the mixing bowl cover mounting plate 2601 in a manner that allows for quick installation and removal. In addition, a locating hole 2601a may be provided in the mixing bowl cover mounting plate 2601, and a locating pin 2203a matching with the locating hole 2601a may be provided on the mixing bowl cover 2203 to allow for quick and accurate positioning of the mixing bowl cover 2203 when the mixing bowl cover 2203 is mounted on the mixing bowl cover mounting plate 2601, thereby allowing for quick mounting.

In some embodiments, as shown in fig. 42 and 86-89, the mixing bowl capping and cleaning mechanism 2600 can further include a mixing bowl cleaning tray 2630 in which a capping operation is performed to clean the mixing bowl 2203. In such an embodiment, the mixing bowl cover capping and cleaning mechanism 2600 may further comprise a cleaning horizontal cylinder 2620, the cleaning horizontal cylinder 2620 comprising a cleaning horizontal cylinder body 2622 and a first horizontal movable member 2621 movable relative to the cleaning horizontal cylinder body 2622, the first horizontal movable member 2621 coupled to the capping lift cylinder body 2612 to be capable of simultaneously moving the capping lift cylinder 2610 and the mixing bowl cover 2203 between a first horizontal position and a second horizontal position, the first horizontal position being the same position as the first height position, and the mixing bowl cover 2203 being located above the mixing bowl cover cleaning tray 2630. More specifically, the purge horizontal cylinder 2620 is a rodless cylinder.

In a more specific embodiment, as shown in fig. 42 and 86-89, the mixing bowl cover capping and cleaning mechanism 2600 further includes a mixing bowl cover cleaning spray head 2631 disposed in the mixing bowl cover cleaning tray 2630, the mixing bowl cover cleaning spray head 2631 being configured to be in fluid communication with a cleaning water source such that in a second horizontal position, the mixing bowl cleaning spray head 2631 is configured to spray cleaning water toward the mixing bowl cover 2203 to clean the mixing bowl cover 2203. More specifically, the mixing bowl cover cleaning spray head 2631 is a high pressure rotary spray head. More specifically, the mixing bowl cover capping and cleaning mechanism 2600 further includes a mixing bowl cover cleaning inlet pipe 2632 and a mixing bowl cover cleaning outlet pipe 2633, the mixing bowl cover cleaning inlet pipe 2632 being configured to direct cleaning water from a cleaning water source to the mixing bowl cover cleaning spray head 2631, the mixing bowl cover cleaning outlet pipe 2633 being configured to be in fluid communication with the mixing bowl cover cleaning tray 2630 to drain waste water after cleaning from the mixing bowl cover cleaning tray 2630.

Connecting mechanism2400

As described above, the interface 2400 is configured to perform an interface operation at a first interface station and a second interface station that includes pouring the material in the mixing cup 2201 into the finished cup 2101. Various embodiments of the interface mechanism 2400 will be described below.

In some embodiments, as shown in fig. 90-96, the interface mechanism 2400 includes a first linear module 2401 and an interface jaw assembly 2410. The first linear module 2401 includes a first movable slider 2402. The interface jaw assembly 2410 is used to grasp the finished cup 2101 and includes an interface jaw cylinder 2411 and an interface jaw 2412, the interface jaw cylinder 2411 configured to drive tightening and loosening of the interface jaw 2412. The interface jaw assembly 2410 is configured to be movable with the first movable slide 2402 of the first linear module 2401. The interface clamp 2412 is configured to grasp the finished cup 2101 at a grasp height position. In this grip height position, the interface jaw assembly 2410 can be moved by the first movable slide 2402 to move between an initial position and a jaw operating position. In the initial position, the interface clamp jaw 2412 is away from the finished cup 2101 to ensure that normal rotation of the first rotary member 2150 is not blocked; in the jaw operating position, the interface jaw 2412 surrounds the finished cup 2101 and the jaw cylinder 2411 is capable of driving the interface jaw 2412 to tighten to grasp the finished cup 2101.

In more specific embodiments, as shown in fig. 90-96, the blending cup 2201 is positioned at a different height than the finished cup 2101 and/or the finished cup 2101 is positioned in the cup holder 2151 of the first swivel member 2150, the transfer mechanism 2400 can be further configured to raise the finished cup 2101 into a position suitable for transfer with the blending cup 2201 in order to be able to complete the transfer operation. In this case, the handover mechanism 2400 may further include a handover lifting cylinder 2420, the handover lifting cylinder 2420 including a handover lifting cylinder body 2421 coupled with the first movable slider 2402 of the first linear module 2401 and a second lifting movable member 2422 movable with respect to the handover lifting cylinder body 2421, the handover jaw assembly 2410 being connected with the second lifting movable member 2422 so as to be movable by the second lifting cylinder movable member 2422 between a gripping height position in which the material in the mix cup 2201 is poured into the finished cup 2101, and a handover height position. In a specific embodiment, the cross-over lift cylinder 2420 is a rod cylinder and the second lift cylinder moveable member 2422 is a cylinder rod.

In a more specific embodiment, as shown in fig. 90-96, the interface jaw assembly 2410 is rotatably coupled to the second vertically movable member 2422 about the first rotation axis 2413. The interface 2400 may also include a pitch cylinder 2430, the pitch cylinder 2430 including a pitch cylinder block 2431 and a pitch cylinder rod 2432 that is movable relative to the pitch cylinder block 2431. The pitch cylinder rod 2432, and more particularly the distal end of the pitch cylinder rod 2432 relative to the pitch cylinder block 2431, is connected to the interface jaw assembly 2410, and more particularly to the block of the interface jaw cylinder 2411, to enable the interface jaw assembly 2410 to move about the first rotational axis 2413 between a reclined state and a vertical state as the pitch cylinder rod 2432 moves, and more particularly extends or retracts relative to the pitch cylinder block 2431. More specifically, in the vertical state, the interface jaw 2412 remains substantially horizontal, i.e., at an angle of substantially zero to the horizontal, and the finished cup 2101 (if the finished cup has been grasped) in the interface jaw 2412 remains substantially non-tilted, i.e., vertically upright; in the reclined state, the angle of the interface jaw 2412 to the horizontal is a non-zero degree clip, and the finished cup 2101 in the interface jaw 2412 (if the finished cup has been grasped) is tilted back.

More specifically, as shown in fig. 90-96, the pitch cylinder rod 2432 of the pitch cylinder 2430 is configured to be rotatably coupled with the second lift movable component 2422 of the interfacing lift cylinder 2420 about a second rotational axis 2433 parallel to the first rotational axis 2413, the second rotational axis 2433 being more specifically spaced apart from the first rotational axis 2413. More specifically, the interface mechanism 2400 may also be configured to include an intermediate mounting plate 2440, the intermediate mounting plate 2440 being configured to couple with the second lifting movable member 2422 of the interface lifting cylinder 2420 to be capable of lifting movement with the second lifting movable member 2422. The interface jaw cylinder 2411 and the pitch cylinder 2431 are each rotatably mounted on the intermediate mounting plate 2440 to be also capable of elevating movement with the second elevating movable member 2422. More specifically, the first and second rotation shafts 2413 and 2433 are each provided on the intermediate mounting plate 2440, for example, each provided at both longitudinal ends of the red arrow mounting plate 2440.

In a more specific embodiment, as shown in fig. 90-96, the pitch cylinder 2430 is provided with its distal end of the pitch cylinder rod 2432 rotatably coupled with the cylinder of the interface jaw cylinder 2411 of the interface jaw assembly 2410, more specifically about a third rotational axis 2434, the third rotational axis 2434 for example being provided on the cylinder of the interface jaw cylinder 2411.

In some embodiments, as shown in fig. 95, the hand-over jaw assembly 2410 is movable with the first movable slide 2402 of the first linear module 2401 between at least a first horizontal position and a second horizontal position when in the hand-over height position. The first horizontal position is a position vertically aligned with the jaw operating position. In the second horizontal position, the mixing cup drive mechanism as described above at the second interface station can then drive mixing cup 2201 to flip through a first angle in a second flip direction so that material in mixing cup 2201 can be poured into finished cup 2101. More specifically, in this second horizontal position, mixing cup 2201 is aligned with finished cup 2101 in a radial direction, more specifically in a direction radially outward from support post 2280, and it is now necessary to flip mixing cup 2201, which would otherwise be held vertically, over an angle, i.e. a first angle, towards finished cup 2101, to enable the material in mixing cup 2201 to be poured into finished cup 2101. It will be appreciated that in this case, mixing cup 2201 is at a higher elevation than finished cup 2101. This may be referred to as a first stage material handing over operation.

In a more specific embodiment, as shown in fig. 96, the handover operation further includes a second stage material handover operation. To this end, in the interface height position, the interface jaw assembly 2410, and thus the finished cup 2101 it grips, is also capable of moving with the first movable slide 2402 of the first linear module 2401 between a second horizontal position and a third horizontal position, the third horizontal position being further from the first horizontal position than the second horizontal position. In the third horizontal position, mixing cup drive mechanism drives mixing cup 2201 to continue to flip in a second direction, i.e., toward finished cup 2101, to a second angle that is greater than the first angle, so that the remaining material in mixing cup 2201 can be poured into finished cup 2101. Thereby, it is ensured that the material in mixing cup 2201 can be poured entirely into finished cup 2101 without residue, to ensure beverage quality.

More specifically, as shown in fig. 90-96, in the second horizontal position, the interface jaw assembly 2410 is in a reclined state such that its grasped finished cup 2101 is tilted toward the mixing cup 2201 to facilitate pouring of the material in the mixing cup 2201 into the finished cup 2101. More specifically, in the third horizontal position, the interface jaw assembly 2410 is also in a reclined state. More specifically, at the first horizontal position, the interface jaw assembly 2410 changes from a vertical state to a reclined state, and accordingly the finished cup 2101 changes from not tilted to tilted, i.e., from vertical to reclined, and the interface jaw assembly 2410 and the finished cup 2101 move from the first horizontal position to the second horizontal position in this state; and optionally also in this state from the second horizontal position to the third horizontal position.

More specifically, in the initial position, the interface jaw assembly 2410 is in a reclined state; after the interface 2400 begins to operate, the interface jaw assembly 2410 is switched from the reclined state to the upright state and then moved horizontally with the first movable slide 2402 of the first linear module 2401 from the initial position to the jaw operating position to enable gripping of the finished cup 2101.

More specifically, before the mixing cup drive mechanism drives the mixing cup to flip a first angle in a second direction, the mixing cup drive mechanism first drives the mixing cup 2201 to rotate back and forth 1 to 3 times at a shake angle, more specifically back and forth several times in the second direction and in a first direction opposite the second direction. It will be appreciated that the jitter angle is much smaller than the first angle. The material in the mixing cup 2201 is prevented from being overhead by shaking in place first several times, so that the material in the mixing cup 2201 can fall below the mixing cup 2201 to prevent the material in the subsequent mixing cup 2201 from being thrown out when the subsequent mixing cup 2201 is turned over.

More specifically, after the second stage material transfer operation is completed, the transfer jaw assembly 2410 returns the carry finished cup 2101 from the third horizontal position or the second horizontal position to the first horizontal position under the drive of the first movable slide 2402 and is in a vertical state in the first horizontal position. The hand-over jaw assembly 2410 then returns the carry finished cup 2101 from the hand-over height position to the grip height position under the drive of the second lift movable member 2422 of the hand-over lift cylinder rod 2420. After the handover lifting cylinder movable part 2422 brings the handover jaw assembly 2410 and the finished cup 2101 back to the gripping height position from the handover height position, the handover lifting cylinder rod 2420 brings the finished cup 2101 to squat down in the cup holder 2151 1 to 3 times before the handover jaw assembly 2410 places the finished cup 2101 into the corresponding cup holder 2151 on the first swivel member 2150 and the handover jaw 2412 releases the finished cup 2101. Hereby it is ensured that the material in the finished cup 2101 can sink into the bottom of the finished cup 2101, thereby ensuring that the finished cup 2101 leaves enough space for the subsequent possible material addition, e.g. the addition of a milk cap.

Milk cap adding mechanism 2450

As described above, the capping mechanism 2450 is configured to perform a capping operation of adding a milk cap to the finished cup 2101 at a capping station. Various embodiments of the milk cap mechanism 2450 will be described below.

In some embodiments, as shown in fig. 99-102, the milk cap mechanism 2450 includes a second fill valve 2460, a second fill valve cylinder 2451, and a second obstruction 2454. The second filling valve 2460 comprises a second valve body 2461 and a milk cap inlet 2462 and a milk cap outlet 2463 provided on the second valve body 2461, the milk cap inlet 2462 being configured to be in fluid communication with a milk cap cartridge 1192 storing milk caps, the milk cap cartridge 1192 being placed for example in a milk cap chamber 1190 of a material storage device 1100, which material storage device 1100 has been described in detail in a material storage and supply module 1000 for automatic beverage production, the milk cap outlet 2463 being configured to enable the addition of milk caps into a finished cup 2101. Second filling valve cylinder 2451 includes a second movable filling valve cylinder rod 2452, second movable filling valve cylinder rod 2452 being configured to extend into second valve body 2461. The second blocking portion 2454 is provided to be coupled with the second movable filling valve cylinder rod 2452 to be movable with the second movable filling valve cylinder rod 2452 so as to be able to block or open the milk cap inlet 2462. More specifically, as the second movable filling valve cylinder rod 2452 moves toward the interior of the second valve body 2461, the second blockage 2454 blocks the milk cap inlet 2462, thereby preventing milk caps from the milk cap barrel 1192 from entering the second valve body 2461 via the milk cap inlet 2462 and thus preventing or interrupting performance of a milk cap addition operation; as the second movable filling valve cylinder rod 2452 moves towards the outside of the second valve body 2461, the second blocking portion 2454 opens the milk cap inlet 2462, allowing milk caps in the milk cap barrel 1192 to enter the second valve body 2461 via the milk cap inlet 2462 and thus allowing the performance of a milk cap adding operation.

In a specific embodiment, the milk cap inlet 2462 of the second filling valve 2460 is in fluid communication with the milk cap barrel 1192 located in the milk cap chamber 1190 of the material storage device 1100 of the material storage and supply module 1000 described hereinabove via the priming pump mentioned hereinabove. The frothing pump is more specifically configured to draw milk cap stock from the milk cap barrel 1192, frothe the drawn milk cap stock, and pump the frothed milk cap into the second valve body 2461 of the second filling valve 2460 via the milk cap inlet 2462.

More specifically, as shown in FIGS. 99-102, the milk cap mechanism 2450 also includes an ultrasonic level sensor 2455 for detecting the level of milk cap added to the finished cup 2101. More specifically, when the liquid level in the finished cup 2101 reaches a predetermined threshold, the second filling valve cylinder 2451 is operated such that the second movable filling valve cylinder rod 2452 moves the second blocking portion 2454 to block the milk cap inlet 2462. More specifically, when the liquid level in the finished cup 2101 reaches a predetermined threshold, the priming pump mentioned above is stopped from operating and the milk cap inlet 2462 is blocked.

In a specific embodiment, as shown in fig. 99 and 102, the milk cap addition mechanism 2450 further includes a milk cap leak receiving component 2456, the milk cap leak receiving component 2456 including a milk cap leak receiving tray 2457 and a milk cap leak discharge tube 2458 in fluid communication with the milk cap leak receiving tray 2457, the milk cap leak discharge tube 2458 for delivering milk cap leak that drops in the milk cap leak receiving tray 2457, for example, to a blow down pump of a machine. The milk cap weep tray 2457 is configured to be positioned below the milk cap outlet 2463 when the milk cap adding mechanism 2450 is not in operation, thereby allowing receipt of milk cap excess dripped from the milk cap outlet 2463 to prevent contamination, ensure hygiene, and machine use safety.

More specifically, as shown in fig. 99 and 102, the milk cap mechanism 2450 further includes milk cap horizontal cylinders 2470, 2480, the milk cap horizontal cylinders 2470, 2480 including milk cap horizontal cylinder blocks 2471, 2481 and second horizontal movable members 2472, 2482 movable relative to the milk cap horizontal cylinder blocks 2471, 2481.

In one variation, as shown in fig. 99, the second filling valve 2460 is positioned with the milk cap outlet 2463 above the finished cup 2101 on the first swivel member 2150 in the milk cap adding station. At this time, the second horizontally movable member 2472 of the milk cap horizontal cylinder 2470 may be coupled with the milk cap leak catch tray 2457 to be able to drive the milk cap leak catch tray 2457 to move between the non-receiving position and the receiving position; wherein, upon operation of the second filling valve 2460, the milk lid drain tray 2457 is in a non-receiving position, the milk lid drain tray 2457 being staggered from the milk lid outlet 2463 to allow milk lids flowing from the milk lid outlet 2463 to be added to the finished cup 2101 below; when the second filling valve 2460 is not operated, the milk lid drain tray 2457 is in a receiving position, the milk lid drain tray 2457 being aligned with the milk lid outlet 2463 to be able to receive milk lid excess dripped from the milk lid outlet 2463.

In another variation, as shown in fig. 102 and 105, the second horizontally movable member 2482 of the capped horizontal cylinder 2480 is coupled with the second filling valve 2460 to be able to drive the second filling valve 2460 between a non-capped position and a capped position. Wherein, in the non-milk cap-adding position, the milk cap outlet 2463 is aligned with the milk cap drain tray 2457 such that the milk cap drain tray 2457 is capable of receiving milk cap excess dripped from the milk cap outlet 2463; in the capping position, the cap outlet 2463 is aligned with the finished cup 2101 at the capping station on the first swivel member 2150 to enable the cap to be added to the finished cup 2101.

2.2 a multi-station double swing module 3000 according to a second embodiment

A second embodiment of the multi-station double swing module 3000 will be described below. In this second embodiment, as mentioned above, first drive mechanism 3110 of first swing assembly 3100 of multi-station dual swing module 3000 is capable of driving first swing member 3150 along a first trajectory through a plurality of first type stations including at least a container drop station and a first interface station. As shown in fig. 103, the multi-station dual swing module 3000 includes a container dropping mechanism 3300 configured to perform at least a drop of the finished cups 2101 onto the first swing member 3150, and more particularly into corresponding cup holders 3151 secured to the first swing member 3150, at a container dropping station. More specifically, in the second embodiment of the multi-station dual swing module 3000, the first swing member 3150 is a first swing disk, as shown in fig. 43-44 and 92-96.

In some embodiments, the plurality of first-type stations may further include a priming station after the container drop station and before the first handing-over station, and the multi-station dual-swing module may further include a first material feeding mechanism 1700, the first material feeding mechanism 1700 configured to perform a finished-cup fresh-feeding operation and/or a finished-cup reinforcing operation of feeding fresh and/or solid material into the finished cups 2101 at the priming station. The first material charging mechanism 1700 has been described in detail in the material storage and supply module 1000.

In some embodiments, as shown in fig. 104-107, the plurality of first-type stations further includes a finishing station disposed after the first interface station, and the multi-station dual-swing module further includes a drop cap capping mechanism 3700, the drop cap capping mechanism 3700 configured to perform at least a cap-dropping operation of the finished cup cap 2102 onto the finished cup 2101 at the finishing station, and more particularly, to drop the finished cup cap 2102 onto the finished cup 2101 that has passed through the plurality of first-type stations or stations of the plurality of first-type stations along the first trajectory, other than the labeling station, and back to the container-dropping station, i.e., the finished cup 2101 has substantially completed each beverage-making operation.

In some embodiments, multi-station dual swing module 3000 further includes a milk cap adding mechanism 2450, with milk cap adding mechanism 2450 configured to perform a milk cap adding operation of adding milk caps to finished cup 2101 at a finishing station prior to performing a cap dropping operation, as shown in fig. 105. That is, in this case, the capping mechanism 2450 is a capping mechanism according to the "another variation" of the capping mechanism described above, as shown in fig. 102, in which the second horizontally movable member 2482 of the capping horizontal cylinder 2480 is coupled with the second filling valve 2460 to be able to drive the second filling valve 2460 between the non-capping position and the capping position. Thus, when it is desired to perform the cap dropping operation, the second horizontally movable member 2482 of the cap feeding horizontal cylinder 2480 can push the second filling valve 2460 to the non-cap feeding position, i.e., the position deviated from the finished cup 2101 on the first swing member 3150, so as not to interfere with the performance of the cap dropping operation.

In some embodiments, the drop cap capping mechanism 3700 is further configured to perform a capping operation to compress the finished cap 2102 onto the finished cup 2101 at the ending station after performing the drop cap operation.

In this second embodiment, as mentioned above, the second driving mechanism 3210 of the second rotating assembly 3200 of the multi-station dual-rotating module 3000 is capable of driving the second rotating member 3250 to move along a second trajectory through a plurality of second type stations, including at least a charging station and a second handing-over station. The multi-station dual turn module 3000 includes a charging mechanism 2350 configured to perform at least charging operations to charge liquid into the mixing cup 2201 at a charging station.

In some embodiments, the plurality of second class stations further includes a mixing station disposed after the charging station and before the second handing-over station, and the multi-station dual-swivel module 3000 further includes a second material charging mechanism 1800, the second material charging mechanism 1800 configured to perform a mixing cup fresh charging operation at the mixing station that charges fresh into the mixing cup 2201. The second material charging mechanism 1800 has been described in detail in the material storage and supply module 1000.

In some embodiments, the multi-station dual swing module 3000 further includes a stirring mechanism 2550, the stirring mechanism 2550 being configured to perform a stirring operation to stir the material in the mixing cup 2201 after performing the mixing cup fresh-adding operation in the mixing station. More specifically, by performing the stirring operation, the materials (which may include one or more of fresh, liquid, and ice) in the mixing cup 2201 may be stirred more uniformly or the various materials may be mixed more uniformly, and the individual materials may be further refined, for example, to better blend with the liquid materials, further providing improved mouthfeel.

In some embodiments, multi-station dual swing module 3000 is further configured to perform an ice-adding operation of adding ice cubes to the mixing cup in the charging station; in particular, the ice-on operation may be performed by the ice-out mechanism 1900 mentioned above in the materials storage and supply module. In this case, the charging mechanism 2350 is a charging mechanism according to fig. 84, i.e. according to the "another modification" of the charging mechanism described above, in which the third horizontally movable member 2382 of the charging horizontal cylinder 2380 is coupled to the liquid nozzle carrier plate 2351 so as to be able to drive the liquid nozzle carrier plate 2351 between the non-charging position and the charging position, whereby the liquid nozzle carrier plate 2351 can be driven by the third horizontally movable member 2382 of the charging horizontal cylinder 2380 to deviate from the mixing cup 2201 on the second rotation member 3250 as needed, so that other operations on the mixing cup are not hindered. More specifically, the ice-adding operation is performed before the stirring operation, so that the ice-making operation can be performed as needed for making an ice-making drink or a nectar drink.

In some embodiments, the plurality of second class stations further includes a cup wash station disposed after the second interface cup station, and the multi-station dual-swing module 3000 further includes a cup wash mechanism 2650, the cup wash mechanism 2650 configured to perform a cup wash operation to wash the mixing cup 2201 at the cup wash station. This thus allows the mixing cup 2201 to be cleaned after each handover operation to ensure the purity of the beverage and to ensure hygiene.

In a specific exemplary embodiment, the plurality of first-type stations are sequentially arranged in the following order: a container drop station; a base material adding station; a first hand-over station; and (5) a ending station. Accordingly, more specifically, the respective operations at the plurality of stations of the first type are performed sequentially in the following order: cup falling operation; the fresh material adding operation of the finished cup and/or the material reinforcing operation of the finished cup; a handover operation; adding a milk cover; cover falling operation; and (5) capping operation.

In a specific exemplary embodiment, the plurality of second-type stations are sequentially arranged in the following order: a liquid adding station; a material mixing station; a second hand-over station; and a cup washing station. Accordingly, more specifically, the respective operations at the plurality of second-type stations are sequentially performed in the following order: adding liquid materials; adding ice; fresh material adding operation of the material mixing cup; stirring operation; a handover operation; and (5) cup washing operation.

In this second embodiment of the multi-station double-swivel module, the charging mechanism, stirring mechanism, handover mechanism, cup washing mechanism and milk cover adding mechanism are similar to the first embodiment of the multi-station double-swivel module and are not repeated here; various embodiments of a container drop mechanism and a drop cap capping mechanism that are different from the first embodiment of the multi-station dual swing module will be described below.

More specifically, the multi-station dual swing module 3000 proposed herein can be used to make multiple beverages simultaneously, in which case the respective operations at the plurality of first-type stations and at the plurality of second-type stations can be performed simultaneously.

More specifically, in making a smoothie beverage, the following operations may be performed at the plurality of first type stations in sequence: cup falling operation; adding fresh materials into the finished cup; a handover operation; cover falling operation; optionally, the milk capping operation may also be performed before the cap falling operation; alternatively, the capping operation may also be performed after the capping operation. Meanwhile, at the plurality of second-type stations, the following operations may be sequentially performed: adding liquid materials; adding ice; fresh material adding operation of the material mixing cup; stirring operation (including ice-breaking operation); a handover operation; optionally, a cup-washing operation may also be performed at the end.

More specifically, in making a nectar drink, the following operations may be performed sequentially at the plurality of first-type stations: cup falling operation; adding fresh materials into the finished cup; a handover operation; cover falling operation; optionally, the milk capping operation may also be performed before the cap falling operation; alternatively, the capping operation may also be performed after the capping operation. Meanwhile, at the plurality of second-type stations, the following operations may be sequentially performed: adding liquid materials; fresh material adding operation of the material mixing cup; stirring operation; a handover operation; optionally, a cup-washing operation may also be performed at the end.

More specifically, in making a milk tea beverage, the following operations may be performed sequentially at the plurality of first-type stations: cup falling operation; reinforcing material operation of the finished cup; a handover operation; cover falling operation; optionally, the milk capping operation may also be performed before the cap falling operation; alternatively, the capping operation may also be performed after the capping operation. Meanwhile, at the plurality of second-type stations, the following operations may be sequentially performed: adding liquid materials; a handover operation; optionally, a cup-washing operation may also be performed at the end.

Container dropping mechanism 3300

In the multi-station double-swivel module 3000 according to the second embodiment, the container dropping mechanism 3300 is configured to perform a cup dropping operation at a container dropping station.

In some embodiments, as shown in fig. 103, the container dropping mechanism 3300 may be configured to include a cup rest 3310 and a cup lift cylinder 3320, the cup lift cylinder 3320 being configured to drive the cup rest 3310 between a cup rest position and a cup operation position; wherein in the cup dispenser operating position, the cup dispenser 3310 drops the finished cup 2101 into position on the first swivel member 3150, and more specifically into a corresponding cup holder 3151 on the first swivel member 3150. More specifically, when the container dropping mechanism 3300 is not operating, the container dropping mechanism 3300 is configured such that the cup rest 3310 is in the cup rest position, thereby ensuring that the container dropping mechanism 3300 does not obstruct the free rotation of the first swing member 3150 and the second swing member 3250.

In some embodiments, in the cup dispenser 3310 operating position, the lowermost finished cup 2101 on the cup dispenser 3310 partially extends into the corresponding cup holder 3151 on the first swivel member 3150 before the cup dispenser 3310 operates to drop the finished cup 2101, thereby ensuring that the finished cup 2101 can smoothly fall into the cup holder 3151, avoiding the risk of the finished cup 2101 tilting, or even tipping, during the drop.

Cover falling and capping mechanism 3700

As described above, in some embodiments, the lid capping mechanism 3700 is configured to perform a lid-dropping operation of the finished cup lid 2102 onto the finished cup 2101 at a finishing station. In some embodiments, the drop cap capping mechanism 3700 is further configured to perform a capping operation at the ending station that compresses the finished cap 2102 against the finished cup 2101. Various embodiments of the drop cap capping mechanism 3700 will be described in detail below.

In some embodiments, as shown in fig. 104-107, the lid capping mechanism 3700 can be configured to include a lid lifter 3710 and a lid lifter cylinder 3720, the lid lifter cylinder 3720 being configured to drive the lid lifter 3710 between a lid lifter rest position and a lid lifter operating position, wherein the lid lifter 3710 operates to drop the finished cup lid 2102 onto the corresponding finished cup 2101. More specifically, when the cap dropping capping mechanism 3700 is not operating, the cap dropping collector 3710 is in the cap rest position, thereby ensuring that the cap dropping capping mechanism 3700 does not obstruct free rotation of the first swing member 3150 and the second swing member 3250. More specifically, in the lid-down operation position, the lowermost finished cup lid 2102 on the lid-down 3710 has been partially covered on the corresponding finished cup 2101 prior to operation of the lid-down 3710, which may ensure accurate performance of the lid-down operation.

In some embodiments, as shown in fig. 104-107, the drop cap capping mechanism 3700 may also be configured to perform a capping operation at the ending station, and accordingly include a cap swing cylinder 3730 and a cap plate 3740. The gland tilt cylinder 3730 may be configured to include a gland tilt cylinder body coupled to the lid lifter 3710 and a rotatable member with which the gland plate 3740 is disposed to be coupled to be capable of being driven by the rotatable member to pivot between a gland plate rest position and a gland plate operating position; wherein, in the gland plate operating position, the gland plate 3740 is positioned at the bottom of the lid drop 3710, and in the gland plate resting position, the gland plate 3740 is offset from the bottom of the lid drop 3710. In addition, lid lifter cylinder 3720 is also configured to move lid lifter 3710 and gland plate 3740 up and down to apply pressure to finished cup lid 2102 to compress it against finished cup 2101 with each downward movement.

More specifically, as shown in fig. 104-107, after the cap dropping capping mechanism 3700 has performed a cap dropping operation, the cap dropping lift cylinder 3720 operates to bring the cap dropping device 3710 from the cap dropping device operating position back to the cap dropping device resting position; the gland tilt cylinder 3730 is then operated such that its rotatable components rotate the gland plate 3740 from the gland plate rest position to the gland plate operating position; then, the lid lifter cylinder 3720 operates again to move the lid lifter 3710 from the lid lifter rest position to the lid lifter operation position; further, the lid lifter cylinder 3720 is also operable to move the lid lifter 3710 and the gland plate 3740 up and down to further compress the finished cup lid 2102 against the finished cup 2101 at the end of each downward movement.

In some embodiments, as shown in fig. 104-107, the cap drop capping mechanism 3700 may also be configured to include a cap drop detection sensor 3701 for detecting whether a cap is successful after a cap drop operation is performed. More specifically, the lid-down detection sensor 3701 is disposed in a position where the lid-down detection sensor 3701 is capable of detecting the presence of the finished cup lid 2102 on the finished cup 2101. Accordingly, a corresponding detection tab may be provided in the finished cap 2102 that allows for detection by the drop cap detection sensor 3701.

Cup washing mechanism 2650

As described above, cup washing mechanism 2650 is configured to perform a cup washing operation of cleaning mixing cup 2201 at a cup washing station. Various embodiments of the cup washing mechanism 2650 will be described below.

41-42 and 97-98, the cup washing mechanism 2650 includes a cup washing cylinder 2660, a cup washing tray 2670 drivable by the cup washing cylinder 2660 to be displaced, a cup washing wash head 2671 disposed in the cup washing tray 2670, and a cup washing water inlet tube 2672 and a cup washing water outlet tube 2673 in fluid communication with the cup washing tray 2670.

As shown in fig. 97-98, the cupper cylinder 2660 includes a cupper cylinder block and a cupper cylinder movable member. The cup washing tray 2670 is coupled with the cup washing cylinder movable member so as to be capable of being driven by the cup washing cylinder 2660 to move between a non-cup washing position in which the cup washing tray 2670 does not fit the cup mouth of the mix cup 2201 and a cup washing position in which the cup washing tray 2670 fits the cup mouth of the mix cup 2201 so as to be capable of washing the mix cup 2201. More specifically, in the non-cup-washing position, cup-washing tray 2670 is positioned below mixing cup 2201; when a cup washing operation is required, the cup washing tray 2670 is driven by the movable component of the cup washing cylinder to move from the non-cup washing position to the cup washing position, and during this period, the mixing cup 2201 is turned 180 ° towards the first turning direction by the mixing cup driving mechanism, so that the cup opening of the mixing cup 2201 can be inversely attached to the cup washing tray 2670 at the cup washing position. The first flipping direction is more specifically a direction toward the radially inner portion of the second rotating member 2150. More specifically, the top edge portion 2674 of the cup tray 2670 is provided with a raised extending splash shield 2675, more specifically at the radially inner side of the cup tray 2670, for blocking excess material that may be thrown off when the mixing cup 2201 is flipped in the first flipping direction, thereby avoiding contaminating the machine. It will be appreciated that upon completion of the bowl washing operation, bowl 2201 is also flipped 180 ° via the bowl drive mechanism in a second flip direction opposite the first flip direction to reset.

As shown in fig. 97-98, the bowl washing spray head 2671 disposed in the bowl tray 2670 is in fluid communication with a source of wash water, and more particularly via a bowl inlet tube 2672 disposed to direct wash water from the source of wash water to the bowl washing spray head 2671, to enable spraying of wash water into the mixing bowl 2201 at the bowl location to clean the mixing bowl 2201. In one particular embodiment, the cup wash nozzle 2671 is a high pressure rotary nozzle. A cup wash drain 2673 is provided in fluid communication with the cup wash tray 2670 to drain waste water after washing from the cup wash tray 2670.

In one particular embodiment, as shown in fig. 97-98, the cupholder 2670 is coupled to the cupper cylinder movable component via an intermediate mount, and more particularly to the cupper cylinder movable component via an intermediate mount in a manner that allows for quick installation and removal. More specifically, the intermediate mount includes a first plate 2681 coupled to the bottom of the cupholder 2670 and a second plate 2682 coupled to the cupholder cylinder movable part. The first plate 2681 more specifically includes a first mounting piece 2681a and a second mounting piece 2681b opposed to each other, and is, for example, U-shaped as a whole. The second plate 2682 includes first and second mounting portions 2682a and 2682b opposite to each other and respectively butted with the first and second mounting pieces 2681a and 2681b, first alignment holes are provided in the first mounting pieces 2681a and 2682a, and the index pins 2683 can be inserted into the first alignment holes; the second mounting piece 2681b and the second mounting portion 2682b are provided with second alignment holes in which spring portions of the bead screws 2684 can be inserted. Thereby, a quick mounting and dismounting of the cup washing tray 2670 with the cup washing cylinder movable member is achieved.

More specifically, as shown in FIGS. 97-98, the cup washing mechanism 2650 further includes a fixedly disposed cup washing cylinder mount 2690, for example fixedly disposed on the machine frame, and the cup washing cylinder 2660 is mounted on the cup washing cylinder mount 2690.

2.3 method for fully automatic making beverage by using multi-station double-rotation module

The application also relates to a method for fully automatically making beverage by using the multi-station double-rotation module 2000, 3000. As described above, in some embodiments, multi-station dual swing modules 2000, 3000 include first swing members 2150, 3150 and second swing members 2250, 3250. The first rotary members 2150, 3150 are configured to carry the finished cups 2101 and are capable of moving along a first trajectory through a plurality of first-type stations including at least a container drop station at which at least a cup drop operation is performed in which the finished cups 2101 are dropped onto the first rotary members 2150, 3150 and a first interface station. The second rotary members 2250, 3250 are configured to carry the mixing cup 2201 and are movable along a second trajectory through a plurality of second-type stations including at least a filling station at which at least filling operations to add liquid into the mixing cup 2201 are performed and a second interface station. Wherein, first handing-over station corresponds with the second handing-over station, and when finished cup 2101 is located first handing-over station, corresponding compounding cup 2201 is located the second handing-over station to carry out the handing-over operation at first handing-over station and second handing-over station, the handing-over operation includes pouring the material in compounding cup 2201 into finished cup 2101.

In such an embodiment, the method comprises at least the steps of:

an actuation step including detecting an origin of the first rotary member 2150, 3150 and detecting an origin of the second rotary member 2250, 3250;

a handover step, after the starting step, including a handover operation;

a first type of intermediate step performed at a respective first type of station of the plurality of first type of stations, the first type of intermediate step being performed after the initiating step and before the handing-over step, including at least a cup-dropping operation;

a second type intermediate step performed at a respective second type station of the plurality of second type stations, the second type intermediate step being performed after the initiating step and before the handing-over step, including at least a priming operation.

It should be noted that while various embodiments of a method of fully automatically making a beverage using the multi-station dual rotary module 2000, 3000 are described, the description above regarding the multi-station dual rotary module 2000, 3000, and in particular regarding the specific operations and associated operating mechanisms, is equally applicable, and thus the relevant details will not be repeated.

In some embodiments, the handover operation includes sub-operation b1: mixing cup 2201 is flipped a first angle to align with finished cup 2101 to pour a majority of the material in mixing cup 2201 into finished cup 2101.

In a more specific embodiment, the handover operation further includes a sub-operation b11 before the sub-operation b 1: shaking the mixing cup 2201 1 to 3 times;

in a more specific embodiment, the handover operation further includes a sub-operation b12 preceding the sub-operation b 1: finished cup 2101 is lifted from first swivel member 2150 by a height to enable alignment with a corresponding mixing cup 2201.

In a more specific embodiment, the handover operation further includes a sub-operation b13 after the sub-operation b12 and before the sub-operation b 1: the finished cup 2101 is tilted at an angle.

In a more specific embodiment, the handover operation further includes a sub-operation b14 after the sub-operation b13 and before the sub-operation b 1: finished cup 2101 is moved horizontally a first distance toward mixing cup 2201.

In a more specific embodiment, the handover operation further includes a sub-operation b2 following the sub-operation b 1: finished cup 2101 is moved further horizontally a second distance toward mixing cup 2201 and mixing cup 2201 is further flipped to a second angle greater than the first angle to pour the remaining material in mixing cup 2201 into finished cup 2101.

In a more specific embodiment, the handover operation further comprises a sub-step b3 following sub-operation b2: the finished cup is brought back into place on the first swivel members 2150, 3150 and the mixing cup 2201 is flipped back to the original position.

In a more specific embodiment, the handover operation further comprises a sub-step b4 following sub-operation b 3: the finished cup 2201 is squatted up and down 1 to 3 times on the first swivel members 2150, 3150.

In some embodiments, the method further comprises a first type of ending step and/or a second type of ending step after the handing-over step, the first type of ending step being performed at a respective first type of station of the plurality of first type of stations, the second type of ending step being performed at a respective second type of station of the plurality of second type of stations.

A first embodiment and a second embodiment of the method will be described below.

First method embodiment

The first method embodiment corresponds to the first embodiment of the multi-station dual swing module 2000 described above.

In some embodiments, the first type ending step includes performing a cap drop operation at the container drop station that drops the finished cup cap 2102 onto the finished cup 2101 that has passed through the plurality of first type stations and returned to the container drop station.

In a more specific embodiment, the cup dropping operation and the cap dropping operation are performed by the container dropping mechanism 2300 included in the multi-station dual swing module 2000. More specifically, finished cups 2101 may include first type of finished cups 2101a and second type of finished cups 2101b that are different in height. The container dropping mechanism 2300 may then be configured to include a carrier plate 2320, and a first cup-dropping device 2321, a second cup-dropping device 2322, and a cap-dropping device 2323 carried by the carrier plate 2320, the first cup-dropping device 2321 configured to perform a cup-dropping operation of the first type of finished cup 2101a, the second cup-dropping device 2322 configured to perform a cup-dropping operation of the second type of finished cup 2101b, and the cap-dropping device 2323 configured to perform a cap-dropping operation. In such an embodiment, the first cup dispenser 2321, the second cup dispenser 2322, and the lid dispenser 2323 may be provided on the carrier plate 2320 such that: when the first cup dispenser 2321 is used to perform the cup-falling operation of the first type of finished cup 2101a, the carrier plate 2320 is horizontally moved a first horizontal distance and lowered by a height distance; when the cup dropping operation of the second type of finished cup 2101b is performed using the second cup dropper 2322, the carrier plate 2320 is horizontally moved by a second horizontal distance larger than the first horizontal distance and lowered by a height distance, more specifically, the second horizontal distance may be twice the first horizontal distance; when the cover falling operation is performed using the cover falling device 2323, the carrier plate 2320 is lowered by the height distance.

In a more specific embodiment, the cup dropping operation includes blowing an air flow toward the upper edge of the finished cup 2101 while operating the first cup dropper 2321 or the second cup dropper 2322 to drop the corresponding finished cup 2101, thereby enabling smooth dropping of the finished cup 2101.

In a more specific embodiment, the carrier plate 2320 is lowered a height distance such that the lowermost finished cup 2101a of the first type or finished cup 2101b of the second type can partially extend into the corresponding cup holder 2151 on the first swivel member 2150 when the cup-dropping operation is performed, thereby ensuring that the finished cup 2101 can be dropped into place on the first swivel member 2150.

In a more specific embodiment, the plurality of first class stations further includes a filler station disposed after the container drop station and before the first transfer station, and the first class intermediate step further includes performing a finished cup filler operation or a finished cup reinforcement operation of adding fresh or solid material to the finished cup 2101 at the filler station after the cup drop operation.

In more specific embodiments, the finished cup fresh material adding operation or the finished cup reinforcement operation includes using a first material feeding mechanism 1700 included in the multi-station dual swing module to perform the following sub-operations:

Sub-operation a1: taking out a first material box M1 filled with fresh material or solid material from the material box chamber 1120;

sub-operation a2: delivering the first magazine M1 from the magazine chamber 1120 to a priming station of the first swivel member 2150;

sub-operation a4: fresh material or solid material in the first material cassette M1 is poured into the finished cup 2101. More specifically, sub-operation a4 includes flipping the first flow cartridge M1 180 °.

More specifically, the first material cartridge M1 is provided with a sealing film, and the finished cup fresh-feeding operation or the finished cup reinforcing operation further includes a sub-operation a3 before the sub-operation a4: the sealing film is opened.

More specifically, the finished cup fresh-adding operation or the finished cup reinforcing operation further includes a sub-operation a5 after the sub-operation a4: first pod M1 is placed in first pod collector 1740.

In a more specific embodiment, the plurality of first class stations further comprises a capping station disposed after the first handing-over station, and the first class ending step further comprises performing a capping operation of adding milk caps to the finished cups 2101 at the capping station prior to the capping operation.

In a more specific embodiment, the plurality of first type stations further comprises a labeling station, and the intermediate or ending steps of the first type further comprise labeling operations performed at the labeling station to apply labels 2501 to finished cups 2101. That is, the labeling operation may be performed before or after the handover step according to actual needs.

In a more specific embodiment, multi-station dual-swivel module 2000 includes a label printer 2502 and a labeling roller mechanism 2510, and the labeling operation includes printing out and spitting label 2501 onto finished cup 2101 using label printer 2502, and then applying label 2501 to finished cup 2101 using labeling roller mechanism 2510.

In a more specific embodiment, the method performs the operations in a first order: cup falling operation; labeling; the fresh material adding operation of the finished cup or the reinforcing operation of the finished cup; a handover operation; adding a milk cover; and (5) cover falling operation.

In a more specific embodiment, the method includes repeating the respective operations in the first order described above.

In some embodiments, the plurality of second class stations further comprises a mixing cup fresh-adding station disposed before the second hand-over station, and the second class intermediate step comprises performing a mixing cup fresh-adding operation of adding fresh into the mixing cup at the mixing cup fresh-adding station.

In a more specific embodiment, the mixing cup fresh material adding operation includes using the second material adding mechanism 1800 included in the multi-station dual-swing module 2000 to perform the following sub-operations:

Sub-operation c1: taking out a second material box M2 filled with fresh material from the material box chamber 1120;

sub-operation c2: delivering a second magazine M2 from the magazine chamber 1120 to a mixing cup fresh-feed station of the second rotary member 2250;

sub-operation c4: pouring the fresh material in the second material box M2 into the mixing cup 2201; more specifically, sub-operation c4 includes turning the second magazine M2 180 °.

In a more specific embodiment, the second magazine M2 is provided with a sealing film, and the mixing cup fresh-adding operation further comprises a sub-operation c3, preceding the sub-operation c4: the sealing film is opened.

In a more specific embodiment, the mixing cup fresh-adding operation further comprises a sub-operation c5 following the sub-operation c4: second cartridge M2 is placed in second cartridge collector 1840.

In a more specific embodiment, the plurality of second class stations further includes a mixing station disposed after the mixing cup fresh-adding station and before the second hand-over station, and the second class intermediate step further includes performing a stirring operation at the mixing station to stir the material in the mixing cup 2201.

In a more specific embodiment, the plurality of second class stations further includes an ice-adding station disposed before the mixing station, and the second class intermediate step further includes performing an ice-adding operation at the ice-adding station that adds ice cubes to the mixing cup 2201. In such embodiments, the stirring operation may include a smoothie operation, that is, an operation that breaks up ice pieces that are added to mixing cup 2201.

In a more specific embodiment, the plurality of second class stations further comprises a cup wash station disposed after the second interface station, and the second class ending step further comprises performing a cup wash operation at the cup wash station to wash the mixing cup 2201. More specifically, the bowl washing operation includes turning mixing bowl 2201 180 ° for cleaning and resetting mixing bowl 2201 when cleaning is complete.

In a more specific embodiment, the second intermediate step further comprises performing a mixing cup capping operation of capping mixing cup 2203 onto mixing cup 2201 prior to performing the stirring operation at the mixing station.

In a more specific embodiment, the second class of intermediate steps further includes performing a mixing bowl cleaning operation to clean mixing bowl 2203 after the mixing station performs the mixing operation.

In a more specific embodiment, the method further comprises performing a respective reset operation after performing each operation, the respective reset operation comprising returning the respective mechanism performing the respective operation to an initial state.

In a more specific embodiment, the method performs the operations in a second order: adding ice; adding liquid materials; fresh material adding operation of the material mixing cup; capping the mixing cup; stirring operation; cleaning the cup cover of the mixed material; a handover operation; and (5) cup washing operation.

In a more specific embodiment, the method includes repeating the respective operations in a second order.

More specifically, the above-described method proposed by the present application can be used to make multiple beverages simultaneously, in which case the respective operations at the plurality of stations of the first type and at the plurality of stations of the second type can be performed simultaneously.

Second method embodiment

The second method embodiment corresponds to the second embodiment of the multi-station double-swing module 3000 described above.

In some embodiments, the plurality of first class stations further comprises a filler station disposed after the container drop station and before the first transfer station, and the first class intermediate step further comprises performing a finished cup filler operation or a finished cup reinforcement operation at the filler station that adds fresh or solid material to the finished cup 2201 after the cup drop operation. The various embodiments of the finished cup fresh-filling operation or the finished cup reinforcement operation described above in relation to the first method embodiment are equally applicable to this second method embodiment.

In some embodiments, the plurality of first class stations further comprises a finishing station disposed after the first handing-over station, the first class finishing step comprising performing a lid-drop operation at the finishing station that drops the finished lid 2102 onto the finished cup 2101.

In a more specific embodiment, the first type of ending step further comprises performing a capping operation that adds a milk cap to the finished cup 2101 before the ending station performs the cap dropping operation.

In a more specific embodiment, the first class of finish steps further comprise performing a capping operation to compress finished cup lid 2102 over finished cup 2101 after the finish station performs the cap drop operation.

In a more specific embodiment, the method performs the operations in a third order: cover falling operation; the fresh material adding operation of the finished cup or the reinforcing operation of the finished cup; a handover operation; adding a milk cover; cover falling operation; and (5) capping operation.

In a more specific embodiment, the method includes repeating the respective operations in a third order.

In some embodiments, the plurality of second class stations further comprises a mixing station disposed after the charge and before the second hand-over station, and the second class intermediate step further comprises performing a mixing cup charging operation of charging fresh charge into the mixing cup 2201 at the mixing station.

In a more specific embodiment, the second intermediate step further comprises performing, in the mixing station, a stirring operation of stirring the material in the mixing cup 2201 after performing the mixing cup fresh-material adding operation.

In some embodiments, the second type of intermediate step further comprises performing an ice-adding operation of adding ice cubes to mixing cup 2201 in a charging station.

In some embodiments, the plurality of second class stations further comprises a cup wash station disposed after the second interface cup station, and the second class ending step further comprises performing a cup wash operation at the cup wash station to wash the mixing cup 2201. More specifically, the bowl washing operation includes turning mixing bowl 2201 180 ° for cleaning and resetting mixing bowl 2201 when cleaning is complete.

In a more specific embodiment, the method performs the operations in the fourth order: adding ice; adding liquid materials; fresh material adding operation of the material mixing cup; stirring operation; a handover operation; and (5) cup washing operation. It should be noted that the stirring operation may include a smoothie operation, i.e. the ice in the mixing cup is made smoothie.

In a more specific embodiment, the method includes repeating the respective operations in a fourth order.

3. Intelligent meal taking cabinet module 4000

As shown in fig. 108, the integrated intelligent drink robot proposed herein may also include an intelligent meal taking cabinet module 4000. The intelligent food taking cabinet module 4000 includes a food taking cabinet 4100, the food taking cabinet 4100 being provided with compartments 4110A, 4110B for storing prepared beverages. The intelligent fetch cabinet module 4000 is also configured to transfer the finished beverage being prepared, i.e., finished serving cups 2101, from the first rotating members 2150, 3150 of the multi-station dual-rotating modules 2000, 3000 into the respective compartments 4110A, 4110B of the fetch cabinet 4100 in an automated manner. More specifically, the intelligent food taking cabinet module 4000 is also configured to notify the central control that a beverage has been prepared and placed in the respective compartment 4110A, 4110B. More specifically, the intelligent food taking cabinet module 4000 is also configured to allow a customer, taker, or attendant, etc. to self-remove a beverage (finished cup) from the respective compartment 4110A, 4110B, e.g., the intelligent food taking cabinet module 4000 is also configured to communicate with a mobile device.

In some embodiments, the intelligent food taking cabinet module 4000 may include a grasping assembly 4200, as shown in fig. 111-113. In some embodiments, the intelligent food taking cabinet module 4000 may also include a gland assembly 4300, as shown in FIGS. 111-113. In some embodiments, the intelligent food taking module 4000 may also include a transport assembly 4400, as shown in figures 114-127.

3.1 grabbing component 4200

In some embodiments, as shown in fig. 111-113, intelligent gas-get counter module 4000 may include a grabbing assembly 4200, with grabbing assembly 4200 configured to grab and transfer a finished cup 2101 (including a first type of finished cup 2101a and a second type of finished cup 2101 b) from first rotating members 2150, 3150 of multi-station dual rotating modules 2000, 3000 to a finished cup receptacle 4120 provided at gas-get counter 4100. The capture assembly 4200 may include a capture jaw assembly 4210 and a capture drive assembly. The grip jaw assembly 4210 is configured to be movable under the drive of the grip drive assembly between a grip position corresponding to the position of the finished beverage cup 2101 on the first rotary members 2150, 3150 of the multi-station dual rotary modules 2000, 3000 and a cup release position corresponding to the position of the finished cup receiver 4120 at the table 4100. The gripper jaw assembly 4210 may comprise a gripper jaw 4211 and a gripper jaw drive 4212, the gripper jaw 4211 being configured to be capable of gripping a finished cup 2101 located on the first swivel members 2150, 3150 of the multi-station dual swivel modules 2000, 3000 in a gripping position and to be capable of placing the finished cup 2101 in a cup-releasing position into a finished cup receptacle 4120 at the table 4100; the grasping jaw driver 4212 is configured to drive the grasping jaw 4211 to tighten and loosen. In a specific embodiment, the grasping jaw driver 4212 is a grasping jaw cylinder. More specifically, while the gripping jaw 4211 is in the gripping position, the gripping jaw 4211 surrounds the finished cup 2101 on the first swivel members 2150, 3150 of the multi-station dual swivel modules 2000, 3000, at which time the gripping jaw drive 4212 may drive the gripping jaw 4211 to tighten to grip the finished cup 2101; with the gripping jaw 4211 in the let down position, the gripping jaw drive 4212 may drive the gripping jaw 4211 to release the final product cup 2101 after the final product cup 2101 is placed in the final product cup receptacle 4120 of the fetch chest 4100.

In some embodiments, the grip drive assembly may include a grip lift drive configured to drive the grip jaw assembly 4210 in a height direction for a lifting movement and a grip rotation drive configured to drive the grip jaw assembly 4210 for a rotation movement. In a specific embodiment, as shown in fig. 111-113, the grip lift drive may be a grip lift cylinder 4220, which may include a grip lift cylinder body 4221 and a grip lift cylinder movable member 4222 movable in a height direction with respect to the grip lift cylinder body 4221, the grip lift cylinder movable member 4222 being more specifically a grip lift cylinder rod. The grip rotation driving member is a grip rotation cylinder 4230, and the grip rotation cylinder 4230 includes a grip rotation cylinder body 4231 coupled (e.g., fixed) with the grip elevating cylinder movable member 4222 and a grip rotation cylinder shaft 4232 rotatable with respect to the grip rotation cylinder body 4231, whereby the grip rotation cylinder body 4231 can perform synchronous movement with the grip elevating cylinder movable member 4222. In such embodiments, the grip jaw assembly 4210 may be coupled with the grip rotary cylinder shaft 4232 to enable synchronous movement with the grip rotary cylinder shaft 4232. More specifically, the gripper assembly 4200 is configured such that, in operation, after the gripper jaws 4211 grip the finished cup 2101, the gripper lift cylinder movable part 4222 is first moved upward in the height direction to bring the gripper rotary cylinder 4230 and thus the gripper jaw assembly 4210 and thus the finished cup 2101 upward, which is particularly applicable to the case where the finished cup 2101 is originally located in the respective cup holders 2151, 3151 on the first rotary members 2150, 3150 of the multi-station dual rotary modules 2000, 3000, because the cup holders 2151, 3151 generally have a bottom and a surrounding portion extending upward from the bottom periphery to be able to firmly hold the finished cup 2101, it is therefore necessary to move the finished cup 2101 upward first to move the finished cup 2101 away from the cup holders 2151, 3151 after the gripper jaws 4211 grip the finished cup 2101; the grip rotation cylinder shaft 4232 is then rotated an angle in the first circumferential direction to drive the grip jaw assembly 4210 and thus the finished cup 4101 also to an angle in the first circumferential direction. Alternatively, the angle is 180 °, that is, the gripping jaw assembly 4210 needs to be rotated 180 ° to allow the final cup 2101 to be placed into the final cup receiving portion 4120 of the fetch chest 4100. Of course, this angle value is merely illustrative, and other angles are possible and are within the scope of the present application, depending on the location of the positioning of the table 4100 relative to the multi-station dual swing modules 2000, 3000.

In a more specific embodiment, the capture assembly 4200 may also include a capture horizontal drive configured to drive the capture jaw assembly 4210 in horizontal translational movement. In a specific embodiment, as shown in fig. 111-113, the grab horizontal drive is a grab horizontal cylinder 4240, the grab horizontal cylinder 4240 includes a grab horizontal cylinder body 4241 and a grab horizontal cylinder movable member 4242, the grab horizontal cylinder movable member 4242 is coupled with a grab lifting cylinder body 4221, and more specifically the grab lifting cylinder body 4221 is fixed to the grab horizontal cylinder movable member 4242 so as to be capable of synchronous movement with the grab horizontal cylinder movable member 4242. More specifically, the grip horizontal cylinder 4240 may be a rodless cylinder, and the grip horizontal cylinder movable member 4242 is a grip horizontal cylinder slider. In such an embodiment, the gripper assembly 4200 may also be configured such that, after the gripper rotation cylinder shaft 4232 is rotated through an angle of, for example, 180 °, the gripper horizontal cylinder 4240 is moved in the first translational direction to a cupped position, thereby allowing movement of the finished cup 2101 to the cupped position and placement of the finished cup 2101 at the finished cup receiver 4120 of the fetch chest 4100 in the cupped position.

In a more specific embodiment, after the grasp horizontal cylinder slide 4242 brings the grasp lift cylinder 4220, grasp jaw assembly 4210, and finished cup 2101 to the cup release position, the grasp lift cylinder movable member 4222 is lowered, thereby bringing the grasp jaw assembly 4210 and finished cup 2101 down to enable the finished cup 2101 to be placed in the transfer cup holder 4130 at the finished cup receiving portion 4120, and more specifically, at the sink of the table 4100, and then the grasp jaws 4211 release the finished cup 2101. More specifically, the gripper assembly 4200 may also be configured such that, after the gripper jaws 4211 release the finished cup 2101, the gripper horizontal cylinder movable component 4242, and more specifically the gripper horizontal cylinder slide, moves back in a second translation direction opposite the first translation direction.

In a more specific embodiment, as shown in fig. 111, the pick-up assembly 4200 may further include a fourth sensor 4243 fixedly disposed at an intermediate position between the pick-up position and the cup-placing position, it being noted that the intermediate position may be any suitable position between the pick-up position and the cup-placing position. The fourth sensor 4243 is configured to sense the approach or presence of the grip horizontal cylinder moving member 4242 during the return movement of the grip horizontal cylinder moving member 4242 in the second translational direction opposite to the first translational direction, and communicates with a solenoid valve controlling the operation of the grip rotating cylinder 4230 to rotate the grip rotating cylinder rotation shaft 4232 in the second circumferential direction opposite to the first circumferential direction by the above angle, for example, 180 ° upon sensing the approach or presence of the grip horizontal cylinder moving member 4242. More specifically, the fourth sensor 4243 is also configured to communicate with a solenoid valve controlling the operation of the grab horizontal cylinder 4240 to suspend the grab horizontal cylinder 4240 from operating for a period of time, for example, about 1 to about 3 seconds, upon sensing the proximity or presence of the grab horizontal cylinder movable member 4242. More specifically, during this period of time when the grasp horizontal cylinder 4240 is suspended, the grasp rotary cylinder shaft 4232 is rotated in a second circumferential direction opposite the first circumferential direction by the above-described angle, such that the grasp jaw assembly 4210, and thus the grasp jaws 4211, are again switched back toward the finished cups 2101 on the first swivel members 2150, 3150 of the multi-station dual swivel modules 2000, 3000. Reversing the direction of the grip revolving cylinder shaft 4232 at an intermediate position between the grip position and the cup-releasing position allows enough space to allow the reversing without any interference with other mechanisms or components, which is advantageous in achieving a compact overall configuration.

3.2 gland Assembly 4300

In some embodiments, as shown in fig. 111-113, the intelligent food taking cabinet module 4000 may also be configured to include a capping assembly 4300, which corresponds in particular to embodiments in which the finished cup 2101 from which the beverage has been made has been capped with the finished cup cap 2102 at the multi-station dual swivel module 2000, 3000, but no capping operation has been performed. The gland assembly 4300 is configured to compress the finished cup cover 2102 against the respective finished cup 2101a, 2101b at the finished cup receiver 4120. The gland assembly 4300 includes at least a first rotary gland cylinder 4310 and a first gland link 4320, the first rotary gland cylinder 4310 including a first shaft 4311 rotatably movable up and down, the first gland link 4320 being coupled to the first shaft 4311 to be movable with the first shaft 4311. More specifically, first gland link 4320 has a first link coupling end 4321 coupled to first shaft 4311 and a first link gland end 4322 opposite first link coupling end 4321, first link gland end 4322 being configured to compress finished cap 2102, first link coupling end 4321 optionally being threaded directly onto first shaft 4311. More specifically, when first rotary gland cylinder 4310 is not in operation, first gland link 4320 is disposed with its first link gland end 4322 offset from finished cup 2101, more specifically at a first offset angle from the central longitudinal axis of finished cup 2101 a; after the first rotary capping cylinder 4310 begins to operate, first the first rotary shaft 4311 is first rotated up and drives the first capping link 4320 to be rotated up, when the first rotary shaft 4311 drives the first link capping end 4322 of the first capping link 4320 to rotate to one half of the first offset angle with the central longitudinal axis of the finished cup 2101a, the first rotary shaft 4311 is rotated down again and drives the first capping link 4320 to be rotated down, so that the first link capping end 4322 can apply a downward pressing force to the finished cup cap 2102 when rotated to be overlapped with the central longitudinal axis of the finished cup 2101a, thereby pressing the finished cup cap 2102 to the finished cup 2101a, that is, the finished cup cap 2102 of the finished cup 2101a is tightly capped. More specifically, after the capping operation, the first rotary capping cylinder 4310 drives the first capping link 4320 to reset, i.e., return to the non-operating position. More specifically, the gland assembly 4300 may also include a first relief valve 4312 for the first rotary gland cylinder 4310 to avoid over-pressing the finished cup cap 2102.

In a more specific embodiment, as shown in fig. 111-113, the gland assembly 4300 further includes a second rotary gland cylinder 4330 and a second gland link 4340, the second rotary gland cylinder 4330 including a second shaft 4331 that is rotatably movable up and down, the second gland link 4340 being coupled to the second shaft 4331 to be movable with the second shaft 4331. More specifically, second gland link 4340 has a second link coupling end 4341 coupled to second shaft 4331 and a second link gland end 4342 opposite second link coupling end 4341, second link gland end 4342 being configured to compress finished cap 2102, second link coupling end 4341 optionally being directly threaded onto second shaft 4331. More specifically, when second rotary gland cylinder 4330 is not operating, second link gland end 4342 of second gland link 4340 is offset from finished cup 2101b, more specifically at a second offset angle from the central longitudinal axis of finished cup 2101 b; after the second rotary capping cylinder 4330 begins to operate, first the second rotary shaft 4331 is rotated up and drives the second capping link 4340 to be rotated up, when the second rotary shaft 4331 drives the second link capping end 4342 of the second capping link 4340 to rotate to one half of the second offset angle with the central longitudinal axis of the finished cup 2101b, the second rotary shaft 4331 begins to be rotated down and drives the second capping link 4340 to be rotated down, so that the second link capping end 4342 can apply a downward pressing force to the finished cup cap 2102 when being rotated to be overlapped with the central longitudinal axis of the finished cup 2101b, thereby pressing the finished cup cap 2102 on the finished cup 2101b, that is, the finished cup cap 2102 of the finished cup 2101b is capped. More specifically, after the capping operation, the second rotary capping cylinder 4330 drives the second capping link 4340 to reset, i.e., return to the non-operating position. Optionally, the second offset angle is the same as the first offset angle. More specifically, the gland assembly 4300 may also include a second relief valve 4332 for the second rotary gland cylinder 4330 to avoid over-pressing the finished cup cap 2102.

In a more specific embodiment, the first and second rotary gland cylinders 4310, 4330 are adapted for different height finished cups 2101a, 2101b, respectively, more specifically, the first rotary gland cylinder 4310 is usable for a first type of finished cup 2101a, more specifically a paper cup, having a lower height, and the second rotary gland cylinder 4330 is usable for a second type of finished cup 2101b, more specifically a plastic cup, having a higher height.

3.3 transfer assembly 4400

In some embodiments, as shown in figures 114-127, intelligent sideboard module 4000 may also include a transfer assembly 4400, with transfer assembly 4400 being configured to be able to transfer end cups 2101 (including first and second types of end cups 2101a, 2101B) from end cup receptacles 4120 of sideboard 4100 into respective compartments 4110A, 4110B of sideboard 4100.

In some embodiments, as shown in figures 108, 119, 124 and 127, the table 4100 includes at least a first side 4101, with a plurality of rows of compartments 4110A being provided in the first side 4101, the compartments 4110A being for storing finished cups 2101. More specifically, each row of compartments of the first side 4101 may include 1-3 compartments 4110A.

In a more specific embodiment, as shown in figures 108, 119, 124 and 127, the table 4100 can also be configured to include a second side 4102 disposed adjacent and angled to the first side 4101, such as disposed perpendicular to the first side 4101, and a plurality of rows of compartments 4110B for storing finished cups 2101 disposed on the second side 4102. More specifically, each row of compartments of the second side 4102 may include 1 compartment 4110B.

In some embodiments, as shown in fig. 114-127, the transfer assembly 4400 is configured to include a transfer jaw assembly 4410 and a transfer drive assembly configured to drive movement of the transfer jaw assembly 4410 between the finished cup receiving portion 4120 at the table 4100 and the respective compartments 4110A, 4110B. Transfer jaw assembly 4410 may include a transfer jaw 4411 and a transfer jaw drive 4412, transfer jaw 4411 being configured to grasp a final cup 2101 positioned in a final cup receptacle 4120 of a recipe chest 4100 and to place final cup 2101 into respective compartments 4110A, 4110B; the transfer jaw drive 4412 is configured to drive the transfer jaw 4411 to tighten and loosen. In one specific embodiment, the transfer jaw drive 4412 is a transfer jaw cylinder. More specifically, while the transfer jaw 4411 is in the final cup receiving portion 4120 of the fettling cabinet 4100, the gripping jaw 4411 encircles the final cup 2101 positioned in the final cup receiving portion 4120, the final cup 2101 is more specifically positioned in the transfer cup holder 4130 at the final cup receiving portion 4120, and the transfer jaw driver 4412 can then drive the transfer jaw 4411 to tighten to grip the final cup 2101; after the transfer jaw 4411 places the finished cups 2101 in the respective compartments 4110A, 4110B of the fetch cabinet 4100, the transfer jaw drive 4412 may drive the transfer jaw 4411 to release the finished cups 2101.

In some embodiments, as shown in fig. 109-110, each compartment 4110A, 4110B may be configured to include a first door 4113 through which the transfer jaw assembly 4410 is configured to be able to eject the first door 4113 to enable the finished cup 2101 to be placed into the compartment 4110A, 4110B, i.e., the transfer drive assembly is configured to eject the first door 4113 when the transfer drive assembly brings the transfer jaw 4411 to the first door 4113 of the respective compartment 4110A, 4110B to allow the transfer jaw 4411 to enter the compartment 4110A, 4110B to enable the finished cup 2101 to be placed into the compartment 4110A, 4110B. In a particular embodiment, the transfer jaw assembly 4410 includes a push plate 4414 disposed on a jaw arm 4413, the 4414 being configured to push the first door 4113 of the compartments 4100A, 4100B open when the transfer jaw 4411 approaches the first door 4113. As shown in fig. 109-110, the first door 4113 may be configured to include a first door leaf 4113a and a second door leaf 4113b that are capable of being closed and opened to each other, the first door leaf 4113a and the second door leaf 4113b being configured to be capable of being opened by the push panel 4414. In a particular embodiment, the first door leaf 4113a and the second door leaf 4113b are each pivotally mounted to the door frame, e.g., hinged to the door frame, so as to allow the push panel 4414 to be able to open the first door leaf 4113a and the second door leaf 4113b from each other when a pushing force is applied thereto. More specifically, it is also possible to provide between the first 4113a and second 4113b door leaves and the door frame, respectively, elastic return members arranged to allow the return of the latter to the position of closing each other when the transfer jaw 4411 leaves the first 4113a and second 4113b door leaves. More specifically, the compartment side plates of the compartments 4110A, 4110B provided with the first door 4113 are further provided with a stopper for restricting the stroke of the first door leaf 4113a and the second door leaf 4113B when the first door leaf 4113a and the second door leaf 4113B are reset toward the closed position, i.e., restricting the first door leaf 4113a and the second door leaf 4113B to the position just closed without swinging back and forth.

In a variation not shown, the first door 4113 may be provided with its top hinged with the top plate 4115 of the compartments 4110A, 4110B, allowing the top of the first door 4113 to pivot to open the first door 4113 when a pushing force is applied to the first door 4113 by the push plate 4414 of the transfer jaw assembly. More specifically, compartments 4110A, 4110B are also provided with a second resilient return member connected between first door 4113 and the compartment side plate to which first door 4113 is mounted, the second resilient return member being configured to apply a restoring force to first door 4113 tending to close first door 4113 when first door 4113 is opened. Thereby, it can be ensured that the first door 4113 can be returned to the closed position when the gripping jaw 4411 places the finished cup 2101 in the compartment 4110A, 4110B and out of the compartment 4110A, 4110B. More specifically, the compartment side plates of the compartments 4110A, 4110B provided with the first door 4113 are further provided with a stopper for restricting the stroke of the first door 4113 when the first door 4113 is reset toward the closed position, i.e., restricting the first door 4113 to the position just closed without swinging the first door back and forth.

In some embodiments, as shown in fig. 109, a sensor, referred to as a sixth sensor 4111, may be provided in each compartment 4110A, 4110B, the sixth sensor 4111 may be a laser sensor, and the sixth sensor 4111 is configured to be able to detect the presence or absence of the finished cup 2101 in the compartment 4110A, 4110B. The sixth sensor 4111 is, for example, arranged to be able to communicate with the central control unit, thereby enabling the central control unit to determine which compartments 4110A, 4110B are currently available, i.e. available for placement of an upcoming finished cup 2101, and which compartments 4110A, 4110B are currently unavailable, i.e. in which the finished cup 2101 is no longer able to be received. In a particular embodiment, each compartment 4110A, 4110B is configured to be able to house two finished cups 2101, and each compartment 4110A, 4110B is configured as two laser sensors 4111 that detect the presence or absence of each of the two finished cups 2101. That is, only if both laser sensors 4111 in the same compartment 4110A, 4110B detect the presence of the respective finished cup 2101, that compartment 4110A, 4110B is considered to be currently not in use. More specifically, each compartment 4110A, 4110B is also provided with an indicator light 4112, the indicator light 4112 being configured to illuminate when the respective laser sensor 4111 detects the presence of the respective finished cup 2101 in that compartment 4110A, 4110B.

More specifically, as shown in fig. 108 and 109, each compartment 4110A, 4110B is further provided with a second door 4114 via which the finished cup 2101 can be removed, for example by a customer, courier, attendant, or the like. In a particular embodiment, the second door 4114 is disposed on a side of the compartments 4110A, 4110B opposite the first door 4113.

In some embodiments, the transport drive assembly may include a transport lift drive assembly configured to drive the transport jaw assembly 4410 for lifting movement in a height direction and a transport horizontal drive assembly configured to drive the transport jaw assembly 4410 for horizontal displacement. Thus, the transfer drive assembly can bring the transfer jaw assembly 4410 into horizontal and/or lifting movement as desired, more particularly as indicated by the position from the central controller, so that the transfer jaw 4411 can reach a respective one of the compartments 4110A, 4110B as desired.

In one particular embodiment, as shown in fig. 114-127, the transport lift drive assembly can include a transport lift drive motor 4420, the transport lift drive motor 4420 including a motor shaft referred to as a fifth motor shaft. The transfer lift drive assembly may further include a transfer lift drive assembly that may include a fixedly disposed rack gear referred to as a second rack gear 4422 and a first drive gear 4426 (shown in fig. 119, 124 and 127) capable of rolling along the second rack gear 4422, the second rack gear 4422 being disposed on the support frame 4425, for example, the first drive gear 4426 being disposed to be driven by a fifth motor shaft and engaged with the second rack gear 4422 to enable lifting movement in a height direction along the second rack gear 4422 and thereby drive the transfer jaw assembly 4410. In a more specific embodiment, the transfer lift drive assembly 4420 may further include a first speed reducer 4423 disposed between the transfer lift drive motor 4420 and the first drive gear 4426, the first speed reducer including a first housing 4424 and a first reduction drive assembly within the first housing 4424.

In one variation, the first reduction gear assembly may include an input shaft configured to couple with a fifth motor shaft of the transfer lift drive motor 4420 via a coupling referred to as a second coupling, and a planetary gear train configured to include an input gear coupled with the input shaft and an output gear coupled with the first gear 4426.

In another variation, as shown in fig. 114-117, the transfer lift drive assembly may include two second racks 4422 fixed and disposed in parallel relative to the support frame 4425 and include a second transfer gear 4427 (as shown in fig. 119, 124 and 127) capable of rolling along the second racks 4422, thereby allowing movement of the transfer jaw assembly 4410 in the height direction in a smooth manner. In such an embodiment, the transfer lift drive assembly may include a drive shaft 4421 (as shown in fig. 119, 124 and 127) driven by a transfer lift drive motor 4420, with first and second transfer gears 4426 and 4427 respectively secured at opposite ends of the drive shaft 4421 such that the first and second transfer gears 4426 and 4427 are capable of rolling along respective second racks 4422 under the drive of the drive shaft 4421. More specifically, a first reduction gear assembly may be disposed between the motor shaft of the transfer lift drive motor 4420 and the drive shaft 4421.

In a more specific embodiment, the transport lift drive assembly includes a height direction origin identifying assembly configured to determine an origin of the transport lift motor 4420 in a height direction. The elevation direction origin marking assembly may include an elevation direction origin marking detecting sheet configured to move in an elevation direction with the transport lift driving motor 4420 and an elevation direction origin marking sensor fixedly provided, the elevation direction origin marking sensor being configured to be capable of detecting the elevation direction origin marking detecting sheet, thereby being capable of determining a height position of the elevation direction origin marking detecting sheet, and thus being capable of determining a height position of the transport lift driving motor 4420.

In a specific embodiment, the transfer horizontal drive assembly is configured to be movable by the transfer lifting drive assembly to perform a lifting motion in a height direction. In one particular embodiment, as shown in fig. 114-127, the transport horizontal drive assembly can include a transport horizontal drive motor 4430 and a first linear module 4431, the first linear module 4431 including a first horizontal slide 4432 that can be driven by the transport horizontal drive motor 4430 for translational movement, and more particularly for horizontal translational movement. More specifically, the transfer jaw assembly 4410 is configured to be coupled to the first horizontal slide 4432, and more specifically to the first horizontal slide 4432 via a transfer jaw arm 4413 of the transfer jaw assembly to enable translational movement with the first horizontal slide 4432; and thus, the transfer jaw assembly 4410 coupled with the first horizontal slider 4432 of the transfer horizontal drive assembly can also be moved in a synchronous elevation as the transfer horizontal drive assembly is driven by the transfer elevation drive assembly to move in elevation. More specifically, the transfer horizontal drive assembly may include a first horizontal slide rail 4433 for guiding the sliding of the first horizontal slide 4432. In a specific embodiment, the transfer jaw arm 4413 is disposed parallel to the first horizontal slide 4433.

In a more specific embodiment, the transfer drive assembly may further comprise a transfer intermediate drive assembly configured to transfer power between the transfer lift drive assembly and the transfer horizontal drive assembly. 114-127, the transfer intermediate drive assembly is configured to be coupled to the transfer lift drive assembly, more particularly to the first housing 4424 of the first speed reducer 4423 of the transfer lift drive assembly via the first link plate 4428, to enable lifting movement in a height direction with the transfer lift drive assembly. In a particular embodiment, the transfer intermediate drive assembly can include a transfer intermediate drive motor 4440 and a second linear module 4441, the second linear module 4441 including a second horizontal slide 4442 that can be driven by the transfer intermediate drive motor 4440 for translational movement, and more particularly for horizontal translational movement. More specifically, a transfer horizontal drive assembly may be provided in connection with the second horizontal slide 4442 to enable horizontal translational movement with the second slide 4442. Alternatively, the transfer horizontal drive assembly may be configured to be indirectly coupled to the second horizontal slide 4442. More specifically, the intermediate transfer drive assembly may further include a second horizontal rail 4443 for guiding the sliding of the second horizontal slider 4442, the first link plate 4428 being further coupled to the second horizontal rail 4443.

In embodiments where the transfer lift drive assembly includes two second racks 4422 disposed in parallel, as shown in fig. 114-127, the transfer intermediate drive assembly is also coupled to the drive shaft 4421 via a second link plate 4429 disposed opposite the first link plate 4428. More specifically, the first and second link plates 4428 and 4429 are each provided with a hole therein through which a portion of the driving shaft 4421 adjacent to the first and second transmission gears 4426 and 4427, respectively, may rotatably pass, for example, via bearings, thereby assembling the first and second link plates 4428 and 4429 with the driving shaft 4421. Meanwhile, the first link 4428 and the second link 4429 are coupled to the second horizontal slide 4443. Thereby realizing the connection between the transferring lifting driving component and the transferring middle driving component.

More specifically, in order to guide the lifting movement of the above-mentioned transfer assembly, as shown in fig. 114 to 127, a first guide rail 4425a and a second guide rail 4425b may be further provided on the support frame 4425 adjacent to each of the second racks 4422, a first guide block 4428a may be provided on the first link plate 4428, a second guide block 4429a may be provided on the second link plate 4429, and the first guide block 4428a and the second guide block 4429a may be provided to be capable of sliding along the first guide rail 4425a and the second guide rail 4425b, respectively, thereby realizing the guiding of the lifting movement. In a more specific embodiment, as shown in figures 114-127, the transfer horizontal drive assembly may be configured to be coupled to the transfer intermediate drive assembly second horizontal slide 4442 via the transfer rotary drive assembly 4460, the transfer rotary drive assembly 4460 being configured to rotatably couple the transfer horizontal drive assembly to the transfer intermediate drive assembly second horizontal slide 4442, i.e., the transfer rotary drive assembly 4460 is coupled to the transfer horizontal drive assembly 4442 on the one hand and the transfer horizontal drive assembly on the other hand, such that the transfer horizontal drive assembly is both movable horizontally by the second horizontal slide 4442 and rotatable via the transfer rotary drive assembly 4460 to enable the grasping jaw assembly 4410 to be turned from the first side 4101 to the second side 4102 of the fetcher 4100 or from the second side 4102 to the first side 4101, thereby enabling the finished cups to be placed in the respective compartments 4110A, 4110B of the first side 4101 or the second side 2 of the fetcher 41010 as desired. More specifically, the rotary drive assembly is coupled to a first horizontal slide 4433. Alternatively, a rotational drive assembly may be coupled to the first horizontal rail 4433 at a mid-position of the first horizontal rail 4433. In such embodiments, the position of the second horizontal slider 4442 on the second horizontal slide 4443 determines the position of the transport rotation drive assembly 4460, and more particularly the transport rotation shaft 4451 of the transport rotation drive assembly 4460, as described below, along the second horizontal slide 4443. It should be noted that the second horizontal slide 4443 is provided stationary with respect to the first housing 4424 of the first speed reducer 4423 of the transfer lift drive assembly.

In some embodiments, as shown in fig. 114-127, the transport rotation drive assembly 4460 may include a transport rotation motor 4450 and a transport rotation shaft 4451, the transport rotation motor 4450 including a motor shaft referred to as a sixth motor shaft, and the transport rotation shaft being configured to be coupled to the sixth motor shaft to be capable of being driven in rotation by the transport rotation motor 4450. More specifically, the transfer horizontal drive assembly is configured to be coupled with the transfer rotation shaft 4451 so as to be rotatable with the transfer rotation shaft 4451, more specifically the transfer rotation shaft 4451 is coupled to the first horizontal slide rail 4433 of the transfer horizontal drive assembly as described above, and more specifically the transfer rotation shaft 4451 is coupled to the first horizontal slide rail 4433 via the U-shaped intermediate plate 4457. More specifically, the transfer rotation drive assembly 4460 further includes a second speed reducer 4452 disposed between the transfer rotation motor 4450 and the transfer rotation shaft 4451, and the second speed reducer 4452 may include a second housing 4453 and a second reduction gear assembly disposed within the second housing 4453, which is coupled between a sixth motor shaft of the transfer rotation motor 4450 and the transfer rotation shaft 4451. More specifically, the second horizontal slider 4442 of the transfer intermediate drive assembly may be coupled to the second housing 4453 of the second speed reducer 4452, e.g., the second horizontal slider 4442 is coupled to the second housing 4453 via a U-shaped connection plate 4454.

In some embodiments, as shown in fig. 118, the transport rotation drive assembly 4460 may further comprise an angle detection assembly configured to detect the angular position of the transport rotation shaft 4451. More specifically, the angle detection assembly may include an angle detection piece 4455 provided to be linked with the transport rotation shaft 4451 and a fixedly provided sensor referred to as a fifth sensor 4456, the fifth sensor 4456 being configured to be able to detect the angular position of the angle detection piece 4455 and thus the transport rotation shaft 4451. More specifically, the fifth sensor 4456 is arranged to be able to communicate with the central control of the machine, for example to communicate detected angular position information to the central control and to correspondingly receive commands issued by the central control at least on the basis of the current angular position information for a corresponding rotation, so as to effect a reset or a turning to a given compartment 4410A, 4410B.

In a more specific manner, as shown in FIGS. 114-127, the second horizontal track 4443 is disposed parallel to the first side 4101 of the chest 4100. Where each row of first sides 4101 includes more than one compartment 4100A, and where compartments 4100A are arranged in rows at the same time, the position of second horizontal slider 4442 on second horizontal slide 4443 determines which row of compartments of first sides 4101 transfer rotation axis 4451 may allow transfer jaw 4411 to be driven to turn, thereby allowing transfer jaw 4411 to reach the desired row of compartments. The transfer jaw assembly 4110 may then be moved by the first horizontal slider 4432 in a direction closer to the column of compartments of the first side 4101.

In a particular embodiment, compartments 4100A of a first side 4101 of a table 4100 may be arranged in a plurality of rows and columns, such as shown in fig. 108 as 5 rows and 3 columns, and compartments 4100B of a second side 4102 of the table 4100 may be arranged in 5 rows and 1 column. More specifically, the second side 4102 may be provided in connection with the first side 4101 and at right angles to each other. More specifically, in the original state of the transfer drive assembly, i.e., the state in which no operation has been performed, the first horizontal slide 4433 and the second horizontal slide 4443 are parallel to each other, and the first horizontal slider 4432 coupled with the transfer jaw assembly 4410 is in the retracted position, as shown in fig. 114. In this case, when it is desired to transfer the finished cup 2101 from the finished cup receptacle 4120 of the side 4101 of the side 4100 into the corresponding compartment 4100A, 4100B of the first side 4101 or the second side 4102 of the side 4100, the transfer drive assembly may first bring the transfer jaw 4411 into alignment with the finished cup 2101 at the finished cup receptacle 4120 and then the transfer horizontal drive assembly operates, more specifically the transfer horizontal drive motor 4430 operates such that the first horizontal slide 4432 can slide along the first horizontal slide rail 4433 and can bring the transfer jaw 4411 into movement toward the finished cup 2101 until the transfer jaw 4411 surrounds the finished cup 2101 at the finished cup receptacle 4120 and then the transfer jaw drive 4412 operates to tighten the transfer jaw 4411 so that the transfer jaw 4411 can grasp the finished cup 2101. Then, optionally, with the finished cup 2101 placed in the transfer cup holder 4130 at the finished cup receiving portion 4120, the transfer lift drive assembly of the transfer drive assembly, and more particularly the transfer lift drive motor 4420, may be operated to drive the transfer jaw assembly 4410 to first rise in the height direction to bring the finished cup 2101 out of the transfer cup holder 4130, as shown in fig. 120. Optionally, then, the transfer horizontal drive motor 4430 may be operated such that the first horizontal slide 4432 brings the transfer jaw 4411 back to the retracted position, as shown in fig. 119 and 121.

Then, as shown in fig. 122-124, if the central controller commands the placement of the finished cup 2101 into a compartment 4100A of the first side 4101 of the fetch cabinet 4100, the transfer lift drive assembly, and more particularly the transfer lift drive motor 4420, can operate to bring the transfer jaw 4411 to the height of the row in which the compartment 4100A is located, depending on the location received from the central controller regarding the compartment 4100A to be used; the transfer intermediate drive assembly, and more particularly the transfer intermediate drive motor 4440, may then be operated to cause the second horizontal slider 4442 to slide into the column in which the compartment 4100A is located; then, the transfer rotating motor 4450 operates to rotate the transfer rotating shaft 4451 so as to rotate the transfer claw 4411 toward the compartment 4100A, for example, by 90 °; the transfer horizontal drive assembly, and more particularly the transfer horizontal drive motor 4430, is then again operated to cause the first horizontal slide 4432 to move the transfer jaw 4411 toward the compartment 4100A and to be able to eject the first door 4113 when touching the first door 4113 of the compartment 4100A, thereby accessing the compartment 4100A via the first door 4113 to place the finished cup 2101 on the floor of the compartment 4100A; the transfer jaw drive member 4412 then operates to release the transfer jaw 4411. Then, the transfer driving assembly can be reset or perform corresponding follow-up actions according to the control of the central control computer.

Alternatively, as shown in fig. 125-127, if the central control directs the placement of the finished cup 2101 into a compartment 4100B of the second side 4102 of the fetch cabinet 4100, the transfer lift drive assembly may be operable to bring the transfer jaw 4411 to the level of the row in which the compartment 4100B is located, depending on the location of the compartment 4100B received from the central control; then, the transfer rotation shaft 4451 rotates to rotate the transfer claw 4411 toward the compartment 4100B, for example, 180 °; the transfer horizontal drive assembly is then operated again to cause the first horizontal slider 4432 to move the transfer jaw 4411 toward the compartment 4100B and to be able to eject the first door 4113 when touching the first door 4113 of the compartment 4100B, thereby accessing the compartment 4100B via the first door 4113 to place the finished cup 2101 on the floor of the compartment 4100B; the transfer jaw drive member 4412 then operates to release the transfer jaw 4411. Then, the transfer driving assembly can be reset or perform corresponding follow-up actions according to the control of the central control computer. In the event that the central control commands placement of the finished cup 2101 into a compartment 4100B of the second side 4102 of the fetch chest 4100, the transfer intermediate drive assembly, and more particularly the transfer intermediate drive motor 4440, may be operated to slide the second horizontal slide 4443 to a desired position prior to rotation of the transfer rotation shaft 4451, for example, to facilitate rotation of the transfer jaw assembly 4410 by the transfer rotation shaft 4451.

It should be noted that the above-mentioned number and manner of arrangement of compartments on the first and second sides of the order chest is merely illustrative and not limiting.

In some embodiments, the above-described transfer horizontal drive assembly and/or transfer intermediate drive assembly each include an origin detection assembly for determining the origin of the respective first horizontal slide 4432 and/or second horizontal slide 4442. The origin detecting assembly has the same principle as the origin detecting assembly described above, and will not be described here again.

4. Automatic cleaning module

In some embodiments, as shown in fig. 132-133, the smart drink robot may include an automatic cleaning module configured to automatically clean the components involved in the entire smart drink robot that require regular cleaning. More specifically, the robot cleaning module is a one-button type, which allows the respective barrels 1200 and the respective pipes, etc. to be automatically cleaned after the operator leaves.

According to a specific embodiment, the automatic cleaning module comprises a cleaning fluid storage assembly arranged to store one or more cleaning fluids for cleaning the material bowl 1200 and a cleaning fluid delivery assembly arranged to be able to deliver at least one cleaning fluid to the inlet pipe p_inlet of the material bowl 1200.

In some embodiments, as shown in fig. 132, the cleaning fluid storage assembly includes at least a fresh water tub 5110 for storing fresh water, a cleaner tub 5120 for storing a cleaner, and a disinfectant tub 5130 for storing a disinfectant. Alternatively, the cleaning agent may be a detergent or the like and the sanitizing agent may be a red, green, or other sanitizing agent that may be used for sanitizing food items. The fresh water tub 5110, the detergent tub 5120 and the disinfectant tub 5130 may be each provided to be in fluid communication with a source of water inlet via a respective water inlet valve v_water, more particularly with a water inlet tap, to be able to add water to the respective tub 5110, 5120, 5130. In the embodiment shown in the figures, the inlet valve v_water is, for example, a solenoid valve, more particularly, for example, a plastic solenoid valve. In addition, the fresh water tub 5110, the detergent tub 5120, and the disinfectant tub 5130 may be provided with a low liquid level sensor 5001 and at least one high liquid level sensor 5002, which are, for example, float liquid level sensors; wherein the low level sensor 5001 is used to give a low level signal, i.e. a signal that the cleaning liquid in the respective tub 5110, 5120, 5130 is exhausted or is about to be exhausted, and the high level sensor 5002 is used to give a signal that the respective tub 5110, 5120, 5130 has been topped up. Preferably, the fresh water tub 5110, the detergent tub 5120 and the disinfectant tub 5130 may each be provided with two high level sensors 5002, which may ensure that in case of failure or malfunction of one of the high level sensors, a correct signal may still be given to avoid that fluid overflows from the tub 5110, 5120, 5130 damaging parts of the apparatus or causing contamination.

In some embodiments, the fresh water tub 5110 is provided with a heating device (e.g., a heating plate, not shown) for heating the fresh water, and a temperature sensor 5003, and the heating device may heat the fresh water in the fresh water tub 5110 to a desired temperature, e.g., 60 ° or 80 ° or other temperature, to enable better cleaning. More specifically, the tub wall of the fresh water tub 5110 may be provided with an insulation layer.

In a specific embodiment, the fresh water tub 5110, the cleaner tub 5120 and the disinfectant tub 5130 may be provided on the movable cart to push the movable cart to the vicinity of the material tub to be cleaned when the automatic cleaning operation is required, and may be stored in other places as needed when the automatic cleaning operation is not required, thereby facilitating the effective use of space.

In some embodiments, as shown in fig. 132 and 133, the cleaning fluid delivery assembly includes a delivery valve, pump 5010, and tubing disposed between each of the clean water tub 5110, the detergent remover 5120, and the disinfectant tub 5130 and each of the material tubs 1200. More specifically, the transfer valves include an output valve v_output for each of the fresh water tub 5110, the cleaner tub 5120, and the disinfectant tub 5130, and an input valve v_input for each of the material tub 1200, which may be individually controlled or group-controlled as actually needed to accomplish a desired cleaning operation. Alternatively, a pump 5200, such as a gear pump, may be provided on a pipe between the output valve v_output of each of the fresh water tub 5110, the cleaner tub 5120, and the disinfectant tub 5130 and the input valve v_input of each of the material tub 1200. Still alternatively, the delivery valve may be an electrically powered ball valve, and more particularly a stainless steel electrically powered ball valve, because it is more durable, less fragile, and has a large path in high temperature fluid, high flow environments. More specifically, the input valve v_input of the material bucket 1200 is disposed on the input pipe p_input of the material bucket 1200, which is in fluid communication with the inlet pipe p_inlet of each material bucket 1200, thereby allowing the cleaning fluid to flow to the cleaning balls 1240 of the material bucket 1200 for the cleaning operation.

The valves and pumps involved in the automatic cleaning module can be controlled by a central control computer of the intelligent drink robot to be started and stopped according to the needs or according to various set programs, so that automatic cleaning of the material barrel and the corresponding pipe is finished, and particularly, an operator is allowed to select a given program to finish the automatic cleaning, so that one-key closing is realized.

In some embodiments, as shown in fig. 133, the discharge port 1260 of the material bucket 1200 is connected to a discharge pipe p_output to enable discharge of material, residue, or cleaning fluid in the material bucket 1200 via the discharge pipe p_output. More specifically, a discharge valve v_outlet, more specifically, a solenoid valve may be provided on the discharge pipe p_output to be able to control whether the discharge pipe p_output is opened or not. For example, the discharge valve pipe p_output may be controlled by a central control machine of the machine to operate as needed or according to various setting programs. In addition, peristaltic pumps may be provided on each drain tube as shown.

More specifically, the first filling valve 2360 for filling liquid and the second filling valve 2460 for filling milk caps described above are each in communication with the discharge pipe p_output of the respective material bucket 1200 downstream of the respective discharge valve v_outlet. In this case, therefore, the discharge of material, residue or cleaning fluid from the material drum 1200 is effected via the respective filling valves 2360, 2460. More specifically, in the event that the desired material is to be output from the respective material bucket 1200 to the respective finished cup 2101 or blender cup 2201 while the intelligent beverage robot is operating normally, i.e., making a beverage, then the respective finished cup 2101 or blender cup 2201 will be aligned with the filling valve (first or second filling valve 2360, 2460, above) of the respective material bucket 1200; while at other times, including performing a cleaning operation of the bucket 1200, it is desirable to align the above-mentioned liquid drain tray 2391 or milk cap drain tray 2457 with the corresponding liquid or milk cap bucket to allow for the collection and draining of residue or cleaning fluid in the bucket 1200 via the liquid drain pipe 2392 or milk cap drain pipe 2450.

In some embodiments, as shown in fig. 131, the above-mentioned liquid chambers 1180 and/or milk lid chambers 1190 may include shelves 1185 for placement of the material barrels 1200, and the material barrels 1200 may be placed on respective shelves 1185 in rows, for example. More specifically, each shelf 1185 may be provided with a tap connector, one end of each tap connector is hermetically connected to the tap 1260 of the corresponding material bucket 1200, and the other end is connected to the discharge pipe p_output. For example, one end of each tap that is attached to the barrel 1260 may be provided with two layers of sealing rings.

In some embodiments, as shown in fig. 131, to ensure ease of feeding material into the material bucket 1200, the material bucket 1200 may be placed in a single row on the shelf 1185 of the material bucket chamber without obstruction between the operator and the material bucket 1200. At this time, the placement of the charging port 1211 of the material bucket 1200 near the periphery of the top cover 1210 is particularly advantageous because a specially-made rectangular funnel 1186 may be employed, wherein one side of the funnel 1186 may extend outside the material bucket so that the material container 1187 for storing material to be added may not interfere with or by other items when pouring material into the material bucket 1200. Because some liquid material, if juice contains precipitate, tiny particle, can also increase one deck filter screen at the funnel mouth, avoid the granule to get into the material bucket from the source to prevent that the particulate matter from causing the damage to the pump body, influence the precision, shorten life, perhaps pile up in the check valve, influence the ejection of compact, and wash the difficult hidden danger that causes food safety. Further, for a raw material container having a large capacity and a heavy weight, the following two modes may be adopted instead of direct pouring: (1) the manual siphon water pump does not need a power supply, is simple and convenient to operate, but needs a height difference, (2) the electric small-sized water pump needs to be connected with the power supply, but does not need the height difference.

The exemplary embodiments of the intelligent beverage robot and the modules thereof according to the present utility model have been described in detail with reference to the preferred embodiments, however, it will be understood by those skilled in the art that various modifications and alterations may be made to the specific embodiments described above without departing from the concept of the present utility model, and various technical features and structures according to the present utility model may be combined in various ways without departing from the scope of the present utility model.

The scope of the present disclosure is defined not by the above-described embodiments but by the appended claims and their equivalents.

The present application, techniques and utility model include at least the subject matter described in the following numbered clauses:

clause 1. A multi-station dual-swivel module for fully automated beverage making comprising:

a first swivel assembly comprising:

a first driving mechanism; and

A second swivel assembly comprising:

a second driving mechanism; and

Clause 2. The multi-station dual swing module of clause 1, wherein the second swing assembly is supported by a support post disposed within the area encompassed by the first swing member.

Clause 3. The multi-station dual swing module of clause 2, wherein:

The first swivel member is in the form of a turntable or swivel belt;

the second swivel member is in the form of a turntable.

Clause 4. The multi-station dual swivel module of any of clauses 1-3, wherein the first swivel member has at least one cup holder disposed thereon for receiving the finished cup.

Clause 5. The multi-station dual swivel module of clause 4, wherein the first swivel member has four or six cup holders disposed thereon.

Clause 6 the multi-station dual swing module of clause 4, wherein the multi-station dual swing module further comprises a first origin detection assembly for determining the origin of the first swing member, the first origin detection assembly comprising:

a first metal piece disposed on the first rotating member; and

and a first sensor disposed adjacent to the first track, the first sensor being capable of detecting the first metal piece.

Clause 7. The multi-station dual swivel module of clause 6, wherein the first metallic pieces are disposed in each of the cup holders.

Clause 8 the multi-station dual swing module of any of clauses 1 to 3, wherein the multi-station dual swing module further comprises a second origin detection assembly for determining an origin of the second swing member, the second origin detection assembly comprising:

A second metal piece disposed on the second rotating member; and

and the second sensor is fixedly arranged relative to the support upright post, and the second sensor can detect the second metal piece.

Clause 9. The multi-station dual swing module of clause 3, wherein when the first swing member is in the form of a turntable, the first swing member is also referred to as a first turntable, the first drive mechanism comprises:

a first motor comprising a first motor shaft;

a first transmission assembly configured to be driven by the first motor;

at least one roller configured to be rotatable by the first transmission assembly, the at least one roller being disposed against an outer peripheral surface of the first turntable to be rotatable by friction.

Clause 10. The multi-station dual swing module of clause 9, wherein the at least one roller is two rollers, a first roller and a second roller;

the first transmission assembly includes:

the first driving shaft is connected with the first motor shaft so as to be capable of rotating along with the first motor shaft;

the first driving wheel is connected with the first driving shaft so as to rotate along with the first driving shaft;

The first synchronous belt is arranged to be driven by the first driving wheel to rotate;

the first driven wheel is arranged to be capable of being driven to rotate by the first synchronous belt;

a first driven shaft arranged to be coupled with the first driven wheel so as to be rotatable with the first driven wheel;

wherein:

the first roller is connected with the first driving shaft so as to rotate along with the first driving shaft;

the second roller is arranged to be coupled with the first driven shaft so as to be rotatable with the first driven shaft.

Clause 11 the multi-station dual swing module of clause 10, wherein the first drive mechanism further comprises a fixedly disposed first mounting plate and a first mount mounted on the first mounting plate for supporting the first motor and the first drive assembly, the first mount being mounted with an adjustable distance relative to an outer peripheral surface of the first turntable.

Clause 12 the multi-station dual swivel module of clause 11, wherein the first mounting plate has one or more first elongated holes disposed therein through which bolts can be threaded into the first mounting plate to mount the first mounting plate to the first mounting plate.

Clause 13 the multi-position dual swivel module of clause 12, wherein the first drive mechanism further comprises a first compression screw disposed through a first threaded hole in the first mount, a free end of the first compression screw being capable of abutting the first mount to allow adjustment of a distance of the first mount relative to an outer peripheral surface of the first turntable by screwing the first compression screw.

Clause 14. The multi-position dual swing module of clause 11, wherein the first drive assembly further comprises a drive assembly mounting plate mounted to the first mount, the drive assembly mounting plate comprising opposed first and second mounting plate ends, the first mounting plate end being provided with a first bearing mount for supporting a first bearing of the first drive shaft, the second mounting plate end being provided with a second bearing mount for supporting a second bearing of the first driven shaft, the drive assembly mounting plate being configured to be rotatable about the first drive shaft through an angular range.

Clause 15 the multi-position dual swing module of clause 14, wherein the first drive assembly further comprises a first connection plate and a press block secured to the first mount, the first end of the drive assembly mounting plate being disposed between the first connection plate and the press block to define a height position of the first drive assembly.

Clause 16 the multi-position dual swivel module of clause 14, wherein the first drive mechanism further comprises a second compression screw disposed through the second threaded bore of the first mount, the second compression screw being disposed with a free end capable of abutting the drive assembly mounting plate to allow adjustment of the angular position of the drive assembly mounting plate about the first drive shaft by screwing the second compression screw.

Clause 17 the multi-position dual swing module of clause 10, wherein the first motor shaft and the first drive shaft are interconnected via a first coupling.

Clause 18. The multi-station dual swivel module of clause 10, wherein the at least one roller is an embossing type glue roller.

Clause 19 the multi-station dual swing module of clause 3, wherein when the first swing member is in the form of a swing belt, the first swing member is also referred to as a first swing belt, the first drive mechanism comprises:

a second motor;

the second driving wheel is arranged to be driven by the second motor and can drive the first revolving belt to revolve.

Clause 20 the multi-station dual swing module of clause 19, wherein the first drive mechanism further comprises:

At least two second driven wheels arranged to be capable of being driven in rotation by the first endless belt and guiding the movement of the first endless belt;

at least one carrier is configured to carry the finished cups and is configured to be coupled to the first carousel so as to be movable therewith.

Clause 21 the multi-station dual swing module of clause 20, wherein the first swing assembly further comprises a first rail disposed about the first swing belt and configured to support the carrier and guide movement of the carrier.

Clause 22 the multi-station dual swing module of clause 21, wherein:

at least one of the inner side and the outer side of the first rail is provided with a groove,

the first drive mechanism further includes a guide wheel coupled to the carrier, the guide wheel being capable of rolling in the groove to guide the carrier to slide along the first rail.

Clause 23 the multi-station dual swing module of clause 22, wherein:

the inner side and the outer side of the first guide rail are provided with grooves, respectively called inner side grooves and outer side grooves,

each of the carriers is coupled with two inner guide wheels for rolling in the inner grooves and two outer guide wheels for rolling in the outer grooves.

Clause 24. The multi-station dual swivel module of clause 20, wherein each carrier carries one finished cup and a cup holder is provided on each carrier for holding the finished cup.

Clause 25 the multi-station dual swing module of clause 21, wherein the first rail is disposed around the first swing belt.

Clause 26 the multi-station dual swing module of clause 19, wherein the second motor is a servo motor.

Clause 27. The multi-station dual swing module of clause 20, wherein the first swing belt is generally rounded rectangular, the first drive mechanism includes three second driven wheels, the second drive wheel and the three second driven wheels are disposed at four corners of the rounded rectangle, respectively.

Clause 28 the multi-station dual swing module of clause 3, wherein the second drive mechanism comprises:

a third motor;

a turntable mounted on the support post, the turntable comprising:

the lower fixing plate is used for being connected with the supporting upright post;

and the second rotary member is coupled to the upper rotary flange.

Clause 29, the multi-station dual swing module of clause 28, wherein the second drive mechanism further comprises a gear train, the power of the third motor shaft of the third motor being transferred to the upper rotating flange via the gear train.

Clause 30 the multi-station dual swing module of clause 28, wherein a motor mount is fixed to the lower fixed plate, and the third motor is mounted in the motor mount.

Clause 31 the multi-station dual swivel module of clause 28, wherein the second swivel assembly comprises one or more mixing cup retention mechanisms, each mixing cup retention mechanism configured to rotatably retain a respective mixing cup on the second swivel member.

Clause 32 the multi-station dual swivel module of clause 31, wherein the second swivel assembly comprises four or six mixing cup retention mechanisms evenly distributed circumferentially.

Clause 33 the multi-station dual swivel module of clause 31, wherein each mixing cup is provided with a staple fixedly disposed relative to the mixing cup, the staple comprising a first staple protrusion and a second staple protrusion disposed diametrically opposite;

Each mixing cup holding mechanism includes:

the mixing cup driving mechanism is configured to drive the mixing cup to rotate;

the second driving shaft is connected between the mixing cup driving mechanism and the first hoop protrusion so as to transmit power from the mixing cup driving mechanism to the first hoop protrusion;

the second driven shaft is connected with the second hoop protrusion so as to be driven by the second driving shaft to rotate;

a first bearing block fixed to the second rotating member and configured to support the second driving shaft;

and a second support base fixed to the second rotating member and configured to support the second driven shaft.

Clause 34 the multi-station dual swing module of clause 33, wherein the first and second staple protrusions are coupled to the second drive shaft and the second driven shaft, respectively, by quick release pins.

Clause 35 the multi-station dual swivel module of clause 33, wherein the multi-station dual swivel module further comprises a third origin detection assembly for determining the origin of each mixing cup, the third origin detection assembly comprising:

a third original point detecting sheet fixedly arranged on the second driving shaft,

And the third sensor is arranged on the first supporting seat and can determine the angular position of the mixing cup by detecting the angular position of the third original point detection sheet.

Clause 36 the multi-station dual swing module of clause 33, wherein the mixing cup drive mechanism comprises a motor referred to as a fourth motor comprising a fourth motor shaft.

Clause 37 the multi-position dual swing module of clause 36, wherein the fourth motor shaft is interconnected with the second drive shaft by a shaft bore coupling.

Clause 38 the multi-position dual swivel module of clause 37, wherein the motor coupling end of the second drive shaft is provided with a hole into which the fourth motor shaft is inserted.

Clause 39 the multi-station dual swing module of clause 36, wherein the fourth motor is a stepper motor.

Clause 40 the multi-station dual swing module of clause 33, wherein the mixing cup drive mechanism comprises:

a first electric cylinder;

the first rack is driven to move by the first electric cylinder;

the first gear is driven by the first rack to rotate;

wherein the second drive shaft is coupled with the first gear.

Clause 41 the multi-station dual swing module of clause 40, wherein the mixing cup drive mechanism further comprises a ram disposed between the first electric cylinder and the first rack, the first electric cylinder driving the first rack to move via the ram.

Clause 42 the multi-station dual swing module of clause 40, wherein the mixing cup drive mechanism further comprises a first resilient reset member connected between the second swing member and the first rack to enable actuation of the first rack to reset when the first electric cylinder ceases to operate.

Clause 43 the multi-position dual swivel module of clause 42, wherein the first resilient return member is a constant force spring.

Clause 44 the multi-station dual swing module of clause 33, wherein the multi-station dual swing module comprises an electrical slip ring mechanism comprising an input line connected to the mixing cup drive mechanism and an output line connected to a central control computer to enable transfer of power and control signals between the mixing cup drive mechanism and the central control computer.

Clause 45 the multi-station dual swing module of clause 44, wherein:

The electric slip ring mechanism is arranged in the hollow part of the supporting upright post,

the electric slip ring mechanism comprises an electric slip ring driving part and a rotating member driven by the electric slip ring driving part,

the upper end of the electric slip ring driving part is connected with the second rotary member so as to be driven by the second rotary member to rotate, and the lower end of the electric slip ring driving part is connected with the rotary member.

Clause 46. The multi-station dual swivel module of clause 44, wherein the upper end of the electrical slip ring drive is disposed through the central aperture of the turntable and secured in the central aperture of the second swivel member.

Clause 47. The multi-station dual swing module of clause 1, wherein:

the plurality of first-type stations further includes a priming station disposed after the container drop station and before the first handoff station,

the multi-station double-rotation module further comprises a first material feeding mechanism, wherein the first material feeding mechanism is configured to perform a finished cup fresh material feeding operation and/or a finished cup reinforcing operation of feeding fresh material and/or solid material into the finished cup at the bottom material feeding station.

Clause 48 the multi-station dual swing module of clause 47, wherein:

The plurality of first class stations further includes a capping station disposed after the first handoff station,

the multi-station double-rotation module further comprises a milk cap adding mechanism, wherein the milk cap adding mechanism is configured to perform milk cap adding operation of adding milk caps into the finished cup at the milk cap adding station.

Clause 49 the multi-station dual swing module of clause 48, wherein:

the plurality of first-type stations further includes a labeling station disposed after the container drop station,

the multi-station double-rotation module further comprises a labeling mechanism, wherein the labeling mechanism is configured to carry out labeling operation of labeling labels on the finished cup at the labeling station.

Clause 50 the multi-station dual swing module of clause 49, wherein the container drop mechanism is further configured to perform a drop cap operation that drops a finished cup cap onto the finished cup that has passed through the plurality of first-type stations and returned to the container drop station.

Clause 51 the multi-station dual swing module of clause 50, wherein:

the plurality of first-class stations are sequentially arranged according to the following sequence: the container falling station; the labeling station; the material adding station; the first handover station; the milk cover adding station; and/or

The respective operations at the plurality of first-type stations are performed in the following order: the cup falling operation; the fresh material adding operation of the finished cup and/or the material reinforcing operation of the finished cup; the handover operation; the milk adding cover is operated; and the cover falling operation is performed.

Clause 52 the multi-station dual swing module of any of clauses 47-51, wherein:

the plurality of second class stations further comprises a mixing cup fresh-adding station arranged in front of the second handover station,

the multi-station double-rotation module further comprises a second material feeding mechanism for executing fresh material feeding operation of the mixing cup for feeding fresh material into the mixing cup at the fresh material feeding station of the mixing cup.

Clause 53 the multi-station dual swing module of clause 52, wherein:

the plurality of second class stations further comprises a mixing station arranged after the mixing cup fresh-adding station and before the second handover station,

the multi-station double-rotation module further comprises a stirring mechanism for stirring materials in the mixing cup at the mixing station.

Clause 54 the multi-station dual swing module of clause 53, wherein:

the plurality of second class stations further comprises an ice adding station arranged before the mixing station, and ice adding operation for adding ice cubes into the mixing cup is performed at the ice adding station.

Clause 55 the multi-station dual swing module of clause 54, wherein:

the plurality of second class stations further includes a cup wash station disposed after the second handoff station,

the multi-station double-rotation module further comprises a cup washing mechanism for executing cup washing operation of washing the mixing cup at the cup washing station.

Clause 56 the multi-station dual swing module of clause 55, wherein:

the multi-station double-rotation module also comprises a material mixing cup cover capping and cleaning mechanism,

the mixing cup cover covering and cleaning mechanism is configured to perform a mixing cup cover covering operation of covering the mixing cup with the mixing cup cover in the mixing station before the stirring operation is performed by the stirring mechanism.

Clause 57 the multi-station dual swivel module of clause 56, wherein the mixing bowl cover capping and cleaning mechanism is further configured to perform a mixing bowl cover cleaning operation in the mixing station after the stirring operation is performed by the stirring mechanism.

Clause 58 the multi-station dual swing module of clause 57, wherein:

the plurality of second-class stations are sequentially arranged according to the following sequence: the ice adding station; the liquid adding station; the fresh material adding station of the material mixing cup; the mixing station; the second handover station; and the cup washing station; and/or

The corresponding operations at the plurality of second class stations are sequentially performed in the following order: the ice adding operation; the liquid adding operation; fresh material is added into the mixing cup; the mixing cup is capped; the mixing operation; the cleaning operation of the mixing cup cover; the cup washing operation.

Clause 59 the multi-station dual swing module of clause 50, wherein the container dropping mechanism comprises:

a third driving mechanism;

a carrier plate configured for carrying at least one cup dispenser, the third drive mechanism being configured to be able to drive the carrier plate into movement to be in place over the first swivel member;

a cup dispenser motor arranged to operate the at least one cup dispenser to enable the finished cup to be dropped onto the first swivel member.

Clause 60 the multi-station dual swivel module of clause 59, wherein each of the at least one cup dispenser is configured to hold a plurality of finished cups stacked one above the other and includes a holding portion for holding an upper edge of a lowermost finished cup of the plurality of finished cups, a through hole being provided at the holding portion that is accessible at the upper edge of the lowermost finished cup, the through hole allowing air flow blowing upon cup dispensing operation.

Clause 61 the multi-station dual swing module of clause 59, wherein:

the bearing plate is also configured to bear a cover falling device;

the container drop mechanism further includes a lid lifter motor configured to drop the finished cup lid onto the finished cup.

Clause 62 the multi-station dual swing module of clause 61, wherein the third drive mechanism comprises:

at least one bearing plate lifting cylinder which is arranged to drive the bearing plate to move along the vertical direction;

at least one carrier plate horizontal cylinder is arranged to drive the carrier plate to move in a horizontal direction.

Clause 63. The multi-station dual swing module of clause 62, wherein:

the container dropping mechanism comprises a first cup dropping device for the first type of finished cup and a second cup dropping device for the second type of finished cup,

the third driving mechanism is configured to include two carrier plate horizontal cylinders, namely, a first carrier plate horizontal cylinder including a first carrier plate horizontal cylinder body and a first horizontal movable member movable with respect to the first carrier plate horizontal cylinder body, and a second carrier plate horizontal cylinder including a second carrier plate horizontal cylinder body and a second horizontal movable member movable with respect to the second carrier plate horizontal cylinder body, the second carrier plate horizontal cylinder body being coupled with the first horizontal movable member, the second horizontal movable member being coupled with the carrier plate.

The multi-station dual swing module of clause 64, wherein the lid lifter, the first cup lifter and the second cup lifter are configured such that:

when the finished cup cover is dropped on the finished cup, the first bearing plate horizontal cylinder and the second bearing plate horizontal cylinder are not operated, and the at least one bearing plate lifting cylinder is operated;

the second carrier plate horizontal cylinder and the at least one carrier plate lifting cylinder are operated while the first type of finished cups are being dropped on the first swivel member,

when the second type finished cups are dropped on the first swivel member, the first carrier plate horizontal cylinder and the second carrier plate horizontal cylinder and the at least one carrier plate lifting cylinder are both operated.

Clause 65 the multi-station dual swing module of clause 64, wherein the at least one carrier plate lift cylinder comprises a first carrier plate lift cylinder and a second carrier plate lift cylinder disposed in parallel, the first carrier plate lift cylinder comprising a first carrier plate lift cylinder body and a first vertically movable member movable relative to the first carrier plate lift cylinder body, the second carrier plate lift cylinder comprising a second carrier plate lift cylinder body and a second vertically movable member movable relative to the second carrier plate lift cylinder body,

The third driving mechanism further includes:

the support plate frame is configured to support the third driving mechanism, comprises a first vertical side part and a second vertical side part which are oppositely arranged, and comprises a transverse side part, wherein the first bearing plate lifting cylinder is arranged at the first vertical side part, the second bearing plate lifting cylinder is arranged at the second vertical side part, the bearing plate is arranged on the transverse side part, and the first vertical movable piece and the second vertical movable piece are connected with the transverse side part so as to drive the transverse side part to move up and down.

Clause 66 the multi-position dual swivel module of clause 5, wherein the first and second vertical movers are coupled to the lateral sides via first and second vertical slides, respectively,

the first vertical side part is provided with a first sliding rail for guiding the first vertical sliding block to move up and down,

the second vertical side part is provided with a second sliding rail for guiding the second vertical sliding block to move up and down.

Clause 67. The multi-station dual swing module of clause 66, wherein:

the second horizontal movable cylinder piece is connected with the bearing plate through a horizontal sliding block,

The lateral side is provided with a horizontal rail for guiding the horizontal movement of the horizontal slider.

Clause 68 the multi-position dual swing module of clause 67, wherein the first carrier plate horizontal cylinder and/or the second carrier plate horizontal cylinder and/or the first carrier plate lifting cylinder and the second carrier plate lifting cylinder are rod cylinders and the first horizontal movable member and/or the second horizontal movable member and/or the first vertical movable member and the second vertical movable member are cylinder rods.

Clause 69 the multi-station dual swing module of any of clauses 1 and 47-51, wherein:

the liquid charging mechanism comprises a liquid charging nozzle bearing plate, and the liquid charging nozzle bearing plate is configured to support at least one liquid charging nozzle;

each liquid charging spout includes a liquid inlet capable of being in fluid communication with a liquid source and a liquid outlet disposed in alignment with a respective mixing cup.

Clause 70. The multi-station dual swivel module of clause 69, wherein the liquid nozzle carrier plate is positioned such that the at least one liquid adding nozzle is above and aligned with the mixing cup.

Clause 71 the multi-station dual swivel module of clause 70, wherein the at least one charging nozzle comprises 3 to 19 charging nozzles.

Clause 72 the multi-station dual swivel module of clause 71, wherein the at least one filling nozzle comprises a first filling valve;

each first filling valve comprises a first valve body and a liquid inlet nozzle and a liquid outlet nozzle which are arranged on the first valve body;

the liquid adding mechanism further comprises:

a first filling valve cylinder comprising a first movable filling valve cylinder rod arranged to extend into a first valve body of a respective first filling valve; and

a first blocking part is provided to be coupled with the first movable filling valve cylinder rod so as to be movable with the first movable filling valve cylinder rod, thereby being capable of blocking or opening the liquid material inlet nozzle.

Clause 73 the multi-station dual swing module of clause 47, wherein:

the first material feeding mechanism comprises a first swing cylinder, a first swing arm driven by the first swing cylinder and a first feeding clamping jaw connected with the first swing arm,

the first swing cylinder is configured to drive the first swing arm to swing between a first swing arm position and a second swing arm position,

the first feeding clamping jaw is configured to be capable of grabbing a first material box containing fresh materials or solid materials when the first swing arm is at the first swing arm position, and overturning the first material box when the first swing arm rotates from the first swing arm position to the second swing arm position, so that materials in the first material box can be poured into corresponding finished product cups.

Clause 74 the multi-station dual swing module of clause 73, wherein the first swing arm swings 180 ° between the first swing arm position and the second swing arm position; and wherein the first swing arm is horizontally oriented in the first swing arm position and the second swing arm position.

Clause 75 the multi-station dual swing module of clause 74, wherein the first material charging mechanism is configured to couple with a slipway cylinder to be capable of being in an extended position and a retracted position as the slipway cylinder is extended and retracted to enable pouring material in the first material cartridge into finished cups having different heights.

Clause 76 the multi-station dual swing module of clause 75, wherein the first charging jaw is driven by a first charging cylinder.

Clause 77 the multi-station dual swing module of clause 33, wherein the interface mechanism comprises:

the first linear module comprises a first movable slide block;

the connecting clamping jaw assembly comprises a connecting clamping jaw cylinder and a connecting clamping jaw, and is arranged to be capable of being driven to move by the first movable sliding block;

wherein, in the gripping height position, the interface jaw assembly is movable by the first movable slide to move between an initial position and a jaw operating position: in the initial position, the hand-over jaw is remote from the finished cup; in the jaw operating position, the interface jaw surrounds the finished cup and the jaw cylinder is capable of driving the interface jaw to grasp the finished cup.

Clause 78 the multi-station dual swing module of clause 77, wherein the interface mechanism further comprises an interface lift cylinder comprising an interface lift cylinder body coupled with the first movable slide and a second lift movable member movable relative to the interface lift cylinder body, the interface jaw assembly being connected with the second lift cylinder movable member to be movable by the second lift cylinder movable member to move between the gripping height position and the interface height position.

Clause 79 the multi-station dual swing module of clause 78, wherein:

the interface jaw assembly is rotatably connected to the second lifting movable member about a first rotation axis,

the interface mechanism further comprises a pitching cylinder, the pitching cylinder comprises a pitching cylinder body and a pitching cylinder rod capable of moving relative to the pitching cylinder body, and the pitching cylinder rod is connected with the interface clamping jaw assembly so as to drive the interface clamping jaw assembly to rotate around the first rotation shaft between a backward tilting state and a vertical state when the pitching cylinder rod moves.

Clause 80. The multi-position dual swivel module of clause 79, wherein the pitch cylinder rod of the pitch cylinder is configured to be rotatably coupled to the second elevation movable member about a second rotation axis parallel to the first rotation axis.

Clause 81 the multi-position dual swivel module of clause 80, wherein the interface mechanism further comprises an intermediate mounting plate coupled to the second elevating movable member, the interface jaw cylinder and the pitch cylinder being rotatably mounted on the intermediate mounting plate.

Clause 82 the multi-station dual swing module of clause 80, wherein:

in the interface height position, the interface jaw assembly is movable with the first movable slide between at least a first horizontal position and a second horizontal position;

the first horizontal position being a position vertically aligned with the jaw operating position;

in the second horizontal position, the mixing cup driving mechanism at the second handover station can drive the mixing cup to rotate by a first angle along a second direction, so that materials in the mixing cup can be poured into the finished cup.

Clause 83. The multi-station dual swing module of clause 82, wherein:

in the hand-over height position, the hand-over jaw assembly is further movable with the first movable slide between the second horizontal position and a third horizontal position, the third horizontal position being further from the first horizontal position than the second horizontal position;

In the third horizontal position, the mixing cup driving mechanism drives the mixing cup to continue to rotate to a second angle larger than the first angle along the second direction, so that the residual materials in the mixing cup can be poured into the finished cup.

Clause 84 the multi-station dual swing module of clause 83, wherein in the second horizontal position and/or the third horizontal position, the hand-over jaw assembly is in the reclined state.

Clause 85 the multi-station dual swing module of clause 79, wherein:

in the initial position, the hand-over jaw assembly is in the reclined state;

in the jaw operating position, the interface jaw assembly is in the upright position.

Clause 86. The multi-station dual swivel module of clause 83, wherein the mixing cup drive mechanism drives the mixing cup to rotate back and forth 1 to 3 times at a dithering angle before the mixing cup drive mechanism drives the mixing cup to rotate a first angle in a second direction.

Clause 87. The multi-station dual-swivel module of clause 86, wherein the lift cylinder drives the finished cup to squat 1 to 3 times in the corresponding cup holder on the first swivel member after the hand-over lift cylinder rod drives the hand-over jaw assembly and the finished cup to return from the hand-over height position to the grip height position.

Clause 88 the multi-station dual swivel module of clause 48, wherein the milk cap adding mechanism comprises:

a second filling valve comprising a second valve body and a milk cap inlet and a milk cap outlet disposed on the second valve body, the milk cap inlet being capable of fluid communication with a milk cap barrel containing a milk cap, the milk cap outlet for adding a milk cap to the finished cup;

a second filling valve cylinder comprising a second movable filling valve cylinder rod extending into the second valve body,

a second blocking part coupled with the second movable filling valve cylinder rod to be movable with the second movable filling valve cylinder rod so as to block or open the milk cap inlet.

Clause 89 the multi-station dual swivel module of clause 88, wherein the milk cap adding mechanism further comprises an ultrasonic level sensor disposed at the bottom for detecting the level of milk cap added to the finished cup.

Clause 90 the multi-position dual swivel module of clause 89, wherein the second filling valve cylinder is operated such that the second movable filling valve cylinder rod moves the second blocking portion to block the milk cap inlet when the liquid level reaches a predetermined threshold.

Clause 91 the multi-position dual swivel module of clause 88, wherein the cap feeding mechanism further comprises a cap leakage receiving member configured to be positioned below the cap outlet when the cap feeding mechanism is not in operation, and the cap leakage receiving member comprises a cap leakage receiving tray and a cap leakage discharge tube in communication with the cap leakage receiving tray.

Clause 92. The multi-station dual swivel module of clause 91, wherein the cap feeding mechanism further comprises a cap feeding horizontal cylinder comprising a cap feeding horizontal cylinder block and a second horizontally movable member.

Clause 93 the multi-station dual swivel module of clause 92, wherein the second horizontally movable member is coupled to the milk cap leak tray to be capable of driving the milk cap leak tray to move between a non-receiving position and a receiving position, wherein the second filling valve is disposed with the milk cap outlet above the finished cup on the first swivel member at the milk cap adding station, and wherein:

when the second filling valve is operated, the milk cover leakage receiving tray is positioned at the non-receiving position, and the milk cover leakage receiving tray is staggered with the milk cover outlet;

When the second filling valve is not operated, the milk cap leakage tray is in the receiving position, and the milk cap leakage tray is aligned with the milk cap outlet.

Clause 94 the multi-position dual swivel module of clause 92, wherein the second horizontally movable member is coupled to the second filling valve to be capable of driving the second filling valve between a non-milk capping position and a milk capping position, wherein:

in the non-milk cap position, the milk cap outlet is aligned with the milk cap drain pan;

in the capping position, the cap outlet is aligned with the finished cup on the first swivel member at the capping station.

Clause 95 the multi-station dual swing module of clause 49, wherein the labeling mechanism comprises:

a label printer arranged to spit a label onto the finished cup;

the labeling roller mechanism is arranged to compress the label on the finished cup and comprises a driving roller capable of rotating by being attached to the finished cup and a labeling motor capable of driving the driving roller to rotate.

Clause 96. The multi-station dual turn module of clause 95, wherein the contour of the drive roll is configured to at least partially complement the contour of the finished cup.

Clause 97 the multi-station dual swing module of clause 96, wherein the labeling roller mechanism further comprises:

the labeling cylinder comprises a movable labeling cylinder rod;

a drive plate disposed in communication with the labeling cylinder rod so as to be movable therewith between an initial retracted position and a final extended position, the drive plate including a first drive plate side and a second drive plate side opposite the first drive plate side;

the first lateral linkage assembly is arranged on the side of the first driving plate and can rotate around a first fixed shaft along with the movement of the driving plate, and the first lateral linkage assembly comprises the driving roller;

the second lateral linkage assembly is arranged on the side of the second driving plate and can rotate around a second fixed shaft along with the movement of the driving plate, a first follow-up roller capable of being abutted against the finished cup is arranged on the second lateral linkage assembly, and the first follow-up roller can rotate along with the driving roller;

wherein:

during movement of the drive plate with the labeling cylinder rod from the initial retracted position to the final extended position, the first and second lateral linkage assemblies are rotatable to converge toward one another to bring the drive roller and the first follower roller into abutment against the finished cup;

During movement of the drive plate with the labeling cylinder rod from the final extended position to the initial retracted position, the first and second lateral linkage assemblies are rotatable to diverge from each other to move the drive roller and the first follower roller away from the finished cup.

Clause 98 the multi-position dual swing module of clause 97, wherein the first lateral linkage assembly comprises a first drive rod configured to rotate about a third fixed axis, a first elongated drive aperture disposed in the first drive rod,

the second lateral linkage assembly comprises a second transmission rod which is arranged to rotate around a fourth fixed shaft, a second slender transmission hole is arranged in the second transmission rod,

the driving plate is provided with a first protruding pin which stretches into the first slender transmission hole and a second protruding pin which stretches into the second slender transmission hole;

wherein:

the third and fourth fixed shafts are symmetrically disposed with respect to a central symmetry axis of the labeling roller mechanism, the first and second fixed shafts are also symmetrically disposed with respect to the central symmetry axis, and the third and fourth fixed shafts are disposed closer to the central symmetry axis than the first and second fixed shafts;

When the driving plate moves between the initial retraction position and the final extension position along with the labeling cylinder rod, the driving plate drives the first transmission rod to rotate through the first protruding pin, and drives the second transmission rod to rotate through the second protruding pin.

Clause 99. The multi-station dual swing module of clause 98, wherein:

a third slender transmission hole is further formed in the first transmission rod, and the third slender transmission hole is farther away from the third fixed shaft than the first slender transmission hole;

a fourth slender transmission hole is further formed in the second transmission rod, and the fourth slender transmission hole is farther away from the fourth fixed shaft than the second slender transmission hole;

the first lateral linkage assembly further comprises a first driven rod which is arranged to rotate around the first fixed shaft, a first protruding column is arranged on the first driven rod, and the first protruding column is inserted into the third slender transmission hole;

the second lateral linkage assembly further comprises a second driven rod which can rotate around the second fixed shaft, a second protruding column is arranged on the second driven rod, and the second protruding column is inserted into the fourth slender transmission hole;

When the driving plate moves between the initial retraction position and the final extension position along with the labeling cylinder rod, the first transmission rod drives the second driven rod to rotate through the first protruding column, and the second transmission rod drives the second driven rod to rotate through the second protruding column.

Clause 100. The multi-station dual-swivel module of clause 99, wherein the labeling roller mechanism further comprises a first fixed plate, the first fixed shaft, the second fixed shaft, the third fixed shaft, and the fourth fixed shaft being disposed on the first fixed plate.

Clause 101. The multi-station dual swing module of clause 99, wherein:

the first driven rod comprises a first upper driven rod and a first lower driven rod, and the driving roller is rotatably arranged between the first upper driven rod and the first lower driven rod;

the second driven rod comprises a second upper driven rod and a second lower driven rod, and the first follow-up roller is arranged between the second upper driven rod and the second lower driven rod;

wherein the drive roller and the first follower roller are symmetrically disposed with respect to the central symmetry axis.

Clause 102. The multi-station dual swing module of clause 101, wherein a second follower roller and a third follower roller are disposed on a side of the active plate facing the finished cup, the second follower roller and the third follower roller being capable of abutting against the finished cup when the labeling cylinder is in the final extended position.

Clause 103. The multi-station dual swing module of clause 102, wherein the profiles of the first, second, and third follower rollers are at least partially complementary to the profile of the finished cup.

Clause 104. The multi-station dual swing module of clause 102, wherein the drive roller is capable of rotating the finished cup, and the finished cup is capable of rotating the first follower roller, the second follower roller, and the third follower roller.

Clause 105 the multi-station dual swing module of any of clauses 95 to 104, wherein the labeling roller mechanism further comprises:

the third driving wheel is connected with a motor shaft of the labeling motor;

the third synchronous belt is driven by the third driving wheel to rotate;

and the third driven wheel is driven by the third synchronous belt to rotate and is connected with the rotating shaft of the driving roller.

Clause 106 the multi-station dual swing module of clause 52, wherein:

the second material feeding mechanism comprises a second swing cylinder, a second swing arm driven by the second swing cylinder and a second feeding clamping jaw connected with the second swing arm,

the second swing cylinder is configured to drive the second swing arm to swing between a third swing arm position and a fourth swing arm position,

the second feeding clamping jaw is configured to be capable of grabbing a second material box containing fresh material when the second swing arm is at the third swing arm position, and overturning the second material box when the second swing arm rotates from the third swing arm position to the fourth swing arm position, so that the material in the second material box can be poured into a corresponding mixing cup.

Clause 107 the multi-station dual swing module of clause 106, wherein the second swing arm swings 180 ° between the third swing arm position and the fourth swing arm position; and wherein the second swing arm is horizontally oriented in the third swing arm position and the fourth swing arm position.

Clause 108. The multi-station dual swing module of clause 107, wherein the second charging jaw is driven by a second charging cylinder.

Clause 109. The multi-station dual swing module of clause 53, wherein:

the bottom of the mixing cup is provided with a stirring rotating shaft extending to the outside of the mixing cup and a stirring piece arranged in the mixing cup, and the stirring piece is connected with the stirring rotating shaft;

the stirring mechanism comprises:

a stirring motor having a stirring motor shaft;

and the stirring cylinder is used for driving the stirring motor to move between a first rest position and a first operation position, the stirring motor shaft is far away from the stirring rotating shaft in the first rest position, and the stirring motor shaft is connected with the stirring rotating shaft in the first operation position.

Clause 110 the multi-station dual swing module of clause 109, wherein:

the stirring motor is provided with a motor accommodating part, and the motor accommodating part comprises a side wall and a top plate;

the stirring mechanism further comprises a stirring cylinder mounting seat which is fixedly arranged, and the stirring cylinder is mounted on the stirring cylinder mounting seat.

Clause 111 the multi-station dual swing module of clause 110, wherein the top plate is provided with a stop and/or buffer for limiting and/or buffering the agitator motor when the agitator motor moves from the first rest position to the first operating position.

Clause 112 the multi-station dual swivel module of clause 54, wherein the cup washing mechanism comprises:

the cup washing cylinder comprises a cup washing cylinder body and a cup washing cylinder movable part;

a cup washing tray coupled with a cup washing cylinder movable member of the cup washing cylinder to be capable of being driven by the cup washing cylinder to move between a non-cup washing position in which the cup washing tray does not fit the mouth of the mix cup and a cup washing position in which the cup washing tray fits the mouth of the mix cup;

the cup washing and cleaning spray head is arranged in the cup washing tray, can be in fluid communication with a cleaning water source, and can spray cleaning water into the mixing cup at the cup washing position so as to clean the mixing cup;

a bowl inlet pipe configured to direct cleaning water from the cleaning water source to the bowl cleaning spray head;

a bowl drain is disposed in fluid communication with the bowl tray to drain waste water after cleaning from the bowl tray.

Clause 113 the multi-station dual swing module of clause 112, wherein:

in the non-cup-washing position, the cup-washing tray is positioned below the mixing cup;

When the cup washing tray moves from the non-cup washing position to the cup washing position, the mixing cup is turned 180 degrees towards a first direction through the mixing cup driving mechanism;

after the cup washing operation is completed, the mixing cup is turned 180 degrees to reset in a second direction opposite to the first direction through the mixing cup driving mechanism.

Clause 114 the multi-station dual swing module of clause 113, wherein a raised extended splash guard is provided at the top edge portion of the bowl washing tray for blocking excess material thrown off by the mixing bowl when rotated in the first direction.

Clause 115. The multi-station dual swing module of clause 112, wherein the cup washing mechanism comprises a fixedly disposed cup washing cylinder mount on which the cup washing cylinder is mounted.

Clause 116 the multi-station dual swivel module of clause 112, wherein the cup wash spray is a high pressure rotary spray.

Clause 117 the multi-station dual swivel module of clause 112, wherein the cup-washing tray is coupled to the cup-washing cylinder movable member via an intermediate mount.

Clause 118 the multi-station dual swing module of clause 117, wherein the intermediate mount comprises:

A first plate coupled to the bottom of the cup wash tray, the first plate including a first mounting tab and a second mounting tab opposite each other,

a second plate coupled to the bowl washing cylinder movable member, the second plate including first and second mounting portions opposed to each other and respectively butted with the first and second mounting pieces,

a first alignment hole is formed in the first mounting piece and the first mounting part, and an index pin can be inserted into the first alignment hole;

the second mounting piece and the second mounting portion are provided with second alignment holes, into which spring portions of bead screws can be inserted.

Clause 119 the multi-station dual swing module of clause 56, wherein:

the mixing cup cover capping and cleaning mechanism comprises a capping lifting cylinder, the capping lifting cylinder comprises a capping lifting cylinder main body and a first lifting movable part capable of moving relative to the capping lifting cylinder main body, the mixing cup cover is connected with the first lifting movable part so as to move between a first height position and a second height position along with the first lifting movable part,

wherein, at the first height position, the mixing cup cover is positioned above the mixing cup and far away from the mixing cup; and in the second height position, the mixing cup cover covers the mixing cup.

Clause 120 the multi-station dual swivel module of clause 119, wherein the mixing bowl cover is coupled to the first vertically movable member via a mixing bowl cover mounting plate, the mixing bowl cover being coupled to the mixing bowl cover mounting plate.

Clause 121. The multi-station dual-swivel module of clause 120, wherein a locating hole is provided in the mixing bowl cover mounting plate, and a locating pin is provided on the mixing bowl cover that mates with the locating hole.

Clause 122 the multi-station dual swivel module of clause 119, wherein the compound cup cover capping and cleaning mechanism further comprises:

cleaning a tray by using a mixing cup cover;

the cleaning horizontal cylinder comprises a cleaning horizontal cylinder body and a first horizontal movable part capable of moving relative to the cleaning horizontal cylinder body, the first horizontal movable part is connected with the capping lifting cylinder body so as to drive the capping lifting cylinder and the mixing cup cover to move between a first horizontal position and a second horizontal position, the first horizontal position and the first height position are the same, and the mixing cup cover is positioned above the mixing cup cover cleaning tray in the second horizontal position;

The mixing cup cover cleaning spray head is arranged in the mixing cup cover cleaning tray and can be in fluid communication with a cleaning water source; in the second horizontal position, the mixing cup cleaning spray head can spray cleaning water to the mixing cup cover so as to clean the mixing cup cover;

the mixing cup cover cleaning water inlet pipe is arranged to guide cleaning water from the cleaning water source to the mixing cup cover cleaning spray head;

and the mixing cup cover cleaning drain pipe is arranged in fluid communication with the mixing cup cover cleaning tray so as to drain the waste water after cleaning from the mixing cup cover cleaning tray.

Clause 123. The multi-station dual swivel module of clause 122, wherein the mixing bowl cover cleaning spray head is a high pressure rotary spray head.

Clause 124 the multi-station dual swing module of clause 122, wherein the purge horizontal cylinder is a rodless cylinder; and or the capping lifting cylinder is a rod cylinder.

Clause 125 the multi-station dual swing module of clause 47, wherein:

the plurality of first class stations further includes a finishing station disposed after the first handing-over station,

the multi-station double-rotation module further comprises a cover falling and pressing mechanism, and the cover falling and pressing mechanism is configured to at least execute cover falling operation of falling a finished cup cover on the finished cup at the ending station.

Clause 126 the multi-station dual swivel module of clause 125, wherein the multi-station dual swivel module further comprises a milk cap adding mechanism configured for the ending station to perform a milk cap adding operation that adds a milk cap to the finished cup prior to the cap dropping operation.

Clause 127 the multi-station dual swing module of clause 126, wherein the cap drop capping mechanism is further configured to perform a capping operation to compact the finished cap after the cap drop operation at the ending station.

Clause 128 the multi-station dual swing module of clause 127, wherein the plurality of first type stations are sequentially arranged in the following order: the container falling station; the material adding station; the first handover station; the ending station; and/or

The respective operations at the plurality of first-type stations are sequentially performed in the following order: the cup falling operation; the fresh material adding operation of the finished cup and/or the material reinforcing operation of the finished cup; the handover operation; the milk adding cover is operated; the cover falling operation; the capping operation.

Clause 129 the multi-station dual swing module of any of clauses 47 and 125-128, wherein:

The plurality of second class stations further includes a mixing station disposed after the charging station and before the second handing-over station,

the multi-station double-rotation module further comprises a second material feeding mechanism, wherein the second material feeding mechanism is configured to perform fresh material feeding operation of the mixing cup for feeding fresh material into the mixing cup at the mixing station.

Clause 130 the multi-station dual swing module of clause 129, wherein the multi-station dual swing module further comprises a stirring mechanism configured to perform a stirring operation in the mixing station to stir the material in the mixing cup after the mixing cup fresh-adding operation.

Clause 131. The multi-station dual swing module of clause 130, wherein an ice adding operation of adding ice cubes to the mixing cup is also performed in the charging station.

Clause 132 the multi-station dual swing module of clause 131, wherein:

the plurality of second class stations further includes a cup wash station disposed after the second interface cup station,

the multi-station double-rotation module further comprises a cup washing mechanism, and the cup washing mechanism is configured to execute cup washing operation for washing the mixing cup at the cup washing station.

Clause 133 the multi-station dual swing module of clause 132, wherein:

the plurality of second-class stations are sequentially arranged in the following order: the liquid adding station; the mixing station; the second handover station; the cup washing station; and/or

The corresponding operations at the plurality of second class stations are sequentially performed in the following order: the liquid adding operation; the ice adding operation; fresh material is added into the mixing cup; the stirring operation; the cup washing operation.

The multi-station dual swing module according to any of clauses 125-128, wherein the container drop mechanism comprises:

a cup falling device;

the cup falling lifting cylinder is used for driving the cup falling device to move between a cup falling device rest position and a cup falling device operation position;

wherein in the cup dispenser operating position, the cup dispenser drops the finished cup onto the first swivel member.

Clause 135 the multi-station dual swivel module of clause 134, wherein in the cup-holder operating position, the lowermost finished cup on the cup-holder partially protrudes into the corresponding cup holder on the first swivel member before the cup-holder operates to drop the finished cup.

Clause 136 the multi-station dual swivel module of any of clauses 125 to 128, wherein the drop cap capping mechanism comprises:

a cap falling device;

a lid lifter cylinder configured to drive the lid lifter to move between a lid lifter rest position and a lid lifter operation position;

wherein, in the lid-drop operation position, the lid-drop operation is used for dropping the finished cup lid on the finished cup.

Clause 137 the multi-station dual swing module of clause 136, wherein the drop cap capping mechanism further comprises:

a gland swing cylinder comprising a gland swing cylinder body and a rotatable part which are connected with the cover falling device,

a gland plate coupled to the rotatable member to be movable by the rotatable member to pivot between a gland plate rest position and a gland plate operating position,

wherein, in the gland plate operating position, the gland plate is positioned at the bottom of the cover falling device;

the cover falling device lifting cylinder is further configured to drive the cover falling device and the cover pressing plate to move up and down so as to press the finished cup cover on the finished cup.

Clause 138 the multi-station dual swing module of clause 136, wherein the cap drop capping mechanism further comprises a cap drop detection sensor for detecting whether a cap drop is successful after the cap drop operation is performed.

Claims

1. A multi-station dual-swivel module, comprising:

a first swivel assembly comprising:

a first driving mechanism; and

a second swivel assembly comprising:

a second driving mechanism; and

2. The multi-station, dual swing module according to claim 1, wherein the second swing assembly is supported by a support post disposed within the area encompassed by the first swing member.

3. The multi-station dual swing module according to claim 2, wherein:

the first swivel member is in the form of a turntable or swivel belt;

the second swivel member is in the form of a turntable.

4. A multi-station dual swivel module according to any one of claims 1 to 3, wherein the first swivel member has at least one cup holder disposed thereon for receiving the finished cup.

5. The multi-station, dual swing module according to claim 4, wherein four or six cup holders are disposed on the first swing member.

6. The multi-station, dual swing module of claim 4, further comprising a first origin detection assembly for determining an origin of the first swing member, the first origin detection assembly comprising:

a first metal piece disposed on the first rotating member; and

7. The multi-station, dual swing module according to claim 6, wherein the first metallic member is disposed in each of the cup holders.

8. A multi-station, dual swing module according to claim 2 or 3, further comprising a second origin detection assembly for determining an origin of the second swing member, the second origin detection assembly comprising:

a second metal piece disposed on the second rotating member; and

9. A multi-station, dual swing module according to claim 3, wherein when the first swing member is in the form of a turntable, the first swing member is also referred to as a first turntable, the first drive mechanism comprising:

a first motor comprising a first motor shaft;

a first transmission assembly configured to be driven by the first motor;

10. The multi-station, dual swing module according to claim 9, wherein the at least one roller is two rollers, a first roller and a second roller;

the first transmission assembly includes:

wherein:

11. The multi-station, dual swing module of claim 10, wherein the first drive mechanism further comprises a fixedly disposed first mounting plate and a first mount mounted on the first mounting plate for supporting the first motor and the first drive assembly, the first mount being mounted with an adjustable distance relative to an outer peripheral surface of the first turntable.

12. The multi-station, dual swing module of claim 11, wherein the first mounting plate has one or more first elongated holes disposed therein through which bolts can be threaded into the first mounting plate to mount the first mounting plate thereto.

13. The multi-station, dual swing module of claim 12, wherein the first drive mechanism further comprises a first compression screw disposed through a first threaded bore in the first mount, a free end of the first compression screw being capable of abutting the first mount to allow adjustment of a distance of the first mount relative to an outer peripheral surface of the first turntable by threading the first compression screw.

14. The multi-position dual swing module according to claim 11, wherein the first drive assembly further comprises a drive assembly mounting plate mounted to the first mount, the drive assembly mounting plate comprising opposed first and second mounting plate ends, the first mounting plate end being provided with a first bearing mount for supporting a first bearing of the first drive shaft, the second mounting plate end being provided with a second bearing mount for supporting a second bearing of the first driven shaft, the drive assembly mounting plate being configured to be rotatable about the first drive shaft through a range of angles.

15. The multi-station, dual swing module of claim 14, wherein the first drive assembly further comprises a first link plate and a press block secured to the first mount, the first end of the drive assembly mounting plate being disposed between the first link plate and the press block to define a height position of the first drive assembly.

16. The multi-station, dual swing module of claim 14, wherein the first drive mechanism further comprises a second compression screw disposed through a second threaded bore of the first mount, the second compression screw being disposed with a free end capable of abutting the drive assembly mounting plate to allow adjustment of the angular position of the drive assembly mounting plate about the first drive shaft by threading the second compression screw.

17. The multi-station, dual swing module according to claim 10, wherein the first motor shaft and the first drive shaft are interconnected via a first coupling.

18. The multi-station, dual swing module according to claim 10, wherein the at least one roller is an embossed glue roller.

19. A multi-station, dual swing module according to claim 3, wherein when the first swing member is in the form of a swing belt, the first swing member is also referred to as a first swing belt, the first drive mechanism comprising:

A second motor;

20. The multi-station, dual swing module according to claim 19, wherein said first drive mechanism further comprises:

21. The multi-station, dual swing module according to claim 20, wherein the first swing assembly further comprises a first rail disposed about each other with the first swing belt and configured to support the carrier and guide movement of the carrier.

22. The multi-station, dual swing module according to claim 21, wherein:

the first drive mechanism further includes a guide wheel coupled to the carrier, the guide wheel being capable of rolling in the groove to guide the carrier to slide along the first track.

23. The multi-station, dual swing module according to claim 22, wherein:

the first rail is provided with grooves, both inside and outside, respectively called inside groove and outside groove,

24. The multi-station, dual swing module according to claim 20, wherein each carrier carries a finished cup and a cup holder for holding the finished cup is provided on each carrier.

25. The multi-station, dual swing module according to claim 21, wherein said first track is disposed around said first swing belt.

26. The multi-station, dual swing module according to claim 19, wherein the second motor is a servo motor.

27. The multi-station, dual-turn module of claim 20 wherein the first turn belt is generally rounded rectangular and the first drive mechanism includes three second driven wheels, the second drive wheel and the three second driven wheels being disposed at four corners of the rounded rectangle, respectively.

28. A multi-station, dual swing module according to claim 3, wherein said second drive mechanism comprises:

a third motor;

a turntable mounted on the support post, the turntable comprising:

and the second rotary member is coupled to the upper rotary flange.

29. The multi-station, dual swing module according to claim 28, wherein the second drive mechanism further comprises a gear drive mechanism, power of a third motor shaft of the third motor being transferred to the upper rotating flange via the gear drive mechanism.

30. The multi-station, dual swing module according to claim 28, wherein a motor mount is secured to the lower mounting plate, the third motor being mounted in the motor mount.

31. A multi-station, dual swing module according to claim 28, wherein the second swing assembly comprises one or more mixing cup retention mechanisms, each mixing cup retention mechanism configured to rotatably retain a respective mixing cup on the second swing member.

32. A multi-station, dual swing module according to claim 31, wherein the second swing assembly comprises four or six mixing cup retention mechanisms evenly circumferentially distributed.

33. The multi-station, dual swivel module of claim 31 wherein each mixing cup is provided with a fixedly disposed anchor ear relative to the mixing cup, the anchor ear comprising a first anchor ear protrusion and a second anchor ear protrusion disposed diametrically opposite each other;

each mixing cup holding mechanism includes:

34. The multi-station, dual swing module of claim 33, wherein the first and second hoop protrusions are coupled to the second drive shaft and the second driven shaft, respectively, by quick disconnect pins.

35. The multi-station, dual swing module of claim 33, further comprising a third origin detection assembly for determining an origin of each mixing cup, the third origin detection assembly comprising:

36. A multi-station, dual swing module according to claim 33, wherein the mixing cup drive mechanism comprises a motor referred to as a fourth motor, the fourth motor comprising a fourth motor shaft.

37. The multi-station, dual swing module according to claim 36, wherein the fourth motor shaft and the second drive shaft are interconnected by a shaft bore coupling.

38. The multi-station, dual swing module according to claim 37, wherein the motor coupling end of the second drive shaft is provided with a hole into which the fourth motor shaft is inserted.

39. The multi-station, dual swing module according to claim 36, wherein the fourth motor is a stepper motor.

40. The multi-station dual swing module according to claim 33, wherein the mixing cup drive mechanism comprises:

a first electric cylinder;

the first rack is driven to move by the first electric cylinder;

the first gear is driven by the first rack to rotate;

wherein the second drive shaft is coupled with the first gear.

41. A multi-station, dual-swing module according to claim 40, wherein the mixing cup drive mechanism further comprises a ram disposed between the first cylinder and the first rack, the first cylinder driving movement of the first rack via the ram.

42. A multi-station dual swing module according to claim 40, wherein the mixing cup drive mechanism further comprises a first resilient return member connected between the second swing member and the first rack to enable actuation of the first rack to return when the first electric cylinder ceases to operate.

43. A multi-station, dual swing module according to claim 42, wherein said first resilient return member is a constant force spring.

44. A multi-station, dual-swing module according to claim 33, comprising an electrical slip ring mechanism comprising an input line connected to the mixing cup drive mechanism and an output line connected to a central control computer to enable transfer of electrical power and control signals between the mixing cup drive mechanism and the central control computer.

45. The multi-station, dual swing module according to claim 44, wherein:

46. A multi-station, dual swing module according to claim 45, wherein the upper end of said electrical slip ring drive is disposed through the central aperture of said turntable and secured in the central aperture of said second swing member.

47. The multi-station dual swing module according to claim 1, wherein:

48. The multi-station, dual swing module according to claim 47, wherein:

49. The multi-station, dual swing module according to claim 48, wherein:

50. The multi-station, dual swing module according to claim 49, wherein the container drop mechanism is further configured to perform a drop cap operation that drops a finished cup cap onto the finished cup that has passed through the plurality of first-type stations and returned to the container drop station.

51. The multi-station, dual swing module according to claim 50, wherein:

52. The multi-station, dual swing module according to any of claims 47 to 51, wherein:

53. The multi-station, dual swing module according to claim 52, wherein:

54. The multi-station, dual swing module according to claim 53, wherein:

55. The multi-station, dual swing module according to claim 54, wherein:

56. The multi-station, dual swing module according to claim 55, wherein:

57. A multi-station, dual swing module according to claim 56, wherein the lid capping and cleaning mechanism is further configured to perform a lid cleaning operation in the mixing station after the stirring operation is performed by the stirring mechanism.

58. The multi-station, dual swing module according to claim 57, wherein:

The corresponding operations at the plurality of second class stations are sequentially performed in the following order: the ice adding operation; the liquid adding operation; fresh material is added into the mixing cup; the mixing cup is capped; the stirring operation; the handover operation; the cleaning operation of the mixing cup cover; the cup washing operation.

59. The multi-station, dual swing module according to claim 50, wherein said container drop mechanism comprises:

a third driving mechanism;

60. The multi-station, dual swing module according to claim 59, wherein each of the at least one cup dispenser is configured to hold a plurality of finished cups stacked one above the other and includes a holding portion for holding an upper edge of a lowermost finished cup of the plurality of finished cups, a through hole being provided at the holding portion that is accessible to an upper edge of the lowermost finished cup, the through hole allowing air flow blowing upon cup dispensing operation.

61. The multi-station, dual swing module according to claim 59, wherein:

the bearing plate is also configured to bear a cover falling device;

62. The multi-station, dual swing module according to claim 61, wherein said third drive mechanism comprises:

63. The multi-station, dual swing module according to claim 62, wherein:

64. The multi-station, dual swing module of claim 63, wherein the lid lifter, the first cup lifter, and the second cup lifter are configured such that:

65. The multi-station, dual swing module of claim 64, wherein the at least one carrier plate lift cylinder comprises a first carrier plate lift cylinder and a second carrier plate lift cylinder disposed in parallel, the first carrier plate lift cylinder comprising a first carrier plate lift cylinder body and a first vertically movable member movable relative to the first carrier plate lift cylinder body, the second carrier plate lift cylinder comprising a second carrier plate lift cylinder body and a second vertically movable member movable relative to the second carrier plate lift cylinder body,

the third driving mechanism further includes:

66. The multi-station, dual swing module of claim 65, wherein the first and second vertical movable members are coupled to the lateral sides via first and second vertical slides, respectively,

67. The multi-station, dual swing module according to claim 66, wherein:

the second horizontal movable piece is connected with the bearing plate through a horizontal sliding block,

68. The multi-station, dual swing module of claim 67, wherein the first and/or second carrier plate horizontal cylinders and/or first and second carrier plate lifting cylinders are rod cylinders and the first and/or second horizontal and/or first and second vertical movable members are cylinder rods.

69. The multi-station, dual swing module according to any of claims 1 and 47 to 51, wherein:

70. A multi-station, dual swing module according to claim 69, wherein the spout carrier plate is arranged such that the at least one filling spout is positioned above and in alignment with the mixing cup.

71. The multi-station, dual swing module according to claim 70, wherein the at least one charging nozzle comprises from 3 to 19 charging nozzles.

72. The multi-station, dual swing module according to claim 71, wherein said at least one filler nozzle comprises a first filling valve;

the liquid adding mechanism further comprises:

73. The multi-station, dual swing module according to claim 47, wherein:

74. The multi-station, dual swing module of claim 73, wherein the first swing arm swings 180 ° between the first swing arm position and the second swing arm position; in the first swing arm position and the second swing arm position, the first swing arm is horizontally oriented.

75. The multi-station, dual swing module of claim 74, wherein the first material charging mechanism is configured to couple with a slipway cylinder to be capable of being in an extended position and a retracted position as the slipway cylinder is extended and retracted to enable pouring of material from the first material cartridge into finished cups having different heights.

76. The multi-station, dual swing module of claim 75, wherein the first charging jaw is driven by a first charging cylinder.

77. The multi-station, dual swing module according to claim 33, wherein the interface mechanism comprises:

the first linear module comprises a first movable slide block;

78. The multi-station, dual swing module according to claim 77, wherein the interface mechanism further comprises an interface lift cylinder comprising an interface lift cylinder body coupled to the first movable slide and a second lift movable member movable relative to the interface lift cylinder body, the interface jaw assembly being coupled to the second lift movable member so as to be movable by the second lift movable member between the gripping height position and the interface height position.

79. The multi-station, dual swing module according to claim 78, wherein:

80. The multi-position dual swing module of claim 79, wherein the pitch cylinder rod of the pitch cylinder is configured to be rotatably connected to the second elevation movable member about a second rotation axis parallel to the first rotation axis.

81. The multi-station, dual swing module of claim 80, wherein the interface mechanism further comprises an intermediate mounting plate coupled to the second elevation moveable member, the interface jaw cylinder and the pitch cylinder being rotatably mounted on the intermediate mounting plate.

82. The multi-station, dual swing module according to claim 80, wherein:

83. The multi-station, dual swing module according to claim 82, wherein:

84. The multi-station, dual swing module of claim 83, wherein in the second horizontal position and/or the third horizontal position, the interface jaw assembly is in the reclined state.

85. The multi-station, dual swing module according to claim 79, wherein:

in the initial position, the hand-over jaw assembly is in the reclined state;

86. The multi-station, dual swing module of claim 83, wherein the mixing cup drive mechanism drives the mixing cup to rotate back and forth 1 to 3 times through a dithering angle before the mixing cup drive mechanism drives the mixing cup to rotate a first angle in a second direction.

87. The multi-station, dual-swivel module of claim 86 wherein the lift cylinder drives the finished cups to squat up and down 1 to 3 times in the corresponding cup holders on the first swivel member after the cross-over lift cylinder rod drives the cross-over jaw assembly and the finished cups from the cross-over height position back to the gripping height position.

88. The multi-station, dual swing module according to claim 48, wherein said milk cap adding mechanism comprises:

89. The multi-station, dual swing module according to claim 88, wherein the milk cap adding mechanism further comprises an ultrasonic level sensor disposed at the bottom for detecting the level of milk caps added to the finished cups.

90. The multi-station, dual swing module of claim 89, wherein the second filling valve cylinder is operated such that the second movable filling valve cylinder rod moves the second blocking portion to block the milk cap inlet when the liquid level reaches a predetermined threshold.

91. The multi-position dual swing module of claim 88, wherein the screw cap addition mechanism further comprises a screw cap leak receiving member configured to be positioned below the screw cap outlet when the screw cap mechanism is not in operation, and the screw cap leak receiving member comprises a screw cap leak receiving tray and a screw cap leak discharge tube in communication with the screw cap leak receiving tray.

92. The multi-station, dual swing module according to claim 91, wherein the capping mechanism further comprises a capping horizontal cylinder comprising a capping horizontal cylinder block and a second horizontally movable member.

93. The multi-station, dual swivel module of claim 92 wherein the second horizontally movable member is coupled to the milk lid drain tray to enable movement of the milk lid drain tray between a non-receiving position and a receiving position, wherein the second filling valve is positioned with the milk lid outlet above the finished cup on the first swivel member at the milk lid adding station, and wherein:

94. The multi-station, dual swing module of claim 92, wherein the second horizontally movable member is coupled to the second filling valve to be capable of driving the second filling valve between a non-milk-cap-adding position and a milk-cap-adding position, wherein:

95. The multi-station, dual turn module of claim 49, wherein the labeling mechanism comprises:

a label printer arranged to spit a label onto the finished cup;

96. The multi-station, dual turn module of claim 95 wherein the drive roll is contoured to at least partially complement the contoured shape of the finished cup.

97. The multi-station, dual swing module according to claim 96, wherein the labeler mechanism further comprises:

the labeling cylinder comprises a movable labeling cylinder rod;

wherein:

98. The multi-station, dual swing module according to claim 97, wherein the first side link assembly includes a first drive rod rotatably disposed about a third fixed axis, a first elongated drive aperture disposed in the first drive rod,

wherein:

99. The multi-station, dual swing module according to claim 98, wherein:

100. The multi-station, dual-turn module of claim 99 wherein the labeling roller mechanism further comprises a first fixed plate, the first fixed shaft, the second fixed shaft, the third fixed shaft, and the fourth fixed shaft being disposed on the first fixed plate.

101. The multi-station, dual swing module according to claim 99, wherein:

102. The multi-station, dual-swivel module of claim 101 wherein a second follower roller and a third follower roller are provided on a side of the drive plate facing the finished cup, the second and third follower rollers being capable of abutting the finished cup when the labeling cylinder is in the final extended position.

103. The multi-station, dual swing module of claim 102, wherein the profiles of the first follower roller, the second follower roller, and the third follower roller are at least partially complementary to the profile of the finished cup.

104. The multi-station, dual-turn module of claim 102 wherein the drive roller is capable of rotating the finished cups and the finished cups are capable of rotating the first follower roller, the second follower roller, and the third follower roller.

105. The multi-station, dual swing module according to any of claims 95 to 104, wherein the labelling roller mechanism further comprises:

the third driving wheel is connected with a motor shaft of the labeling motor;

the third synchronous belt is driven by the third driving wheel to rotate;

106. The multi-station, dual swing module according to claim 52, wherein:

107. The multi-station, dual swing module of claim 106, wherein the second swing arm swings 180 ° between the third swing arm position and the fourth swing arm position; and wherein the second swing arm is horizontally oriented in the third swing arm position and the fourth swing arm position.

108. The multi-station, dual swing module of claim 107, wherein the second charging jaw is driven by a second charging cylinder.

109. The multi-station, dual swing module according to claim 53, wherein:

the stirring mechanism comprises:

a stirring motor having a stirring motor shaft;

110. The multi-station, dual swing module according to claim 109, wherein:

111. A multi-station, dual swing module according to claim 110, wherein the top plate is provided with a stop and/or buffer for limiting and/or buffering the agitator motor as it moves from the first rest position to the first operating position.

112. The multi-station, dual swing module according to claim 55, wherein the cup washing mechanism comprises:

113. The multi-station, dual swing module according to claim 112, wherein:

114. A multi-station dual swing module according to claim 113, wherein a raised extended splash guard is provided at a top edge portion of the bowl tray for blocking excess material thrown off by the mixing bowl when rotated in the first direction.

115. The multi-station, dual swing module of claim 112, wherein the cup-washing mechanism comprises a fixedly disposed cup-washing cylinder mount on which the cup-washing cylinder is mounted.

116. The multi-station, dual swing module according to claim 112, wherein the bowl washer spray is a high pressure rotary spray.

117. The multi-station, dual swing module of claim 112, wherein the cupper tray is coupled to the cupper cylinder moveable member via an intermediate mount.

118. The multi-station, dual swing module according to claim 117, wherein said intermediate mount comprises:

119. The multi-station, dual swing module according to claim 56, wherein:

120. The multi-station, dual swivel module of claim 119 wherein the mixing bowl cover is coupled to the first lifting movable member via a mixing bowl cover mounting plate, the mixing bowl cover being coupled to the mixing bowl cover mounting plate.

121. The dual swing module of claim 120, wherein the lid mounting plate has a locating hole therein and the lid has a locating pin thereon that mates with the locating hole.

122. The multi-station, dual swivel module of claim 119 wherein the compound cup capping and cleaning mechanism further comprises:

cleaning a tray by using a mixing cup cover;

the mixing cup cover cleaning water inlet pipe is arranged to guide cleaning water from a cleaning water source to the mixing cup cover cleaning spray head;

123. The multi-station, dual swivel module of claim 122 wherein the mixing bowl cover cleaning spray is a high pressure swivel spray.

124. The multi-station, dual swing module according to claim 122, wherein the purge horizontal cylinder is a rodless cylinder; and or the capping lifting cylinder is a rod cylinder.

125. The multi-station, dual swing module according to claim 47, wherein:

126. The multi-station, dual swing module according to claim 125, further comprising a capping mechanism configured such that the ending station performs a capping operation that adds a milk cap to the finished cup prior to the capping operation.

127. The multi-station, dual swing module of claim 126, wherein the cap drop capping mechanism is further configured to perform a capping operation to compact the finished cap after the cap drop operation at the ending station.

128. The multi-station, dual swing module according to claim 127, wherein said plurality of stations of the first type are arranged in the following order: the container falling station; the material adding station; the first handover station; the ending station; and/or

129. The multi-station, dual swing module according to any of claims 47 and 125-128, wherein:

130. The multi-station, dual turn module of claim 129 further comprising a stirring mechanism configured to perform a stirring operation in the mixing station that stirs material in the mixing cup after the mixing cup fresh-adding operation.

131. The multi-station, dual swing module according to claim 130, further performing an ice charging operation in the charging station for charging ice cubes into the mixing cup.

132. The multi-station, dual swing module according to claim 131, wherein:

133. The multi-station, dual swing module according to claim 132, wherein:

134. The multi-station, dual swing module according to any of claims 125 to 128, wherein the container drop mechanism comprises:

a cup falling device;

135. The multi-station, dual swivel module of claim 134 wherein in the cup-holder operating position, a lowermost finished cup on the cup-holder partially protrudes into a corresponding cup holder on the first swivel member prior to operation of the cup-holder to drop a finished cup.

136. The multi-station, dual swing module according to any of claims 125 to 128, wherein the drop cap capping mechanism comprises:

a cap falling device;

137. The multi-station, dual swing module of claim 136, wherein the drop cap capping mechanism further comprises:

138. The multi-station, dual swing module according to claim 136, wherein the drop cap capping mechanism further comprises a drop cap detection sensor for detecting whether a drop cap is successful after the drop cap operation is performed.

139. An intelligent beverage robot, characterized in that it comprises a multi-station double-swivel module according to any of the preceding claims.