A bionic octopus-style milk tea processing device

Abstract

The present invention provides a bionic octopus type milk tea processing device, which belongs to the technical field of milk tea machines. The device includes a bionic octopus type robot and a control module. The bionic octopus type robot is sequentially provided with a cup holder mechanism, a milk tea bucket mechanism, a feeding mechanism and a sealing mechanism. The control module is respectively connected with the cup holder mechanism, the milk tea bucket mechanism, the feeding mechanism, the sealing mechanism and the bionic octopus type robot to control the operation of the cup holder mechanism, the milk tea bucket mechanism, the feeding mechanism, the sealing mechanism and the bionic octopus type robot. The bionic octopus type robot includes a robot body and a plurality of bionic octopus tentacles. The bionic octopus tentacles can be respectively moved to the cup holder mechanism, the milk tea bucket mechanism, the feeding mechanism and the sealing mechanism in sequence under the control of the control module to complete the corresponding operation. The present invention is accurate and uniform in adding materials when making milk tea, the product has good quality consistency, and the batch production time is greatly shortened, the efficiency is high, the labor cost is saved, it is easy to modify and move, and it is suitable for promotion.

Description

Technical Field

[0001] The invention belongs to the technical field of milk tea machines, and in particular relates to a bionic octopus-type milk tea processing device. Background Art

[0002] With the continuous improvement of living standards, people have higher requirements for diet. Today, milk tea has become a very popular drink among the public. At the same time, store purchases and online purchases bring huge orders. The speed of making milk tea will affect the customer's waiting time, the customer's purchasing experience, and the amount of store profit.

[0003] At present, the traditional manual production of milk tea generally requires 3 to 5 people, but in fact, operators only account for more than 60% of the total number of employees. When encountering peak periods, operators need to be added, but it is still common to see many people spending time queuing up to wait for milk tea to be made. It not only affects the sales of the store, but also affects the customer's purchasing experience. In recent years, single-arm robots have been invented to make milk tea, such as a robot milk tea machine disclosed by the State Intellectual Property Office of China [Application No. 201911361739.4; Application Publication No. CN110974006A]. The patent scheme is as follows: A robot milk tea machine, characterized in that it includes: a frame, a mechanical arm mechanism, a cup drop mechanism, a milk tea bucket mechanism, a pearl adding mechanism, an ice making mechanism, a stirring mechanism, a sealing mechanism, an air compressor and a control box; the cup drop mechanism is installed on the panel of the frame for providing milk tea cups; the milk tea bucket mechanism is installed on the panel on one side of the cup drop mechanism for providing milk tea; the pearl adding mechanism is installed on one side of the milk tea bucket mechanism. The panel is used to provide pearls; the ice-making mechanism is installed on the panel on one side of the pearl adding mechanism to provide ice cubes; the stirring mechanism is installed on the panel on one side of the ice-making mechanism to stir the milk tea; the sealing mechanism is installed on the panel on one side of the stirring mechanism to seal the milk tea cup; the mechanical arm mechanism is installed on the panel on one side of the sealing mechanism to transport the milk tea cup; the control box is installed on the bottom plate of the rack below the mechanical arm mechanism to control the operation of the equipment; the air compressor is installed on the bottom plate on one side of the control box, and the air compressor is connected to the mechanical arm mechanism and the cup drop mechanism respectively to provide an air source. Although the above scheme realizes the use of robots to replace manual labor and reduce labor costs, it can only make a single cup. Usually, it takes about 2 to 3 minutes to make a cup of milk tea, which is as slow and inefficient as manual milk tea. Based on these situations, how to increase the speed of making milk tea is a problem we are ready to solve. Summary of the invention

[0004] In view of this, an object of the present invention is to provide a bionic octopus type milk tea processing device to improve the efficiency of milk tea production and reduce production costs.

[0005] The objective of the present invention can be achieved through the following technical solutions: a bionic octopus milk tea processing device, characterized in that it comprises a bionic octopus robot and a control module, wherein the bionic octopus robot is sequentially provided with a cup holder mechanism, a milk tea bucket mechanism, a feeding mechanism and a sealing mechanism around the cup holder mechanism, the control module is respectively connected with the cup holder mechanism, the milk tea bucket mechanism, the feeding mechanism, the sealing mechanism and the bionic octopus robot to control the operation of the cup holder mechanism, the milk tea bucket mechanism, the feeding mechanism, the sealing mechanism and the bionic octopus robot, the bionic octopus robot comprises a robot body and a plurality of bionic octopus tentacles that can intermittently rotate around the robot body, and the bionic octopus tentacles can respectively and sequentially run to the cup holder mechanism, the milk tea bucket mechanism, the feeding mechanism and the sealing mechanism under the control of the control module to complete corresponding operations.

[0006] In the above-mentioned bionic octopus milk tea processing device, the robot body includes a bracket, a fixed seat, a rotating mechanism, a rotating table assembly and a bionic octopus shell, the fixed seat is arranged on the bracket, the rotating mechanism is fixedly connected to the fixed seat, the rotating table assembly cover is arranged on the outer periphery of the fixed seat and is fixedly connected to the rotating part of the rotating mechanism, and the bionic octopus shell is arranged above the rotating table assembly. The rotating mechanism is used to make the turntable rotate intermittently, so that multiple bionic octopus tentacles arranged on the turntable can work simultaneously, greatly improving the batch production of milk tea.

[0007] In the above-mentioned bionic octopus milk tea processing device, the fixed seat is disc-shaped or ring-shaped, and the rotating table assembly includes a rotary cover and an annular cylinder wall. The upper end of the annular cylinder wall is fixedly connected to the outer edge of the bottom surface of the rotary cover, and the lower end of the annular cylinder wall is rotatably connected to the outer peripheral surface of the fixed seat through a bearing assembly.

[0008] In the above-mentioned bionic octopus milk tea processing device, the rotating mechanism includes a base, a turntable, a ratchet and pawl mechanism, a mounting frame and a first cylinder, the first cylinder is fixed to a fixed seat through a mounting frame, the ratchet and pawl mechanism is installed on the base, and the first cylinder is connected to the ratchet of the ratchet and pawl mechanism through a rocker; the ratchet of the ratchet and pawl mechanism is fixed to the turntable by bolts, and a plurality of support seats are provided on the base around the ratchet and pawl mechanism, and a roller is provided on the upper part of the support seat, the roller is rollingly connected to the bottom surface of the turntable, and the upper end surface of the turntable is fixedly connected to the bottom surface of the rotary cover.

[0009] The above-mentioned bionic octopus milk tea processing device also includes a check mechanism, which includes a check frame, a second cylinder, a check hook, and a hook seat. The check frame and the hook seat are both fixedly connected to the base, the second cylinder is connected to the upper part of the check frame, the second cylinder is transmission-connected to the tail end of the check hook, the middle part of the check hook is rotationally connected to the hook seat, and a check disk is also fixedly connected to the ratchet, and a plurality of check grooves are provided on the outer periphery of the check disk. The head end of the check hook can be hooked into the check groove or escaped from the check groove under the drive of the second cylinder.

[0010] In the above-mentioned bionic octopus-style milk tea processing device, the rotating mechanism includes a base, a stepping motor, a rotating shaft and a turntable. The stepping motor is installed on the base, the rotating shaft is transmission-connected to the output shaft of the stepping motor, and the turntable is installed at the upper end of the rotating shaft.

[0011] In the above-mentioned bionic octopus-style milk tea processing device, the bionic octopus tentacle includes a mechanical arm and a clamping claw arranged at the front end of the mechanical arm, and the mechanical arm and the clamping claw are respectively connected to the control module.

[0012] In the above-mentioned bionic octopus-style milk tea processing device, the robotic arm is a three-axis robotic arm, a four-axis robotic arm, a five-axis robotic arm or a six-axis robotic arm.

[0013] In the above-mentioned bionic octopus-style milk tea processing device, the clamp is a motor-driven clamp or a pneumatic clamp.

[0014] In the above-mentioned bionic octopus type milk tea processing device, the support comprises four legs, and a universal wheel is installed at the bottom of each leg. By arranging the universal wheel, the device can be moved freely and can be removed when it is not needed to work, so that it is more flexible to use.

[0015] Compared with the existing technology, the bionic octopus-type milk tea processing device has the following advantages: 1. It can realize batch and continuous automatic production, greatly improving the efficiency of milk tea production; 2. The control module can be used to achieve precise control, thereby ensuring the uniformity of milk tea production and ensuring the consistency of milk tea taste; 3. It realizes the requirements of automated milk tea production, saves a lot of labor costs and time costs, and has practical significance and good application prospects. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 It is a structural schematic diagram of a bionic octopus type milk tea processing device of an embodiment.

[0017] Figure 2 It is a schematic diagram of the structure of the robot body of the embodiment after removing the bionic octopus shell.

[0018] Figure 3It is a partial structural cross-sectional view of the robot body of the embodiment.

[0019] Figure 4 Schematic diagram of the structure of the rotating mechanism of the embodiment.

[0020] Figure 5 Schematic diagram of the structure of the robot arm of the embodiment.

[0021] Figure 6 Schematic diagram of the structure of the clamping jaws of the embodiment.

[0022] In the figure, 1. Bionic octopus robot; 2. Cup holder mechanism; 3. Milk tea bucket mechanism; 4. Feeding mechanism; 5. Sealing mechanism; 6. Robot body; 7. Bionic octopus tentacles; 8. Milk tea cup; 9. Robot arm; 10. Gripper; 11. Bracket; 12. Fixed seat; 13. Rotating mechanism; 14. Turntable assembly; 15. Bionic octopus shell; 16. Universal wheel; 17. Ball groove; 18. Ball; 19. Bearing; 20. Base; 21. Turntable; 22. Ratchet and pawl mechanism; 23. Mounting frame; 24. First cylinder; 25. Rocker; 26. Support seat; 27. Roller; 28. Check mechanism; 29. ​​Check frame; 30. Second cylinder; 31. Check hook; 32. Hook seat; 33. Check groove; 34. Screw cover; 35. Annular cylinder wall; 36. First arm; 37. Second arm; 38. Third arm; 39. First motor; 40. Second motor; 41. Articulated frame; 42. Fastening screw; 43. Clamp seat; 44. First gear; 45. Second gear; 46. First claw; 47. Second claw; 48. Third motor; 49. Anti-slip strip. DETAILED DESCRIPTION

[0023] Embodiments of the present invention are described in detail below, examples of which are shown in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements having the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary and are intended to be used to explain the present invention, but are not to be construed as limiting the present invention.

[0024] In the description of the present invention, it should be understood that the terms "length", "width", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", etc., indicating the orientation or position relationship are based on the orientation or position relationship shown in the drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the present invention.

[0025] In addition, the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined as "first" and "second" may explicitly or implicitly include one or more of the features. In the description of the present invention, the meaning of "plurality" is two or more, unless otherwise clearly and specifically defined.

[0026] In the present invention, unless otherwise clearly specified and limited, the terms "installed", "connected", "connected", "fixed" and the like should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium, it can be the internal connection of two elements or the interaction relationship between two elements. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0027] Embodiment 1:

[0028] like Figure 1-6 As shown, the present invention provides a bionic octopus type milk tea processing device, which includes a bionic octopus type robot 1 and a control module. The bionic octopus type robot 1 is sequentially provided with a cup holder mechanism 2, a milk tea bucket mechanism 3, a feeding mechanism 4 and a sealing mechanism 5. The control module is respectively connected with the cup holder mechanism 2, the milk tea bucket mechanism 3, the feeding mechanism 4, the sealing mechanism 5 and the bionic octopus type robot 1 to control the operation of the cup holder mechanism 2, the milk tea bucket mechanism 3, the feeding mechanism 4, the sealing mechanism 5 and the bionic octopus type robot 1. The bionic octopus type robot 1 includes a robot body 6 and a plurality of bionic octopus tentacles 7 that can intermittently rotate around the robot body 6. The bionic octopus tentacles 7 can transport the milk tea cup 8 to the cup holder mechanism 2, the milk tea bucket mechanism 3, the feeding mechanism 4 and the sealing mechanism 5 in sequence under the control of the control module to complete the corresponding operation. The bionic octopus tentacle 7 includes a mechanical arm 9 and a clamping claw 10 arranged at the front end of the mechanical arm 9, and the mechanical arm 9 and the clamping claw 10 are respectively connected to the control module.

[0029] Specifically, the robot body 6 includes a bracket 11, a fixed seat 12, a rotating mechanism 13, a rotating platform assembly 14 and a bionic octopus shell 15, and the bionic octopus shell 15 is arranged above the rotating platform assembly 14. The bracket 11 is composed of four legs, and a universal wheel 16 is installed at the bottom of each leg. The fixed seat 12 is annular and arranged at the upper end of the bracket 11. A ball groove 17 is opened on its outer peripheral surface, and a plurality of balls 18 roll in the ball groove 17. A bearing 19 is sleeved on the outer peripheral of the fixed seat 12.

[0030] The rotating mechanism 13 includes a base 20, a turntable 21, a ratchet and pawl mechanism 22, a mounting frame 23 and a first cylinder 24. The base 20 is fixed to the fixed base 12 by bolts, the first cylinder 24 is fixed to the fixed base 12 by the mounting frame 23, the ratchet and pawl mechanism 22 is installed in the middle of the base 20, and the first cylinder 24 is connected to the ratchet of the ratchet and pawl mechanism 22 by a rocker 25; the ratchet of the ratchet and pawl mechanism 22 is fixedly connected to the turntable 21 by bolts, and a plurality of support seats 26 are provided on the base 20 around the ratchet and pawl mechanism 22, and a roller 27 is provided on the upper part of each support seat 26, and the roller 27 is connected to the bottom surface of the turntable 21 in a rolling manner, and the upper end surface of the turntable 21 is fixedly connected to the bottom surface of the rotary cover 34. A check mechanism 28 is also provided on the base 20, and the check mechanism 28 includes a check frame 29, a second cylinder 30, a check hook 31, and a hook seat 32. The non-return frame 29 and the hook seat 32 are both fixedly connected to the base 20, the second cylinder 30 is connected to the upper part of the non-return frame 29, the second cylinder 30 is transmission-connected to the tail end of the non-return hook 31, the middle part of the non-return hook 31 is rotationally connected to the hook seat 32, and a non-return disk is also fixedly connected to the ratchet, and a plurality of non-return grooves 33 are provided on the outer periphery of the non-return disk. The head end of the non-return hook 31 can be hooked into the non-return groove 33 or escape from the non-return groove 33 under the drive of the second cylinder 30.

[0031] The rotating table assembly 14 includes a rotating cover 34 and an annular cylindrical wall 35. The upper end of the annular cylindrical wall 35 is fixedly connected to the outer edge of the bottom surface of the rotating cover 34. The annular cylindrical wall 35 is covered on the outer periphery of the fixed seat 12. The rotating cover 34 is fixedly connected to the upper end surface of the turntable 21 of the rotating mechanism 13. The lower end of the annular cylindrical wall 35 is fixedly connected to the bearing 19 by bolts, so that the annular cylindrical wall 35 can rotate relative to the fixed seat 12.

[0032] The mechanical arm 9 can be a three-axis mechanical arm 9, a four-axis mechanical arm 9, a five-axis mechanical arm 9 or a six-axis mechanical arm 9, and can be selected and set according to actual needs. In this embodiment, a three-axis mechanical arm 9 is adopted, which includes a first arm 36, a second arm 37, a third arm 38, a first motor 39 and a second motor 40. The first end of the first arm 36 is hinged on the hinge frame 41 outside the annular cylinder wall 35, and the rotation is controlled by the first motor 39; the first end of the second arm 37 is hinged to the second end of the first arm 36, and the second arm 37 is controlled to rotate relative to the first arm 36 by the second motor 40, the first end of the third arm 38 is hinged to the second end of the second arm 37 by a fastening screw 42, and the rotation angle of the third arm 38 and the second arm 37 is achieved by controlling the fastening screw 42, and the second end of the third arm 38 is fixedly connected to the clamp 10.

[0033] Specifically, the clamping jaw 10 in this embodiment is a motor-driven clamping jaw 10, which includes a clamping jaw seat 43, a first gear 44, a second gear 45, a first claw 46, a second claw 47 and a third motor 48. The third motor 48 is installed on the outside of the clamping jaw seat 43 and its output shaft passes through the clamping jaw seat 43 and extends into the clamping jaw seat 43. The first gear 44 and the second gear 45 are arranged in the clamping jaw seat 43 and sleeved on the output shaft of the electric three-motor. The middle part of the first claw 46 is hinged on the clamping jaw seat 43 and its rear end is meshed with the first gear 44, the middle part of the second claw 47 is hinged on the clamping jaw seat 43 and its rear end is meshed with the second gear 45, the front end of the first claw 46 and the front end of the second claw 47 are arranged relative to each other to form a clamping mouth, and the inner side of the front end of the first claw 46 and the inner side of the front end of the second claw 47 are both provided with anti-slip strips 49 to improve the effect of clamping the milk tea cup 8 and prevent the milk tea cup 8 from slipping. In other embodiments of the present invention, the clamp 10 may also adopt a pneumatic clamp 10 to clamp the milk tea cup 8 .

[0034] Embodiment 2:

[0035] The overall structure of this embodiment is similar to that of the first embodiment, and the functions they realize are the same. The difference between the two is that in this embodiment, the rotating mechanism 13 is realized by motor drive. Specifically, the rotating mechanism 13 includes a base 20, a stepper motor, a rotating shaft and a turntable 21. The stepper motor is mounted on the base 20, the rotating shaft is connected to the output shaft of the stepper motor by transmission, and the turntable 21 is mounted on the upper end of the rotating shaft. The transmission connection here can be a coaxial connection, or it can be realized by a helical gear set meshing connection transmission, or by a transmission structure such as a synchronous belt. The stepper motor is used to drive the rotating shaft to rotate, thereby eliminating the check mechanism 28, making the mechanism simpler and the transmission efficiency better.

[0036] The specific embodiments described herein are merely examples of the spirit of the present invention. Those skilled in the art may make various modifications or additions to the specific embodiments described or replace them in similar ways, but they will not deviate from the spirit of the present invention or exceed the scope defined by the appended claims.

Claims

1. A bionic octopus-style milk tea processing device, characterized in that: The invention comprises a bionic octopus robot (1) and a control module. The bionic octopus robot (1) is provided with a cup holder mechanism (2), a milk tea bucket mechanism (3), a feeding mechanism (4) and a sealing mechanism (5) in sequence around the cup holder mechanism (2), the milk tea bucket mechanism (3), the feeding mechanism (4), the sealing mechanism (5) and the bionic octopus robot (1) respectively to control the operation of the cup holder mechanism (2), the milk tea bucket mechanism (3), the feeding mechanism (4), the sealing mechanism (5) and the bionic octopus robot (1). The bionic octopus robot (1) comprises a robot body (6) and a plurality of bionic octopus mechanisms that can intermittently rotate around the robot body (6). A bionic octopus tentacle (7) is provided. The bionic octopus tentacle (7) can be controlled by a control module and can be moved to a cup holder mechanism (2), a milk tea bucket mechanism (3), a feeding mechanism (4) and a sealing mechanism (5) in sequence to complete corresponding operations. The bionic octopus tentacle (7) comprises a mechanical arm (9) and a clamping claw (10) arranged at the front end of the mechanical arm (9). The mechanical arm (9) and the clamping claw (10) are respectively connected to the control module. The mechanical arm (9) is a three-axis mechanical arm (9), a four-axis mechanical arm (9), a five-axis mechanical arm (9) or a six-axis mechanical arm (9). The clamping claw (10) is a motor-driven clamping claw (10) or a pneumatic clamping claw (10).

2. The bionic octopus type milk tea processing device according to claim 1, characterized in that: The robot body (6) comprises a bracket (11), a fixed seat (12), a rotating mechanism (13), a rotating platform assembly (14) and a bionic octopus shell (15); the fixed seat (12) is arranged on the bracket (11); the rotating mechanism (13) is fixedly connected to the fixed seat (12); the rotating platform assembly (14) is covered on the outer periphery of the fixed seat (12) and is fixedly connected to the rotating part of the rotating mechanism (13); the bionic octopus shell (15) is arranged above the rotating platform assembly (14); and a plurality of bionic octopus tentacles (7) are installed on the outer periphery of the rotating platform assembly (14) and can rotate with the rotating platform assembly (14).

3. The bionic octopus type milk tea processing device according to claim 2, characterized in that: The fixed seat (12) is in the shape of a disk or an annular ring. The rotating platform assembly (14) comprises a rotating cover (34) and an annular cylindrical wall (35). The upper end of the annular cylindrical wall (35) is fixedly connected to the outer edge of the bottom surface of the rotating cover (34). The lower end of the annular cylindrical wall (35) is rotatably connected to the outer peripheral surface of the fixed seat (12) via a bearing (19) assembly.

4. The bionic octopus type milk tea processing device according to claim 3, characterized in that: The rotating mechanism (13) comprises a base (20), a rotating disk (21), a ratchet and pawl mechanism (22), a mounting frame (23) and a first cylinder (24); the first cylinder (24) is fixed on the fixed base (12) through the mounting frame (23); the ratchet and pawl mechanism (22) is mounted on the base (20); the first cylinder (24) is connected to the ratchet of the ratchet and pawl mechanism (22) through a rocker (25); the ratchet of the ratchet and pawl mechanism (22) is fixedly connected to the rotating disk (21) through bolts; a plurality of supporting seats (26) are provided on the base (20) around the ratchet and pawl mechanism (22); a roller (27) is provided on the upper part of the supporting seat (26); the roller (27) is connected to the bottom surface of the rotating disk (21) in a rolling manner; the upper end surface of the rotating disk (21) is fixedly connected to the bottom surface of the rotating cover (34).

5. The bionic octopus type milk tea processing device according to claim 4, characterized in that: The rotating mechanism (13) further comprises a non-return mechanism (28), the non-return mechanism (28) comprising a non-return frame (29), a second cylinder (30), a non-return hook (31), and a hook seat (32), the non-return frame (29) and the hook seat (32) are both fixedly connected to the base (20), the second cylinder (30) is connected to the upper part of the non-return frame (29), the second cylinder (30) is drivingly connected to the tail end of the non-return hook (31), the middle part of the non-return hook (31) is rotatably connected to the hook seat (32), the ratchet is also fixedly connected to a non-return disk, the outer periphery of the non-return disk is provided with a plurality of non-return grooves (33), and the head end of the non-return hook (31) can be hooked into the non-return groove (33) or escaped from the non-return groove (33) under the drive of the second cylinder (30).

6. The bionic octopus type milk tea processing device according to claim 3, characterized in that: The rotating mechanism (13) comprises a base (20), a stepping motor, a rotating shaft and a rotating disk (21); the stepping motor is mounted on the base (20); the rotating shaft is drivingly connected to an output shaft of the stepping motor; and the rotating disk (21) is mounted on the upper end of the rotating shaft.

7. The bionic octopus type milk tea processing device according to any one of claims 2 to 6, characterized in that: The support (11) comprises four supporting legs, and a universal wheel (16) is installed at the bottom of each supporting leg.

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