Coffee making device with double-arm robot

Abstract

The invention discloses a double-arm robot coffee making device, and relates to the technical field of automatic coffee makers, the double-arm robot coffee making device comprises a workbench, a first mechanical arm and a second mechanical arm, the first mechanical arm and the second mechanical arm are inversely installed on a top plate, the workbench is further provided with a coffee machine, and the first mechanical arm and the second mechanical arm are arranged on the top plate. An adjusting mechanism is arranged at the end, close to the first clamping jaw, of the first mechanical arm, an anti-disengaging mechanism is connected to the bottom of the adjusting mechanism, and the first mechanical arm and the second mechanical arm are inversely installed on the top plate, so that on one hand, the occupied space of an operation area can be reduced, and on the other hand, the posture and state closer to manual operation can be achieved; and compared with single-arm making, the coffee making machine has the advantages that the working efficiency of coffee making is improved, and the waiting time of customers is shortened.

Description

Technical Field

[0001] The invention patent relates to the technical field of automatic coffee machines, and in particular to a dual-arm robot coffee making device. Background Art

[0002] In today's fast-paced social life, coffee, as a favorite drink among people, has a growing consumer demand. Cafes, restaurants and other places have put forward higher requirements on the efficiency and quality of coffee making. Coffee robots are increasingly used in real-life scenarios. Existing coffee robots simulate the process, taste and presentation of manual coffee making, such as grinding beans, extraction, and latte art.

[0003] Existing coffee robots are usually made with a single arm or a double arm, which has the following defects: the single arm production has low work efficiency and cannot meet various process requirements, such as latte art; the double arm production cannot simulate the form of manual operation well, and the installation requires space in the operating area, resulting in a smaller operating space.

[0004] Invention patent content

[0005] The purpose of this patent is to provide a dual-arm robot coffee making device, which can effectively solve the problems of low working efficiency of existing single-arm coffee robots and dual-arm formal robots occupying operating space and unable to simulate manual operation well.

[0006] The present invention provides a dual-arm robot coffee making device, comprising a workbench, a first robotic arm and a second robotic arm, a bracket fixedly mounted on the upper surface of the workbench, a top plate fixedly connected to the top of the bracket, the first robotic arm and the second robotic arm inverted on the top plate, a coffee machine is also provided on the workbench, a first clamp and a second clamp are respectively mounted on the first robotic arm and the second robotic arm, an arc-shaped clamp block for clamping a coffee cup is mounted on the first clamp, an adjustment mechanism is provided at one end of the first robotic arm close to the first clamp, an anti-slip mechanism is connected to the bottom of the adjustment mechanism, and the anti-slip mechanism includes two anti-slip blocks for clamping the bottom of the coffee cup.

[0007] Preferably, the adjustment mechanism comprises a mounting shell, the mounting shell is fixedly connected to the first mechanical arm, a rotating shaft is rotatably mounted on the mounting shell, and a worm gear is fixedly sleeved in the middle of the rotating shaft.

[0008] Preferably, a servo motor is arranged inside the mounting shell and on one side of the rotating shaft, and a worm is fixedly connected to the output end of the servo motor, and the worm is meshingly connected to the worm wheel.

[0009] Preferably, gears are fixedly sleeved at both ends of the rotating shaft, a toothed plate is meshingly connected to one side of the gear, a guide groove is formed on the toothed plate, and a guide block is slidably connected in the guide groove.

[0010] Preferably, the guide block is fixedly connected to the first mechanical arm, and the four corners of the guide block are rotatably connected to limit wheels, and the limit wheels are rollingly connected to both sides of the toothed plate.

[0011] Preferably, a connecting plate is fixedly connected to the bottom of the tooth plate, a sliding rod is fixedly connected to the side of the first mechanical arm away from the mounting shell, and the sliding rod slides through the connecting plate.

[0012] Preferably, the anti-slip mechanism further comprises a stepper motor and a support plate, the stepper motor is fixedly mounted on the connecting plate and the output end passes through the connecting plate and is fixedly connected to one end of the support plate, and a fixing block is fixedly connected to the support plate.

[0013] Preferably, a guide rod is provided through the fixing block, a spring is sleeved on the guide rod, and one end of the spring and the guide rod is fixedly connected to the outer surface of the anti-slip clamping block.

[0014] Preferably, a limiting block is fixedly connected to the bottom of the anti-slip clamp block, and a roller is rotatably connected to the limiting block.

[0015] Preferably, a limiting groove is provided on the support plate, the limiting block is slidably connected in the limiting groove, and the roller is rollingly connected to the lower surface of the support plate.

[0016] The dual-arm robot coffee making device provided by the embodiment of the present invention has the following advantages compared with the prior art:

[0017] 1. The present invention installs the first robotic arm and the second robotic arm upside down on the top plate, which can reduce the space occupied by the operating area on the one hand, and can be closer to the posture and state of human operation on the other hand, and better approximate the effect of manual beverage making. Compared with single-arm production, it also improves the work efficiency of coffee making and shortens the waiting time of customers.

[0018] 2. The patent of the present invention drives the anti-slip mechanism to move upward through the adjustment mechanism, so that the anti-slip clamping block contacts the bottom of the coffee cup, and then opens to both sides under the force, and clamps the coffee cup under the reaction force of the spring, so that the upper and lower ends of the coffee cup are clamped by the arc clamping block and the anti-slip clamping block respectively, so that the coffee cup maintains good stability during subsequent shaking or moving, avoiding accidental falling. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] In order to more clearly illustrate the technical solution of the implementation method of the patent of the present invention, the following is a brief introduction to the drawings required for use in the implementation method. It should be understood that the following drawings only show certain embodiments of the patent of the present invention and should not be regarded as limiting the scope. For ordinary technicians in this field, other relevant drawings can be obtained based on these drawings without paying creative work.

[0020] Figure 1 It is a schematic diagram of the overall first-view stereoscopic structure of an embodiment of the present invention;

[0021] Figure 2 It is a schematic diagram of the overall second-viewing perspective stereoscopic structure of an embodiment of the present invention;

[0022] Figure 3 It is a schematic diagram of the three-dimensional structure of the anti-slip mechanism of the embodiment of the present invention;

[0023] Figure 4 It is a partial three-dimensional structural diagram of the adjusting mechanism of the embodiment of the present invention;

[0024] Figure 5 For the embodiment of the present invention Figure 3 A magnified view of the structure at center;

[0025] Figure 6 It is a schematic diagram of the three-dimensional structure of the guide block in the embodiment of the present invention;

[0026] Figure 7 It is a partial cross-sectional three-dimensional structural schematic diagram of the anti-slip mechanism of the embodiment of the present invention;

[0027] Figure 8 It is a schematic diagram of the three-dimensional structure of the anti-slip clamp block of the embodiment of the present invention.

[0028] Reference numerals:

[0029] 100, workbench; 110, top plate; 120, bracket; 200, adjustment mechanism; 210, mounting shell; 220, rotating shaft; 230, worm gear; 240, gear; 250, servo motor; 260, worm; 270, tooth plate; 271, guide groove; 280, guide block; 281, limit wheel; 290, connecting plate; 291, slide bar; 300, first mechanical arm; 310, first clamping jaw; 320, arc clamping block; 400, second mechanical arm; 410, second clamping jaw; 500, coffee machine; 600, anti-slip mechanism; 610, anti-slip clamping block; 620, spring; 630, guide rod; 640, fixing block; 650, support plate; 651, limit groove; 660, stepping motor; 670, limit block; 680, roller. DETAILED DESCRIPTION

[0030] The following is a detailed description of some embodiments of the present invention in conjunction with the accompanying drawings. In the absence of conflict, the following embodiments and features in the embodiments can be combined with each other.

[0031] Please refer to Figure 1-Figure 8 The embodiment of the patent of the present invention provides a dual-arm robot coffee making device, including a workbench 100, a first robotic arm 300 and a second robotic arm 400. A bracket 120 is fixedly installed on the upper surface of the workbench 100, and a top plate 110 is fixedly connected to the top of the bracket 120. The first robotic arm 300 and the second robotic arm 400 are inverted on the top plate 110. A coffee machine 500 is also arranged on the workbench 100. The first robotic arm 300 and the second robotic arm 400 are respectively installed with a first clamping jaw 310 and a second clamping jaw 410. The first clamping jaw 310 is installed with an arc-shaped clamping block 320 for clamping a coffee cup. An adjustment mechanism 200 is arranged at one end of the first robotic arm 300 close to the first clamping jaw 310. The bottom of the adjustment mechanism 200 is connected with an anti-slipping mechanism 600. The anti-slipping mechanism 600 includes two anti-slipping clamping blocks 610 for clamping the bottom of the coffee cup.

[0032] In the present application, the first robotic arm 300 and the second robotic arm 400 are both six-axis robotic arms. The first robotic arm 300 and the second robotic arm 400 are respectively used for receiving and pouring materials. It should be noted that the bracket 120 can be installed on the side of the workbench 100 or other positions away from the operating area. By inverting the first robotic arm 300 and the second robotic arm 400 on the top plate 110, on the one hand, the space occupied by the operating area of ​​the workbench 100 is reduced, and on the other hand, it can be closer to the posture and state of human operation, and better approximate the effect of manually making beverages. Compared with single-arm production, it also improves the work efficiency of coffee making and shortens the waiting time of customers.

[0033] The adjustment mechanism 200 includes a mounting housing 210, which is fixedly connected to the first mechanical arm 300. A rotating shaft 220 is rotatably mounted on the mounting housing 210, and a worm gear 230 is fixedly sleeved in the middle of the rotating shaft 220. A servo motor 250 is arranged inside the mounting housing 210 and on one side of the rotating shaft 220. A worm 260 is fixedly connected to the output end of the servo motor 250, and the worm 260 is meshed with the worm gear 230. Gears 240 are fixedly sleeved at both ends of the rotating shaft 220, and one side of the gear 240 is meshed. A tooth plate 270 is connected, a guide groove 271 is opened on the tooth plate 270, a guide block 280 is slidably connected in the guide groove 271, the guide block 280 is fixedly connected to the first robotic arm 300, the four corners of the guide block 280 are rotatably connected to limit wheels 281, the limit wheels 281 are rollingly connected to both sides of the tooth plate 270, a connecting plate 290 is fixedly connected to the bottom of the tooth plate 270, and a sliding rod 291 is fixedly connected to the side of the first robotic arm 300 away from the mounting shell 210, and the sliding rod 291 slides through the connecting plate 290.

[0034] In the present application, the bottom of the adjustment mechanism 200 is connected to the anti-slip mechanism 600, which is used to lift and lower the anti-slip mechanism 600, so that the anti-slip mechanism 600 can better connect and fix the coffee cup. When in use, the servo motor 250 is started to drive the worm 260 and the worm wheel 230 to rotate, thereby driving the gear 240 to rotate synchronously, and the gear 240 drives the tooth plate 270 to move upward or downward accordingly, so that the anti-slip mechanism 600 can be lifted and lowered synchronously.

[0035] Among them, the tooth plate 270 and the connecting plate 290 slide up and down along the guide block 280 and the slide rod 291 respectively, and the limiting wheel 281 rotates. Through the joint action of the guide block 280, the limiting wheel 281 and the slide rod 291, the stability of the operation of the adjustment mechanism 200 and the anti-slip mechanism 600 is improved.

[0036] The anti-slip mechanism 600 also includes a stepper motor 660 and a support plate 650. The stepper motor 660 is fixedly installed on the connecting plate 290 and the output end passes through the connecting plate 290 and is fixedly connected to one end of the support plate 650. A fixed block 640 is fixedly connected to the support plate 650. A guide rod 630 is penetrated through the fixed block 640. A spring 620 is sleeved on the guide rod 630. One end of the spring 620 and the guide rod 630 are fixedly connected to the outer surface of the anti-slip clamp 610. A limiting block 670 is fixedly connected to the bottom of the anti-slip clamp 610. A roller 680 is rotatably connected to the limiting block 670. A limiting groove 651 is provided on the support plate 650. The limiting block 670 is slidably connected in the limiting groove 651, and the roller 680 is rollingly connected to the lower surface of the support plate 650.

[0037] In the present application, the anti-slip mechanism 600 is used to prevent and fix the coffee cup. The upper part of the anti-slip clamp block 610 is opened outward, which can better enable the bottom of the coffee cup to slide into the anti-slip clamp block 610. The lower part spacing of the two anti-slip clamp blocks 610 is smaller than the diameter of the coffee cup, and the bottom of the coffee cup can be clamped under the action of the spring 620. After the arc-shaped clamp block 320 clamps the coffee cup, the anti-slip mechanism 600 is driven to move upward through the adjustment mechanism 200, so that the coffee cup moves downward relative to the anti-slip clamp block 610. The anti-slip clamp blocks 610 on both sides are forced to move toward both sides, so that the spring 620 contracts. The anti-slip clamp block 610 is subjected to the reaction force of the spring 620 to clamp the coffee cup, so that the upper and lower ends of the coffee cup are clamped by the arc-shaped clamp block 320 and the anti-slip clamp block 610 respectively, which can make the coffee cup maintain good stability during subsequent shaking or moving, and avoid accidental falling.

[0038] Among them, during the outward movement of the anti-detachment clamp 610, the limit block 670 slides along the inner wall of the limit groove 651, the roller 680 rolls along the lower surface of the support plate 650, and the guide rod 630 slides in the fixed block 640. Through this arrangement, the anti-detachment clamp 610 can be prevented from tilting or shaking, and the tightness of the connection between the anti-detachment clamp 610 and the coffee cup is improved. After the coffee is made, the anti-detachment mechanism 600 is driven downward by the adjustment mechanism 200 to make the anti-detachment clamp 610 detach from the bottom of the coffee cup, and then the support plate 650 is rotated to one side of the coffee cup by the stepper motor 660, which can facilitate the unloading of the coffee cup.

[0039] In summary, a dual-arm robot coffee making device according to an embodiment of the present invention has the following working principle: when in use, the first clamp 310 cooperates with the first robotic arm 300 to pick up the coffee cup, the servo motor 250 is started to drive the gear 240 to rotate, the gear 240 drives the tooth plate 270 to move upward, and the anti-slip mechanism 600 moves upward accordingly, and the anti-slip clamp block 610 contacts the bottom of the coffee cup, and then opens to both sides under the force, and clamps the coffee cup under the reaction force of the spring 620 until the bottom of the coffee cup is located on the support plate 650, so that the coffee cup can maintain good stability during subsequent movement or shaking. The first robotic arm 300 and the second robotic arm 400 are hoisted on the top to save operating space. The two work together to be closer to the posture and state of human operation, and better approximate the effect of manually making beverages, thereby improving the work efficiency of coffee making and shortening the waiting time of customers.

[0040] The above is only a preferred embodiment of the present invention and is not intended to limit the present invention. For those skilled in the art, the present invention may have various modifications and changes. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention shall be included in the protection scope of the present invention.

Claims

1. A dual-arm robot coffee making device, comprising a workbench (100), a first robot arm (300) and a second robot arm (400), characterized in that: A bracket (120) is fixedly mounted on the upper surface of the workbench (100), and a top plate (110) is fixedly connected to the top of the bracket (120). The first mechanical arm (300) and the second mechanical arm (400) are inverted on the top plate (110). A coffee machine (500) is also arranged on the workbench (100). The first mechanical arm (300) and the second mechanical arm (400) are respectively mounted with a first clamping jaw (310) and a second clamping jaw (410). The first clamping jaw (310) is mounted with an arc-shaped clamping block (320) for clamping a coffee cup. An adjustment mechanism (200) is arranged at one end of the first mechanical arm (300) close to the first clamping jaw (310). The bottom of the adjustment mechanism (200) is connected with an anti-slipping mechanism (600), and the anti-slipping mechanism (600) comprises two anti-slipping clamping blocks (610) for clamping the bottom of the coffee cup.

2. The dual-arm robot coffee making device according to claim 1, characterized in that: The adjustment mechanism (200) comprises a mounting housing (210), the mounting housing (210) being fixedly connected to the first mechanical arm (300), a rotating shaft (220) being rotatably mounted on the mounting housing (210), and a worm gear (230) being fixedly sleeved in the middle of the rotating shaft (220).

3. The dual-arm robot coffee making device according to claim 2, characterized in that: A servo motor (250) is arranged inside the mounting housing (210) and on one side of the rotating shaft (220); a worm (260) is fixedly connected to the output end of the servo motor (250); and the worm (260) is meshingly connected to the worm wheel (230).

4. The dual-arm robot coffee making device according to claim 2, characterized in that: Gears (240) are fixedly sleeved at both ends of the rotating shaft (220), a toothed plate (270) is meshedly connected to one side of the gear (240), a guide groove (271) is formed on the toothed plate (270), and a guide block (280) is slidably connected in the guide groove (271).

5. The dual-arm robot coffee making device according to claim 4, characterized in that: The guide block (280) is fixedly connected to the first mechanical arm (300), and the four corners of the guide block (280) are rotatably connected to limit wheels (281), and the limit wheels (281) are rollingly connected to both sides of the toothed plate (270).

6. The dual-arm robot coffee making device according to claim 5, characterized in that: A connecting plate (290) is fixedly connected to the bottom of the tooth plate (270), and a sliding rod (291) is fixedly connected to a side of the first mechanical arm (300) away from the mounting shell (210), wherein the sliding rod (291) slides through the connecting plate (290).

7. The dual-arm robot coffee making device according to claim 6, characterized in that: The anti-slip mechanism (600) further comprises a stepping motor (660) and a support plate (650); the stepping motor (660) is fixedly mounted on the connecting plate (290) and the output end thereof passes through the connecting plate (290) and is fixedly connected to one end of the support plate (650); a fixing block (640) is fixedly connected to the support plate (650).

8. The dual-arm robot coffee making device according to claim 7, characterized in that: A guide rod (630) is provided through the fixing block (640), a spring (620) is sleeved on the guide rod (630), and one end of the spring (620) and the guide rod (630) are fixedly connected to the outer surface of the anti-slip clamping block (610).

9. The dual-arm robot coffee making device according to claim 8, characterized in that: The bottom of the anti-dropout clamping block (610) is fixedly connected to a limiting block (670), and a roller (680) is rotatably connected to the limiting block (670).

10. The dual-arm robot coffee making device according to claim 9, characterized in that: The support plate (650) is provided with a limiting groove (651), the limiting block (670) is slidably connected in the limiting groove (651), and the roller (680) is rollingly connected to the lower surface of the support plate (650).

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