A method, system and device for making beverages by hoisting with a mechanical arm

Abstract

The present invention provides a method, system and device for making beverages by hoisting with a robot arm, the method comprising: using a plurality of robot arms combined with hoisting and formalizing to collaboratively grab a beverage cup or container, presetting the hoisting and formalizing motion trajectories, and assisting the grabbing and placing actions; adding various beverage ingredients to the beverage cup in sequence and accurately; adjusting and optimizing the discharging speed and stirring time according to the quality requirements of the beverage, so that the various ingredients are fully and evenly mixed; according to the type of beverage and the type of hot or cold beverage, adding the motion trajectory of ice cube collection or hot water collection, cooling and heating the beverage, and setting a temperature sensor to ensure the temperature control accuracy; taking the beverage cup out of the pickup warehouse and delivering it to the customer. The present invention uses a plurality of robot arms combined with hoisting and formalizing to collaboratively grab a beverage cup or container, realize the operation trajectory of the up and down movement direction, redefine the trajectory of robot beverage production, and the produced beverage is closer to the effect of manual production, thereby enhancing the user's experience of the effect of robot beverage production.

Description

Technical Field

[0001] The present invention relates to the technical field of robot beverage making; in particular, to a method, system and device for making beverages by hoisting a robot arm. Background Art

[0002] At present, beverage robots have increasingly replaced manual labor in beverage making in beverage shops. Existing coffee robots usually use a single robotic arm or a double robotic arm (the base of the robotic arm is installed at the bottom of the coffee machine, and the arm claw extends from the bottom of the coffee machine upward) to make beverages. Among them, the double robotic arm method is the most commonly used. The bases of the two robotic arms of the double arm method are installed in the same plane, and the arm claws of the two robotic arms also make beverages in roughly the same plane. The beverage making operation is realized through trajectory algorithms.

[0003] However, the existing display form of using a single robotic arm to make drinks is too simple, and can often only meet the needs of a few users to take drinks and drink, and cannot meet the visual and taste needs of most users for the color, ratio, shape, etc. of the drinks. The existing use of dual robotic arms to make drinks, because the claws of the two robotic arms make drinks in the same plane, the latte art trajectory is also in the same plane, which is very different from the actual effect when the beverage chef makes latte art manually, and the commercial implementation form is not enough.

[0004] Therefore, there are significant differences between existing robot beverage production and actual manual production, and it is unable to achieve the display effect of manual production in real conditions, resulting in a poor user experience of the effect of robot beverage production. Summary of the invention

[0005] In view of this, the purpose of the present invention is to propose a method, system and device for making beverages by hoisting a robot arm, to design a new beverage making structure that combines a robot arm in hoisting mode with a robot arm in formal mode, to adopt multiple robot arms combining hoisting and formal mode to collaboratively grab beverage cups or milk jug containers, to achieve the operation trajectory in the up and down movement directions, so that beverage making can be closer to the barista's manual beverage working method; to redefine the trajectory of robot beverage making, so that the beverage making method is closer to the actual production method and trajectory realization in the real state, so that the prepared beverage is closer to the effect of manual production, thereby enhancing the user experience of the robot beverage making effect.

[0006] The present invention provides a method for making beverages by hoisting with a mechanical arm, comprising the following steps:

[0007] S1. Grab the drink cup or milk jug container by using multiple robotic arms that combine lifting and straightening, and accurately place the drink cup or milk jug container at the corresponding position for making the drink; during the grabbing process, use the preset lifting and straightening motion trajectories of the robotic arms to assist the grabbing and placing actions, ensure the stability and safety of the cup, and avoid dropping or damage;

[0008] The combination of hanging and formal mounting is closer to the actual posture of the barista, improving the accuracy and efficiency of grabbing and placing.

[0009] S2. Raw materials are transported according to the preset raw material ratio and adding order, and various beverage raw materials are accurately added to the beverage cup in sequence through the movement of the robotic arm;

[0010] Preferably, by optimizing the trajectory algorithm of the robotic arm and improving the proportion of the required raw materials received by the robotic arm at fixed points, the motion trajectory of the robotic arm's beverage making function is realized, thereby achieving the production and cup-dispensing effects required for beverages such as coffee.

[0011] S3. According to the quality requirements of beverages and based on different types of beverages, adjust and optimize the discharging speed and mixing time of beverages; move the beverage cup or milk tank container to the corresponding position through the robotic arm to ensure that various raw materials are fully and evenly mixed; ensure the uniformity and sufficiency of the beverage to improve the taste and quality of the beverage;

[0012] S4. When the beverage needs to be cold or hot, according to the type of beverage and the type of hot or cold beverage, the movement trajectory of the robot arm for ice cube collection or hot water collection is increased to cool and heat the beverage, and a temperature sensor is set to ensure the temperature control accuracy and stability to meet the beverage production requirements;

[0013] S5. After the beverage is made, the robotic arm takes the beverage cup out of the coffee machine's pickup bin and places it at the cup outlet to be delivered to the customer. During the taking-out process, the control operates smoothly to avoid spillage and waste of the beverage.

[0014] Furthermore, the method of step S1 for collaboratively grabbing a drink cup or milk jug container by multiple mechanical arms combined with hoisting and upright installation includes:

[0015] The multiple mechanical arms include at least one mechanical arm in a hanging mode, the base of the mechanical arm in the hanging mode is installed on the upper part of the beverage machine, and the mechanical arm in the hanging mode extends from the upper part of the beverage machine from top to bottom; the multiple mechanical arms also include a mechanical arm in a formal mode, the base of the mechanical arm in the formal mode is installed on the lower part of the beverage machine, and the mechanical arm in the formal mode extends from the lower part of the beverage machine from bottom to top;

[0016] The robotic arm in the hanging mode grabs and places the milk jug container along a vertical motion trajectory, and the robotic arm in the upright mode grabs and places the beverage cup along a horizontal motion trajectory.

[0017] Furthermore, the method of adding various beverage ingredients into the beverage cup in sequence and accurately in step S2 includes:

[0018] A quantitative sensor is set up to detect the remaining amount of raw materials during the process of adding raw materials. If the remaining amount of raw materials is sufficient, it will promptly remind you to stop adding raw materials to avoid waste and pollution of raw materials; if the remaining amount of raw materials is insufficient, it will promptly remind you to replenish raw materials.

[0019] Furthermore, the method of conveying raw materials according to a preset raw material ratio and addition order in step S2 includes:

[0020] A metering pump device is used to transport raw materials. The delivery flow rate of the raw materials is calculated according to a preset raw material ratio. The pump shaft speed that needs to be set for the metering pump device is converted according to the delivery flow rate of the raw materials. The working speed of the metering pump device is configured based on the set pump shaft speed. The raw materials are transported in sequence according to the order of addition through the metering pump device.

[0021] A metering pump is a hydraulic pump that discharges a fixed volume of liquid (i.e., displacement) when the pump shaft rotates one circle. Once the speed of a metering pump is selected, its flow rate cannot be adjusted, so the raw materials can be discharged at a stable flow rate.

[0022] The present invention also provides a system for making beverages by hoisting with a robot arm, and the method for making beverages by hoisting with a robot arm as described above comprises:

[0023] Grabbing and placing module: It is used to grab the beverage cup or milk jug container through the collaboration of multiple robotic arms that combine lifting and straightening, and accurately place the beverage cup or milk jug container in the corresponding position for making beverages; during the grabbing process, the preset lifting and straightening motion trajectories of the robotic arms are used to assist the grabbing and placing actions, ensure the stability and safety of the cup, and avoid falling or damage;

[0024] Raw material adding module: used to transport raw materials according to the preset raw material ratio and adding order, and to add various beverage raw materials into the beverage cup in sequence and accurately through the movement of the robotic arm;

[0025] Stirring and mixing module: used to adjust and optimize the discharging speed and stirring time of drinks according to the quality requirements of drinks and based on different types of drinks; the robot arm moves the drink cup or milk tank container to the corresponding position to ensure that various raw materials are fully and evenly mixed;

[0026] Heating and cooling module: used to increase the movement trajectory of the robot arm to receive ice or hot water when the beverage needs to be cold or hot, according to the type of beverage and the type of hot or cold beverage, cool down or heat the beverage, and set a temperature sensor to ensure the temperature control accuracy and stability;

[0027] Removal and placement module: After the beverage is made, the robotic arm takes the beverage cup out of the coffee machine's pickup bin, places it at the cup outlet, and delivers it to the customer.

[0028] The present invention also provides a device for making beverages by hoisting a robot arm, which is equipped with the system for making beverages by hoisting a robot arm as described above, and comprises: a plurality of robot arms, wherein the plurality of robot arms comprise: a robot arm in a hoisting mode and a robot arm in a formal mode; wherein the robot arm in the hoisting mode is a robot arm for latte art operation, and the robot arm in the formal mode is a robot arm for receiving beverages and a robot arm for stirring and mixing;

[0029] The robotic arm for receiving beverages is connected to the material receiving port of the beverage machine, the robotic arm for latte art operation is connected to the robotic arm for receiving beverages, and the robotic arm for stirring and mixing is connected to the robotic arm for latte art operation.

[0030] This setting and delivery method saves space for latte art operations and is closer to the actual manual operation posture of a barista.

[0031] Furthermore, the front ends of the robotic arm for receiving drinks and the robotic arm for drawing art are both provided with supporting rings, and the supporting rings are used to support the beverage cups; the front end of the robotic arm for stirring and mixing is provided with a clamp, and the clamp comprises: two clamps detachably connected by threads, and the handle or cup rim of the beverage cup is clamped between the two clamps.

[0032] Furthermore, each of the mechanical arms includes more than 4 rotating joints and has more than 4 degrees of rotational freedom. Thus, it can complete the movement trajectories of rising, falling, and translation, and smoothly complete the movement operations of grabbing, translation, shaking, lifting, falling, and placing the coffee cup. The rotating joint mechanism of the mechanical arm fits the actual posture of the beverage chef holding the beverage cup or milk container to operate, which is conducive to improving the effect of beverage making.

[0033] The present invention also provides a computer-readable storage medium having a computer program stored thereon, and when the program is executed by a processor, the steps of the method for making beverages by hoisting with a robotic arm as described above are implemented.

[0034] The present invention also provides a computer device, which includes a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor implements the steps of the method for making beverages by hoisting with a robotic arm as described above when executing the program.

[0035] Compared with the prior art, the present invention has the following beneficial effects:

[0036] The method, system and device for making beverages by hoisting a robot arm provided by the present invention designs a new beverage making structure that combines a robot arm in a hoisting mode with a robot arm in a formal mode, and adopts multiple robot arms combined with hoisting and formal modes to collaboratively grab beverage cups or milk jug containers, thereby realizing an operation trajectory in the up and down movement direction, thereby making beverage making closer to the barista's manual beverage working method; redefines the trajectory of robot beverage making, so that the beverage making method is closer to the actual production method and trajectory realization in the real state, and the prepared beverage is closer to the effect of manual production, thereby enhancing the user's experience of the robot beverage making effect. BRIEF DESCRIPTION OF THE DRAWINGS

[0037] Various other advantages and benefits will become apparent to those of ordinary skill in the art by reading the following detailed description of the preferred embodiment.The drawings are only for the purpose of illustrating the preferred embodiments and are not to be construed as limiting the invention.

[0038] In the attached picture:

[0039] Figure 1 This is a flow chart of a method for making beverages by hoisting with a mechanical arm according to the present invention;

[0040] Figure 2 A schematic diagram of the structural assembly components of a device for making beverages by hoisting a mechanical arm provided in an embodiment of the present invention;

[0041] Figure 3 The figure is a schematic diagram of the structure of a computer device according to an embodiment of the present invention.

[0042] The symbols in the accompanying drawings are:

[0043] 1. First arm, 2. Second arm, 3. Third arm, 4. Coffee cup, 5. Support ring, 6. Clamp. DETAILED DESCRIPTION

[0044] Exemplary embodiments will be described in detail herein, examples of which are shown in the accompanying drawings. When the following description refers to the drawings, the same numbers in different drawings represent the same or similar elements unless otherwise indicated. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with the present disclosure. Instead, they are merely examples of devices and products consistent with some aspects of the present disclosure as detailed in the appended claims.

[0045] The terms used in this disclosure are for the purpose of describing specific embodiments only and are not intended to limit the disclosure. The singular forms of "a", "said" and "the" used in this disclosure and the appended claims are also intended to include plural forms unless the context clearly indicates otherwise. It should also be understood that the term "and / or" used herein refers to and includes any or all possible combinations of one or more associated listed items.

[0046] It should be understood that although the terms first, second, third, etc. may be used in the present disclosure to describe various information, such information should not be limited to these terms. These terms are only used to distinguish the same type of information from each other. For example, without departing from the scope of the present disclosure, the first information may also be referred to as the second information, and similarly, the second information may also be referred to as the first information. Depending on the context, the word "if" as used herein may be interpreted as "at the time of" or "when" or "in response to determining".

[0047] The embodiments of the present invention are described in further detail below.

[0048] The embodiment of the present invention provides a method for making beverages by hoisting with a robot arm, see Figure 1 As shown, the following steps are included:

[0049] S1. Grab the drink cup or milk jug container by using multiple robotic arms that combine lifting and straightening, and accurately place the drink cup or milk jug container at the corresponding position for making the drink; during the grabbing process, use the preset lifting and straightening motion trajectories of the robotic arms to assist the grabbing and placing actions, ensure the stability and safety of the cup, and avoid dropping or damage;

[0050] The method for cooperatively grabbing a beverage cup or a milk jug container by using a plurality of mechanical arms combined with hoisting and formal installation comprises: the plurality of mechanical arms includes at least one mechanical arm in a hoisting mode, the base of the mechanical arm in the hoisting mode is installed on the upper part of the beverage machine, and the mechanical arm in the hoisting mode extends from the upper part of the beverage machine from top to bottom; the plurality of mechanical arms also includes a mechanical arm in a formal installation mode, the base of the mechanical arm in the formal installation mode is installed on the lower part of the beverage machine, and the mechanical arm in the formal installation mode extends from the lower part of the beverage machine from bottom to top;

[0051] The robotic arm in the hanging mode grabs and places the milk jug container along a vertical motion trajectory, and the robotic arm in the upright mode grabs and places the beverage cup along a horizontal motion trajectory.

[0052] S2. Raw materials are transported according to the preset raw material ratio and adding order, and various beverage raw materials are accurately added to the beverage cup in sequence through the movement of the robotic arm;

[0053] Methods for conveying raw materials according to a preset raw material ratio and addition sequence include:

[0054] A metering pump device is used to transport raw materials. The delivery flow rate of the raw materials is calculated according to a preset raw material ratio. The pump shaft speed that needs to be set for the metering pump device is converted according to the delivery flow rate of the raw materials. The working speed of the metering pump device is configured based on the set pump shaft speed. The raw materials are transported in sequence according to the order of addition through the metering pump device.

[0055] The method of accurately adding various beverage ingredients into the beverage cup in sequence includes:

[0056] A quantitative sensor is set up to detect the remaining amount of raw materials during the process of adding raw materials. If the remaining amount of raw materials is sufficient, it will promptly remind you to stop adding raw materials to avoid waste and pollution of raw materials; if the remaining amount of raw materials is insufficient, it will promptly remind you to replenish raw materials.

[0057] S3. According to the quality requirements of the beverages and based on different types of beverages, adjust and optimize the discharging speed and mixing time of the beverages; move the beverage cup or milk tank container to the corresponding position through the robotic arm to ensure that the various raw materials are fully and evenly mixed;

[0058] S4. When the beverage needs to be cold or hot, according to the type of beverage and the type of hot or cold beverage, the robot arm is equipped with a motion track for ice cube collection or hot water collection, and the beverage is cooled or heated. A temperature sensor is set to ensure the temperature control accuracy and stability.

[0059] S5. After the beverage is made, the robotic arm takes the beverage cup out of the coffee machine's pickup bin, places it at the cup outlet, and delivers it to the customer.

[0060] The embodiment of the present invention further provides a system for making beverages by hoisting with a robot arm, and the method for making beverages by hoisting with a robot arm as described above includes:

[0061] Grabbing and placing module: It is used to grab the beverage cup or milk jug container through the collaboration of multiple robotic arms that combine lifting and straightening, and accurately place the beverage cup or milk jug container in the corresponding position for making beverages; during the grabbing process, the preset lifting and straightening motion trajectories of the robotic arms are used to assist the grabbing and placing actions, ensure the stability and safety of the cup, and avoid falling or damage;

[0062] Raw material adding module: used to transport raw materials according to the preset raw material ratio and adding order, and to add various beverage raw materials into the beverage cup in sequence and accurately through the movement of the robotic arm;

[0063] Stirring and mixing module: used to adjust and optimize the discharging speed and stirring time of drinks according to the quality requirements of drinks and based on different types of drinks; the robot arm moves the drink cup or milk tank container to the corresponding position to ensure that various raw materials are fully and evenly mixed;

[0064] Heating and cooling module: used to increase the movement trajectory of the robot arm to receive ice or hot water when the beverage needs to be cold or hot, according to the type of beverage and the type of hot or cold beverage, cool down or heat the beverage, and set a temperature sensor to ensure the temperature control accuracy and stability;

[0065] Removal and placement module: After the beverage is made, the robotic arm takes the beverage cup out of the coffee machine's pickup bin, places it at the cup outlet, and delivers it to the customer.

[0066] The embodiment of the present invention also provides a device for making beverages by hoisting a robot arm, which is equipped with the system for making beverages by hoisting a robot arm as described above, see Figure 2 As shown, it includes: a plurality of mechanical arms, including: a mechanical arm in a hoisting mode and a mechanical arm in a formal mode, each of which includes more than 4 rotational joints and has more than 4 rotational degrees of freedom; wherein the mechanical arm in the hoisting mode is a mechanical arm (first arm 1) for latte art operation, and the mechanical arm in the formal mode is a mechanical arm (second arm 2) for receiving beverages and a mechanical arm (third arm 3) for stirring and mixing;

[0067] The second arm 2 is in transmission connection with the material receiving port of the beverage machine, the first arm 1 is in transmission connection with the second arm 2 , and the third arm 3 is in transmission connection with the first arm 1 .

[0068] The front ends of the second arm 2 and the first arm 1 are both provided with a supporting ring 5 for supporting the coffee cup 4. The front end of the third arm 3 is provided with a clamp 6, which comprises: two clamps detachably connected by threads, and the rim of the coffee cup 4 is clamped between the two clamps.

[0069] This embodiment uses a hanging type robotic arm that can better approximate the posture state of manual operation. The beverage making method that combines the robotic arms in hanging mode and formal mode can be closer to the actual manual operation techniques and trajectories of beverages, effectively improving the effect of the robot in making beverages.

[0070] The method, system and device for making beverages by hoisting a robot arm in the present embodiment designs a new beverage making structure that combines a robot arm in a hoisting mode with a robot arm in a formal mode, and adopts multiple robot arms combining hoisting and formal modes to collaboratively grab beverage cups or milk jug containers, thereby realizing an operation trajectory in the up and down movement directions, thereby making beverage making closer to the barista's manual beverage working method; redefines the trajectory of robot beverage making, making the beverage making method closer to the actual production method and trajectory realization in the real state, making the prepared beverages closer to the effect of manual production.

[0071] An embodiment of the present invention further provides a computer device, Figure 3 is a schematic diagram of the structure of a computer device provided by an embodiment of the present invention; see the accompanying drawings Figure 3 As shown, the computer device includes: an input device 23, an output device 24, a memory 22 and a processor 21; the memory 22 is used to store one or more programs; when the one or more programs are executed by the one or more processors 21, the one or more processors 21 implement the method for making beverages by hoisting a robot arm as provided in the above embodiment; wherein the input device 23, the output device 24, the memory 22 and the processor 21 can be connected by a bus or other means, Figure 3 The example of connecting through bus is taken in the following.

[0072] The memory 22 is a readable and writable storage medium of a computing device, which can be used to store software programs and computer executable programs, such as program instructions corresponding to the method for making beverages by hoisting a robot arm as described in an embodiment of the present invention; the memory 22 can mainly include a program storage area and a data storage area, wherein the program storage area can store an operating system and at least one application required for a function; the data storage area can store data created according to the use of the device, etc.; in addition, the memory 22 can include a high-speed random access memory, and can also include a non-volatile memory, such as at least one disk storage device, a flash memory device, or other non-volatile solid-state storage device; in some instances, the memory 22 can further include a memory remotely arranged relative to the processor 21, and these remote memories can be connected to the device via a network. Examples of the above-mentioned network include, but are not limited to, the Internet, an intranet, a local area network, a mobile communication network, and combinations thereof.

[0073] The input device 23 may be used to receive input digital or character information, and to generate key signal input related to user settings and function control of the device; the output device 24 may include a display device such as a display screen.

[0074] The processor 21 executes various functional applications and data processing of the device by running the software programs, instructions and modules stored in the memory 22, that is, realizes the above-mentioned method of making beverages by hoisting with a robotic arm.

[0075] The computer device provided above can be used to execute the method of making beverages by hoisting with a robotic arm provided in the above embodiment, and has corresponding functions and beneficial effects.

[0076] The embodiment of the present invention also provides a storage medium containing computer executable instructions, which are used to execute the method of making beverages by mechanical arm hoisting as provided in the above embodiment when executed by a computer processor. The storage medium is any of various types of memory devices or storage devices, and the storage medium includes: installation media, such as cD-ROM, floppy disk or tape device; computer system memory or random access memory, such as DRaM, DDR RaM, SRaM, EDORaM, Rambus RaM, etc.; non-volatile memory, such as flash memory, magnetic media (such as hard disk or optical storage); registers or other similar types of memory elements, etc.; the storage medium may also include other types of memory or a combination thereof; in addition, the storage medium may be located in the first computer system in which the program is executed, or may be located in a different second computer system, the second computer system is connected to the first computer system via a network (such as the Internet); the second computer system may provide program instructions to the first computer for execution. The storage medium includes two or more storage media that can reside in different locations (for example, in different computer systems connected via a network). The storage medium can store program instructions (for example, specifically implemented as a computer program) that can be executed by one or more processors.

[0077] Of course, the storage medium containing computer executable instructions provided in an embodiment of the present invention is not limited to the method for making beverages by hoisting a robot arm as described in the above embodiment, and the computer executable instructions can also execute related operations in the method for making beverages by hoisting a robot arm provided in any embodiment of the present invention.

[0078] So far, the technical solutions of the present invention have been described in conjunction with the preferred embodiments shown in the accompanying drawings. However, it is easy for those skilled in the art to understand that the protection scope of the present invention is obviously not limited to these specific embodiments. Without departing from the principle of the present invention, those skilled in the art can make equivalent changes or substitutions to the relevant technical features, and the technical solutions after these changes or substitutions will fall within the protection scope of the present invention.

[0079] The above description 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 variations. 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 method for making beverages by hoisting with a mechanical arm, characterized in that: The following steps are involved: S1. Grab the drink cup or milk jug container by using multiple robotic arms that combine lifting and straightening, and accurately place the drink cup or milk jug container at the corresponding position for making the drink; during the grabbing process, use the preset lifting and straightening motion trajectories of the robotic arms to assist the grabbing and placing actions, ensure the stability and safety of the cup, and avoid dropping or damage; S2. Raw materials are transported according to the preset raw material ratio and adding order, and various beverage raw materials are accurately added to the beverage cup in sequence through the movement of the robotic arm; S3. According to the quality requirements of the beverages and based on different types of beverages, adjust and optimize the discharging speed and mixing time of the beverages; move the beverage cup or milk tank container to the corresponding position through the robotic arm to ensure that the various raw materials are fully and evenly mixed; S4. When the beverage needs to be cold or hot, according to the type of beverage and the type of hot or cold beverage, the robot arm is equipped with a motion track for ice cube collection or hot water collection, and the beverage is cooled or heated. A temperature sensor is set to ensure the temperature control accuracy and stability. S5. After the beverage is made, the robotic arm takes the beverage cup out of the coffee machine's pickup bin, places it at the cup outlet, and delivers it to the customer.

2. The method for making beverages by hoisting with a robot arm according to claim 1, characterized in that: The method of step S1 for grabbing a drink cup or milk jug container by using multiple mechanical arms in combination with hoisting and upright installation comprises: The plurality of mechanical arms include at least one mechanical arm in a hanging mode, the base of the mechanical arm in the hanging mode is installed on the upper part of the beverage machine, and the mechanical arm in the hanging mode extends from the upper part of the beverage machine from top to bottom; the plurality of mechanical arms also include a mechanical arm in a formal mode, the base of the mechanical arm in the formal mode is installed on the lower part of the beverage machine, and the mechanical arm in the formal mode extends from the lower part of the beverage machine from bottom to top; The robotic arm in the hanging mode grabs and places the milk jug container along a vertical motion trajectory, and the robotic arm in the upright mode grabs and places the beverage cup along a horizontal motion trajectory.

3. The method for making beverages by hoisting with a robot arm according to claim 1, characterized in that: The method of adding various beverage ingredients into the beverage cup in sequence and accurately in step S2 comprises: A quantitative sensor is set up to detect the remaining amount of raw materials during the process of adding raw materials. If the remaining amount of raw materials is sufficient, it will promptly remind you to stop adding raw materials to avoid waste and pollution of raw materials; if the remaining amount of raw materials is insufficient, it will promptly remind you to replenish raw materials.

4. The method for making beverages by hoisting with a robot arm according to claim 1, characterized in that: The method of conveying raw materials according to the preset raw material ratio and addition order in step S2 includes: A metering pump device is used to transport raw materials. The delivery flow rate of the raw materials is calculated according to a preset raw material ratio. The pump shaft speed that needs to be set for the metering pump device is converted according to the delivery flow rate of the raw materials. The working speed of the metering pump device is configured based on the set pump shaft speed. The raw materials are transported in sequence according to the order of addition through the metering pump device.

5. A system for making beverages by hoisting with a robotic arm, characterized in that: The method for making beverages by hoisting with a robotic arm as described in any one of claims 1 to 4 comprises: Grabbing and placing module: It is used to grab the beverage cup or milk jug container through the collaboration of multiple robotic arms that combine lifting and straightening, and accurately place the beverage cup or milk jug container in the corresponding position for making beverages; during the grabbing process, the preset lifting and straightening motion trajectories of the robotic arms are used to assist the grabbing and placing actions, ensure the stability and safety of the cup, and avoid falling or damage; Raw material adding module: used to transport raw materials according to the preset raw material ratio and adding order, and to add various beverage raw materials into the beverage cup in sequence and accurately through the movement of the robotic arm; Stirring and mixing module: used to adjust and optimize the discharging speed and stirring time of drinks according to the quality requirements of drinks and based on different types of drinks; the robot arm moves the drink cup or milk tank container to the corresponding position to ensure that various raw materials are fully and evenly mixed; Heating and cooling module: used to increase the movement trajectory of the robot arm to receive ice or hot water when the beverage needs to be cold or hot, according to the type of beverage and the type of hot or cold beverage, cool down or heat the beverage, and set a temperature sensor to ensure the temperature control accuracy and stability; Removal and placement module: After the beverage is made, the robotic arm takes the beverage cup out of the coffee machine's pickup bin, places it at the cup outlet, and delivers it to the customer.

6. A device for making beverages by hoisting with a mechanical arm, characterized in that: A system for making beverages by hoisting a robot arm as claimed in claim 5, comprising: a plurality of robot arms, the plurality of robot arms comprising: a robot arm in a hoisting mode and a robot arm in a formal mode; wherein the robot arm in the hoisting mode is a robot arm for latte art operation, and the robot arm in the formal mode is a robot arm for receiving beverages and a robot arm for stirring and mixing; The robotic arm for receiving beverages is connected to the material receiving port of the beverage machine, the robotic arm for latte art operation is connected to the robotic arm for receiving beverages, and the robotic arm for stirring and mixing is connected to the robotic arm for latte art operation.

7. The device for making beverages by hoisting a robot arm according to claim 6, characterized in that: The front ends of the robotic arm for receiving beverages and the robotic arm for drawing art are both provided with supporting rings for supporting beverage cups; the front end of the robotic arm for stirring and mixing is provided with a clamp, which comprises: two clamps detachably connected by threads, and the handle or rim of the beverage cup is clamped between the two clamps.

8. The device for making beverages by hoisting a robot arm according to claim 6, characterized in that: Each of the mechanical arms includes more than four rotational joints and has more than four rotational degrees of freedom.

9. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the program is executed by the processor, the steps of the method for making beverages by hoisting with a robotic arm as described in any one of claims 1 to 4 are implemented.

10. A computer device, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, characterized in that: When the processor executes the program, the steps of the method for making beverages by hoisting with a robotic arm as described in any one of claims 1 to 4 are implemented.

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