Beverage capsule storage and transfer device, storage cabinet and vending machine

Abstract

The invention discloses a beverage capsule storage and transfer device, a storage cabinet and a vending machine. The beverage capsule storing and transferring device comprises a first beverage capsule storing mechanism, a first grabbing mechanism, a first moving mechanism for driving the first grabbing mechanism to move, a first image collecting mechanism, a transferring mechanism and a controller. The first image acquisition mechanism is mounted on the first grabbing mechanism or the first movement mechanism; the transfer mechanism comprises a storage table and a moving assembly used for enabling the storage table to move back and forth at the first grabbing mechanism and the target position. The first grabbing mechanism is used for grabbing the beverage capsules stored by the first beverage capsule storage mechanism and placing the beverage capsules on the storage table. According to the beverage capsule storage and transfer device, the transfer mechanism is arranged and applied to the vending machine, and the storage space of the vending machine can be effectively expanded.

Description

Technical Field

[0001] The present invention relates to the technical field of beverage capsule related equipment, and more specifically, to a beverage capsule storage and transfer device, a storage cabinet and an automatic vending machine. Background Art

[0002] As one of the main ways for consumers to buy beverage capsules, beverage capsule vending machines have also developed with the development of the capsule beverage industry. In response to beverage capsule vending machines, relevant innovation entities have developed various new types of beverage capsule vending machines. For example, some beverage capsule vending machines provide the function of brewing beverage capsules, that is, the beverage capsule vending machine has both a brewing mechanism and a beverage capsule storage and retrieval mechanism. Due to the existence of the brewing mechanism or other functional mechanisms, part of the space of the beverage capsule vending machine is occupied, and the storage and retrieval mechanism can store relatively few beverage capsules. Therefore, how to expand the storage space of beverage capsules has become the improvement direction of beverage capsule vending machines. Summary of the invention

[0003] The object of the present invention is to provide a device capable of storing beverage capsules and transferring the beverage capsules to an automatic vending machine, thereby expanding the storage space of the beverage capsules.

[0004] In order to solve the above technical problems, the technical solution adopted by the present invention is:

[0005] In a first aspect, the present invention provides a beverage capsule storage and transfer device, comprising a first beverage capsule storage mechanism, a first gripping mechanism, a first motion mechanism for driving the first gripping mechanism to move, a first image acquisition mechanism, a transfer mechanism, and a controller; the first image acquisition mechanism is mounted on the first gripping mechanism or the first motion mechanism;

[0006] The transfer mechanism comprises a storage platform and a moving component for reciprocating the storage platform with a target position at a first grabbing mechanism; the first grabbing mechanism is used to grab the beverage capsule stored in the first beverage capsule storage mechanism and place it on the storage platform;

[0007] The controller is electrically or wirelessly connected to the first grabbing mechanism, the first moving mechanism, the first image acquisition mechanism, the first beverage capsule storage mechanism and the transmission mechanism respectively.

[0008] The storage table of the present invention is used for placing beverage capsules that need to be transferred; the storage table is provided with at least one position for placing beverage capsules.

[0009] The first gripping mechanism location refers to the moving range of the first gripping mechanism. The target location refers to a beverage capsule vending machine.

[0010] The first image acquisition mechanism of the present invention can be used to observe the situation of the entire beverage capsule storage and transfer device, and is installed on the first gripping mechanism or the first motion mechanism, and can move with the first gripping mechanism or the first motion mechanism to provide timely feedback on the gripping situation of the first gripping mechanism.

[0011] The beverage capsules are stored in the first beverage capsule storage mechanism. When the beverage capsules need to be transferred, the controller controls the first grabbing mechanism to move, grabs the beverage capsules from the first beverage capsule storage mechanism and places the beverage capsules on the storage table, and the moving component drives the storage table to move to the target position, and after the beverage capsules on the storage table are taken away, the storage table is reset.

[0012] Optionally, the moving assembly of the present invention includes a screw rod, a slide seat arranged on the screw rod, and a screw rod motor driving the screw rod to move the slide seat; the slide seat is connected and fixed to the storage table. Correspondingly, one end of the screw rod is located at the first gripping mechanism, and the other end of the screw rod is located at the target position.

[0013] As one embodiment, the storage table includes a connecting member connected to the slide seat, and a stand arranged on the connecting member and used to place beverage capsules. The stand is provided with at least one position for placing beverage capsules.

[0014] Optionally, the first beverage capsule storage mechanism includes a bracket and a plurality of storage units distributed up and down; each of the storage units includes a support plate, a turntable, and a motor for driving the turntable to rotate; at least a portion of the support plate is connected to the bracket to fix the support plate; the support plate is used to support the motor and / or the turntable; a plurality of placement portions for placing beverage capsules are provided on the periphery and inner side of the turntable; the turntables of each storage unit are distributed up and down, and the axial centerline directions of each turntable are the same; a plurality of turntables are provided with notches, the notches extending from the outer edge of the turntable to the inner side, the size of the notches being sufficient for the first grabbing mechanism to pass through when moving, so as to facilitate grabbing of the beverage capsule on an adjacent turntable corresponding to the notch.

[0015] The first beverage capsule storage and retrieval device of the present invention, by cleverly designing the composition and structure of the beverage capsule storage mechanism and adopting the first image acquisition mechanism, does not require manual input of the position information of the beverage capsule in advance, and realizes disordered storage of beverage capsules and accurate grasping of target beverage capsules. It is further explained that by setting the notch of the turntable and the independent rotation of each turntable, the controller controls the notch of each turntable to rotate to the position corresponding to the first grasping mechanism according to the movement of the first grasping mechanism, forming a moving channel for the first grasping mechanism to grasp any beverage capsule on the turntable, including the outer periphery and the inner side.

[0016] Specifically, when storing or replenishing beverage capsules in the first beverage capsule storage and retrieval device, there is no need to classify and place beverage capsules of the same type together. After storing the beverage capsules, the information of the beverage capsules is collected by the first image acquisition mechanism and fed back to the controller, and the database of the controller records the information of the turntables where different beverage capsules are located. When it is necessary to grab a beverage capsule, the controller controls the first grabbing mechanism to move to the turntable where the target beverage capsule is located, and controls the turntable to rotate so that the target beverage capsule rotates close to the first grabbing mechanism, and then the first grabbing mechanism grabs the target beverage capsule. Finally, the first grabbing mechanism moves and places the beverage capsule at the target location.

[0017] When the beverage capsule to be grabbed is located on the inner side of the turntable, the controller controls the rotation of the adjacent turntable where the target beverage capsule is located, so that the notch of the adjacent turntable rotates to the position corresponding to the first grabbing mechanism, and the first grabbing mechanism moves to the notch, and at the same time controls the rotation of the turntable where the target beverage capsule is located, so that the target beverage capsule rotates to the bottom or top of the first grabbing mechanism, and then the first grabbing mechanism grabs the target beverage capsule. In this way, the beverage capsule located on the inner side of the turntable is grabbed, and the realization of such a function can effectively utilize the space of the turntable and improve the storage space utilization rate. Especially for a turntable with a larger area, when multiple groups of placement parts can be arranged from the periphery to the inside (one circle of placement parts is a group), the improvement of storage space utilization rate is more obvious.

[0018] Since disorderly storage of beverage capsules can be achieved, beverage capsules can be placed arbitrarily on the placement part of the turntable, which overcomes the problem of needing to allocate a specific storage position for each type of beverage capsule, and fully utilizes the storage position of the turntable to improve the utilization rate. According to actual conditions, the types of beverage capsules can be dynamically and significantly increased, or the storage amount of a certain type of beverage capsule can be significantly increased by reducing the types of beverage capsules or keeping the types unchanged, and dozens or even hundreds of different types of beverage capsules can be stored.

[0019] In addition, each storage unit is independent of each other, and a storage unit can be temporarily suspended according to actual conditions, which is convenient for maintenance. And the storage units are arranged along the upper and lower sides, and when the storage capacity of the beverage capsule storage mechanism needs to be expanded, it is only necessary to add a turntable upwards, which increases the storage capacity without increasing the floor space.

[0020] When the height intervals between the turntables are relatively close and the beverage capsule grasped by the first grasping mechanism is larger than the first grasping mechanism, the size of the gap can be further increased. Furthermore, the size of the gap of the present invention is such that the first grasping mechanism, a portion of the first movement mechanism connected to the first grasping mechanism, and the beverage capsule grasped by the first grasping mechanism can pass through when moving.

[0021] The number of the turntables provided with the notch of the present invention is multiple, and all the turntables may be provided with the notch, or when the beverage capsule is placed on the upper surface of the turntable, the other turntables located above the turntable at the bottom layer are provided with the notch; when the beverage capsule is placed on the lower surface of the turntable, the other turntables located below the turntable at the top layer are provided with the notch. When the notches of the turntables rotate to the same direction as the turntables, the notches of all the turntables form a channel for the first gripping mechanism to move up and down.

[0022] As one implementation manner, the transfer mechanism is arranged above, below or on one side of the first beverage capsule storage mechanism.

[0023] As one embodiment, the transfer mechanism is arranged between two of the storage units.

[0024] The first motion mechanism of the present invention can be one of a six-axis robotic arm, a three-axis robotic arm, a two-axis robotic arm, and a linear drive robotic arm.

[0025] Preferably, the first motion mechanism of the present invention is a two-axis mechanical arm. The present invention provides the notch on the turntable to form a channel for the first grasping mechanism to pass through, which makes it possible to use a two-axis mechanical arm, and can achieve efficient and stable grasping of beverage capsules without using a three-axis mechanical arm. At the same time, the use of a two-axis mechanical arm can save more space.

[0026] Optionally, the first motion mechanism of the present invention is a two-axis robotic arm, which includes a Z-axis moving component and an X or Y-axis moving component arranged on the Z-axis moving component, and the first grasping mechanism is arranged on the X or Y-axis moving component, so that the first grasping mechanism can move to the turntable along the Z-axis direction and the X or Y-axis direction.

[0027] The first image acquisition mechanism of the present invention is arranged on the X-axis or Y-axis moving component.

[0028] The first image acquisition mechanism of the present invention is a sensor or camera for collecting the appearance, QR code or barcode information of the beverage capsule. Preferably, the first image acquisition mechanism of the present invention is a camera for observing the situation at the beverage capsule storage mechanism. The camera can not only collect the image information of the beverage capsule, but also observe the situation at the beverage capsule storage mechanism, and can be particularly used to monitor the rotation of the turntable, such as the rotation position. The camera is electrically or wirelessly connected to the controller. By storing and running the existing image recognition algorithm and database through the camera and the controller, the type of beverage capsule can be automatically identified and recorded in the database of the controller, realizing intelligent inventory management and product type identification. It reduces manual intervention and improves operational efficiency and management accuracy. Preferably, the camera is a high-definition wide-angle camera.

[0029] The first gripping mechanism of the present invention is a mechanical gripper, an electric suction cup or a combination of the two. Preferably, the first gripping mechanism is an electric suction cup, which realizes the adsorption and release actions through electric control. This gripping method is particularly suitable for beverage capsules. The suction cup of the electric suction cup is round.

[0030] The controller of the present invention is electrically or wirelessly connected to the first grabbing mechanism, the first motion mechanism, the first image acquisition mechanism, the first beverage capsule storage mechanism and the transmission mechanism to control the coordinated operation of the first grabbing mechanism, the first motion mechanism, the first image acquisition mechanism, the first beverage capsule storage mechanism and the transmission mechanism.

[0031] The controller of the present invention can be a PLC controller. The controller of the present invention includes a central processing unit and a storage module; the central processing unit is connected to the storage module; the storage module stores a program code including but not limited to a database program code for recording beverage capsule information, an image recognition algorithm program code, and a control program code for controlling the first grabbing mechanism, the first motion mechanism, the first image acquisition mechanism, the beverage capsule storage mechanism and the transfer mechanism. The central processing unit can control the operation of the beverage capsule storage and access device by running the program code.

[0032] The controller of the present invention can control the rotation of the turntable so that the notch is aligned with the direction of the first gripping mechanism. The first image acquisition mechanism can be combined with image recognition to assist in positioning. The first image acquisition mechanism feeds back the collected information to the controller, and the controller determines whether the notch is rotated to a preset position through a recognition algorithm.

[0033] In order to better locate the notch. Optionally, the storage unit of the present invention further includes a rotational position sensing unit for detecting the rotational position of the turntable, and the rotational position sensing unit is electrically or wirelessly connected to the controller. The rotational position sensing unit can detect the rotational position of the turntable, for example, the rotational position of the notch, so as to more conveniently and accurately align the notch with the direction of the first gripping mechanism. As one embodiment, the rotational position sensing unit includes a rotational position sensor and at least one accessory adapted to the rotational position sensor; the rotational position sensor is electrically or wirelessly connected to the controller. The rotational position sensor is arranged on the bracket or the support plate, and the accessory is arranged on the turntable. One of the accessories is used to feedback that the notch is aligned with the direction of the first gripping mechanism. When the notch of the turntable rotates to align with the direction of the first gripping mechanism, the rotational position sensor senses the accessory. The induction includes but is not limited to electrical induction, optical induction, magnetic induction, and mechanical induction.

[0034] Furthermore, the beverage capsule storage and transfer device of the present invention further comprises a vibration plate feeding mechanism; the vibration plate feeding mechanism is used to arrange the beverage capsules in order and convey them to a range that can be grasped by the first grasping mechanism; the vibration plate feeding mechanism is electrically or wirelessly connected to the controller.

[0035] As one embodiment, the vibrating plate feeding mechanism includes a vibrating plate and a feeding track; the output end of the vibrating plate is connected to the input end of the feeding track, and the output end of the feeding track is arranged within the range that the first gripping mechanism can grip. In this embodiment, the output end of the vibrating plate outputs orderly arranged beverage capsules, and pushes the beverage capsules to the range that the first gripping mechanism can grip through the feeding track.

[0036] Optionally, the vibration plate includes a vibration chassis and a hopper arranged above the vibration chassis; a spiral channel that spirally ascends is provided in the hopper, and a guiding component is provided in the spiral channel.

[0037] The guide component is used to adjust the posture of the beverage capsule and screen out beverage capsules whose posture does not meet the requirements. As one embodiment, the guide component is a guide rail arranged along the inner wall of the spiral channel. The guide rail extends from low to high along the direction of movement of the beverage capsule. When the beverage capsule moves to the guide rail, the guide rail gradually contacts the brim of the beverage capsule during the movement, and finally the beverage capsule tilts to one side under the force of the guide rail and the moving direction, completing the adjustment of the posture of the beverage capsule. The beverage capsule that cannot complete the posture adjustment eventually falls back to the bottom of the hopper.

[0038] Optionally, the vibration plate feeding mechanism is arranged below the first beverage capsule storage mechanism.

[0039] In a second aspect, the present invention provides a storage cabinet, which comprises a cabinet body and the beverage capsule storage and transfer device in the first aspect; the beverage capsule storage and transfer device is disposed in the cabinet body, and the cabinet body is provided with an opening through which the transfer mechanism can pass.

[0040] In a third aspect, the present invention provides an automatic vending machine. The automatic vending machine comprises the storage cabinet and the beverage capsule vending machine of the second aspect; the storage cabinet is connected to the interior of the beverage capsule vending machine through the opening so that the beverage capsule is transferred to the beverage capsule vending machine through the transfer mechanism; the beverage capsule vending machine comprises a beverage capsule storage and retrieval device and a beverage capsule brewing mechanism.

[0041] Optionally, the beverage capsule storage and retrieval device and the beverage capsule brewing mechanism are respectively located in upper and lower areas of the beverage capsule vending machine.

[0042] As an embodiment, the beverage capsule storage and retrieval device includes a second beverage capsule storage mechanism, a second gripping mechanism, a second motion mechanism for driving the second gripping mechanism to move, and a second image acquisition mechanism; the second image acquisition mechanism is installed on the second gripping mechanism or the second motion mechanism; the controller is electrically or wirelessly connected to the second gripping mechanism, the second motion mechanism, the second image acquisition mechanism, and the second beverage capsule storage mechanism, respectively.

[0043] The second beverage capsule storage mechanism has the same or similar structure as the second beverage capsule storage mechanism. Similarly, the second gripping mechanism has the same or similar structure as the first gripping mechanism. The second motion mechanism has the same or similar structure as the first motion mechanism. The second image acquisition mechanism has the same or similar structure as the first image acquisition mechanism.

[0044] In the automatic vending machine of the present invention, the target position of the transfer mechanism of the beverage capsule storage and transfer device is within the range that the second gripping mechanism can grasp. When the transfer mechanism transfers the beverage capsule, the transfer mechanism moves from the inside of the beverage capsule storage and transfer device to the inside of the beverage capsule vending machine, and is located within the range that the second gripping mechanism can grasp, and the second gripping mechanism grasps the beverage capsule on the transfer mechanism.

[0045] Compared with the prior art, the present invention has the following beneficial effects:

[0046] The beverage capsule storage and transfer device of the present invention is provided with the transfer mechanism, which cooperates with the first grabbing mechanism to grab beverage capsules from the first beverage capsule storage mechanism and transfer the beverage capsules to the target position. The beverage capsule storage and transfer device can be used in an automatic vending machine to effectively expand the storage space of the automatic vending machine. BRIEF DESCRIPTION OF THE DRAWINGS

[0047] Figure 1 This is a schematic structural diagram of the beverage capsule storage and transfer device described in Example 1.

[0048] Figure 2 This is a schematic structural diagram of the beverage capsule storage and transfer device described in Example 1 from another angle.

[0049] Figure 3 This is a schematic diagram of the structure of the transmission mechanism described in Example 1.

[0050] Figure 4 This is a schematic diagram of the structure of multiple storage units described in Example 1.

[0051] Figure 5 It is a schematic diagram of the structure of the storage rotation unit described in Example 1; wherein, for ease of understanding, the dotted line portion is used to indicate the gap of the storage rotation unit.

[0052] Figure 6 This is a schematic diagram of the structures of the first motion mechanism, the first gripping mechanism and the first image acquisition mechanism in Example 1.

[0053] Figure 7 This is a schematic structural diagram of the beverage capsule storage and transfer device described in Example 2.

[0054] Figure 8 This is a schematic diagram of the structure of the vibrating plate feeding mechanism described in Example 2.

[0055] Fig. 9 This is a schematic diagram of the structure of the storage unit described in Example 3.

[0056] Fig.10 This is a schematic diagram of the structure of the storage cabinet described in Example 4.

[0057] Fig.11 This is a schematic diagram of the structure of the vending machine described in Example 5 (the outer shell is omitted). DETAILED DESCRIPTION

[0058] The present invention will be further described below in conjunction with specific implementation modes.

[0059] If there are terms such as "first" and "second", they are only used for descriptive purposes, mainly to distinguish different devices, elements or components (the specific types and structures may be the same or different), and are not used to indicate or imply the relative importance and quantity of the indicated devices, elements or components, and cannot be understood as indicating or implying relative importance.

[0060] Example 1

[0061] like Figure 1 and 2 As shown, a beverage capsule storage and transfer device includes a first beverage capsule storage mechanism 100, a first gripping mechanism 200, a first movement mechanism 300 that drives the first gripping mechanism 200 to move to the first beverage capsule storage mechanism 100, a first image acquisition mechanism 400 for acquiring image information of beverage capsules, a controller and a transfer mechanism 500; the controller is electrically or wirelessly connected to the first gripping mechanism 200, the first movement mechanism 300, the first image acquisition mechanism 400, the first beverage capsule storage mechanism 100 and the transfer mechanism 500 respectively.

[0062] The transfer mechanism 500 includes a storage platform 510 and a moving assembly 520 for reciprocating the storage platform 510 with a target position at a first grabbing mechanism; the first grabbing mechanism is used to grab the beverage capsule stored in the first beverage capsule storage mechanism 100 and place it on the storage platform 510;

[0063] like Figure 3 As shown, the moving assembly 520 includes a screw rod 521, a slide 522 disposed on the screw rod, and a screw motor 523 for driving the screw rod to move the slide; the slide is connected and fixed to the object placement platform 610. Correspondingly, one end of the screw rod 521 is located at the first grasping mechanism 200, and the other end of the screw rod 521 is located at the target position.

[0064] The storage table 510 includes a connecting member 511 connected to the slide seat, and a stand 512 disposed on the connecting member 511 and used to place beverage capsules. The stand 512 is provided with at least one position for placing beverage capsules.

[0065] like Figure 4 As shown, the first beverage capsule storage mechanism 100 includes a bracket 110 and a plurality of storage units 120 distributed vertically; each storage unit 120 includes a support plate 121, a turntable 122, and a motor 123 for driving the turntable 122 to rotate; the support plate 121 is detachably connected to the bracket 110.

[0066] The motor 123 is mounted on the support plate 121. The turntable 122 is mounted on the motor, and the motor 123 is connected to the axis of the turntable 122 to drive the turntable 122 to rotate around the axis. The turntables 122 of each storage unit 120 are distributed up and down, and the axis lines of each turntable 122 are in the same direction and on the same straight line.

[0067] like Figure 5 As shown, a plurality of rotating disks 122 are provided with notches 1221. In this embodiment, all rotating disks 122 are provided with notches 1221. The notches 1221 extend from the outer periphery to the inner side of the rotating disk 122. The size of the notches 1221 is large enough for the first grabbing mechanism 200 to pass through when moving, so as to grab the beverage capsule on the adjacent rotating disk 122 corresponding to the notch 1221. The area of ​​the notches 1221 can be further increased. The size of the notches 1221 is large enough for the first grabbing mechanism 200, part of the first motion mechanism 300 connected to the first grabbing mechanism 200, and the beverage capsule grabbed by the first grabbing mechanism 200 to pass through when moving.

[0068] The turntable 122 is provided with a plurality of placement portions 1222 for placing beverage capsules; the placement portions 1222 are distributed on the periphery and / or the inner side of the turntable 122. The inner side of the turntable 122 refers to the portion of the turntable 122 close to the axis; on the contrary, the outer side refers to the portion of the turntable 122 far from the axis.

[0069] The placement portion 1222 is one or more of a shelf, an opening, and a groove disposed on the turntable 122. In this embodiment, the notch 1221 of the turntable 122 is shaped like a fan, and the placement portion 1222 is an opening directly opened on the turntable 122.

[0070] like Figure 6 As shown, in this embodiment, the first motion mechanism 300 is a two-axis robot. The two-axis robot is arranged beside the turntable 122. The two-axis robot provides two degrees of freedom of movement, up and down and left and right. The moving directions of the Z-axis moving component and the X or Y-axis moving component are defined by the three-dimensional space coordinate axis. Among them, the Z-axis direction refers to movement in the up and down direction, corresponding to the turntable 122 distributed up and down, so that the first grasping mechanism 200 can move to the turntable 122 at the uppermost and lowermost layers. The X or Y-axis direction refers to movement in the lateral direction, so that the first grasping mechanism 200 can move to the inner side of the turntable 122.

[0071] In this embodiment, the two-axis robot arm includes a Z-axis moving component 310 and a Y-axis moving component 320 arranged on the Z-axis moving component 310. The first grasping mechanism 200 is arranged on the Y-axis moving component 320 so that the first grasping mechanism 200 can move to the turntable 122 along the Z-axis direction and the Y-axis direction.

[0072] The Z-axis moving assembly 310 includes a base 311, a Z-axis screw 312 disposed on the base, a Z-axis slide 313 disposed on the Z-axis screw, and a Z-axis screw motor 314 for driving the Z-axis screw to move the Z-axis slide. The base can be disposed independently or on the bracket 110 of the beverage capsule storage mechanism 100.

[0073] The Y-axis moving assembly 320 includes a Y-axis screw rod 321 disposed on the Z-axis slide, a Y-axis slide 322 disposed on the Y-axis screw rod, and a Y-axis screw rod motor 323 that drives the Y-axis screw rod to move the Y-axis slide.

[0074] The first gripping mechanism 200 can be a mechanical gripper, an electric suction cup, or a combination of the two. In this embodiment, the first gripping mechanism 200 is an electric suction cup, which realizes the adsorption and release actions through electric control. The first gripping mechanism 200 is arranged on the Y-axis slide.

[0075] The first image acquisition mechanism 400 is a sensor or camera for acquiring the appearance, QR code or barcode information of the beverage capsule. In this embodiment, the first image acquisition mechanism 400 is a camera that can observe the conditions of the beverage capsule storage mechanism 100 and the transfer mechanism.

[0076] The camera can not only collect image information of beverage capsules, but also observe the situation at the beverage capsule storage mechanism 100, and can be particularly used to monitor the rotation of the turntable 122, such as the rotation position. The camera is electrically connected or wirelessly connected to the controller. The camera is set on the Y-axis slide and can move with the first gripping mechanism 200. A single camera can identify and cover the entire beverage capsule storage mechanism 100, which can reduce the number of cameras required for setting up and improve the success rate of gripping. The image recognition algorithm and database stored and run by the camera and the controller can automatically identify the type of beverage capsule and record it in the database of the controller, realizing intelligent inventory management and product type identification. It reduces manual intervention and improves operational efficiency and management accuracy. The beverage capsule attribute information collected by the camera includes the shape and pattern color of the beverage capsule. Furthermore, the beverage capsule attribute information collected by the camera may also include the name of the beverage capsule, the name of the manufacturer, and the size (capacity or weight).

[0077] The controller is electrically or wirelessly connected to the first grabbing mechanism 200, the first motion mechanism 300, the first image acquisition mechanism 400, the beverage capsule storage mechanism 100 and the transfer mechanism 500 to control the first grabbing mechanism 200, the first motion mechanism 300, the first image acquisition mechanism 400, the first beverage capsule storage mechanism 100 and the transfer mechanism 500 to work in coordination. The controller includes a central processing unit and a storage module; the central processing unit is connected to the storage module; the storage module stores a database program code for recording beverage capsule information, an image recognition algorithm program code, and a control program code for controlling the actions of the first grabbing mechanism 200, the first motion mechanism 300, the first image acquisition mechanism 400, the first beverage capsule storage mechanism 100 and the transfer mechanism 500. The central processing unit can control the beverage capsule storage and transfer device to work by running the above program code.

[0078] The controller can control the notch 1221 of the rotating disk 122 to align with the direction of the first gripping mechanism 200, and the camera can be combined with image recognition to assist in positioning. Specifically, the camera feeds back the collected image information to the controller, and the controller determines whether the notch 1221 is rotated to the preset position through the image recognition algorithm.

[0079] The working operation of the beverage capsule storage and transfer device of this embodiment is described as follows:

[0080] Storage of beverage capsules: The information of the beverage capsules is preset in the controller or the controller is connected to a cloud server that records the information of the beverage capsules. When working for the first time, the identification information of the beverage capsules to be stored, such as text, image feature information, and quantity information, is stored in the memory of the controller or the cloud server. If there are new types of beverage capsules to be stored, the new beverage capsule identification information is added to the controller or the cloud server. After the beverage capsules are stored in the placement part of the turntable 122, the controller controls the motion mechanism 300 to drive the camera to move to each layer of the turntable 122. The controller controls the turntable 122 to rotate, and uses an image recognition algorithm to identify each observed beverage capsule according to the image information fed back by the camera and the beverage capsule information preset in the database, and feeds the information back to the controller. The controller records or updates the information of the beverage capsules stored in each layer of the turntable 122, such as the storage quantity of the beverage capsules and the location information of the beverage capsules. The location information of the beverage capsules can be the turntable 122 (the turntable is numbered in advance) or the displacement value of the first motion mechanism 300 (such as the displacement value of the Z axis).

[0081] Capsule grabbing and delivery: when a certain type of beverage capsule needs to be taken out, the controller finds the turntable 122 where the target beverage capsule is located according to the beverage capsule information recorded in the database, and controls the first motion mechanism 300 to drive the first grabbing mechanism 200 to move to the turntable 122 where the target beverage capsule is located; when more than one turntable 122 stores the target beverage capsule, the turntable 122 closer to the first grabbing mechanism 200 can be selected or a designated turntable 122 can be selected according to a preset priority order; the controller controls the rotation of the turntable 122 and the movement of the first grabbing mechanism 200 at the same time, specifically, controls the target turntable 122 to rotate the target beverage capsule to face the direction where the first grabbing mechanism 200 is located, and controls the turntable 122 to move relative to the target beverage capsule. The adjacent rotating disk 122 also rotates, so that the notch 1221 of the adjacent rotating disk 122 faces the direction where the first grabbing mechanism 200 is located, leaving space for the first grabbing mechanism 200 to move. The controller controls the first moving mechanism 300 to drive the first grabbing mechanism 200 to move above the target beverage capsule to grab the target beverage capsule. After grabbing the target beverage capsule, the controller controls the first grabbing mechanism 200 to move above the storage table of the transfer mechanism 500, and places the target beverage capsule on the storage table 510. The controller controls the moving assembly 520 to drive the storage table 510 to move to the target position (for example, a beverage capsule vending machine). After the target beverage capsule is grabbed by the grabbing mechanism of the beverage capsule vending machine, the storage table 510 is reset.

[0082] Example 2

[0083] like Figure 7 As shown, different from the first embodiment, the beverage capsule storage and transfer device of this embodiment further includes a vibration plate feeding mechanism 600. The vibration plate feeding mechanism 600 is arranged below the first beverage capsule storage mechanism. As one embodiment, Figure 8 As shown, the vibration plate feeding mechanism 600 includes a vibration plate 610 and a feeding track 620. The output end of the vibration plate 610 is connected to the input end 621 of the feeding track 620, and the output end of the feeding track 620 is arranged within the range that the first gripping mechanism 200 can grip.

[0084] Specifically, the vibration plate 610 includes a vibration base 611, a hopper 612 disposed above the vibration base 611, and a spiral channel 630 that spirally ascends is disposed in the hopper 612. The feeding track 620 is two parallel tracks for supporting the brim of the beverage capsule, and the two parallel tracks are connected at the output end 622 of the feeding track 620 to fix the beverage capsule delivered to the output end 622 of the feeding track 620.

[0085] The spiral channel 630 is provided with a guide component 640, which is used to adjust the posture of the beverage capsule and screen the beverage capsules whose posture does not meet the requirements. As one embodiment, the guide component 640 is a guide rail arranged along the inner wall of the spiral channel 630. The guide rail extends from low to high along the direction of movement of the beverage capsule. When the beverage capsule moves to the guide rail, the guide rail gradually contacts the brim of the beverage capsule during the movement, and finally the beverage capsule tilts to one side under the force of the guide rail and the moving direction, completing the adjustment of the beverage capsule posture. The beverage capsule that cannot complete the posture adjustment eventually falls back to the bottom of the hopper.

[0086] When it is necessary to add or place beverage capsules, the working principle is as follows:

[0087] Placing beverage capsules: Place all beverage capsules that need to be put on the shelf in the hopper of the vibration plate feeding mechanism 600, start the vibration plate to arrange the beverage capsules in order, and transport the beverage capsules one by one to the output end of the feeding track in an orderly manner. The controller controls the first motion mechanism 300 to drive the first grabbing mechanism 200 to move to the output end of the feeding track. The camera collects image information of the beverage capsules at the output end of the feeding track and feeds the information back to the controller. The image recognition algorithm is used to identify the type of beverage capsules to be grabbed according to the beverage capsule information preset in the database. The first grabbing mechanism 200 grabs and transfers the beverage capsules to the placement part 1222 on the turntable 122, and the controller records the type of beverage and the location information of the beverage capsules. Repeat the above actions until the turntable 122 is full of beverage capsules and the vibration plate stops working. If new beverage capsules need to be added later, the above steps are also taken.

[0088] The other structures and connection relationships of the beverage capsule storage and transfer device described in this embodiment are the same as or similar to those in the first embodiment.

[0089] Example 3

[0090] like Fig. 9 As shown, different from the first embodiment, in order to better position the notch 1221, in the beverage capsule storage and transfer device of the present embodiment, the storage unit 120 further includes a rotation position sensor unit 124 for detecting the rotation position of the turntable 122, and the rotation position sensor unit is electrically or wirelessly connected to the controller. The rotation position sensor unit can detect the rotation position of the turntable 122, for example, the rotation position of the notch 1221, so as to more conveniently and accurately align the notch 1221 with the direction of the first gripping mechanism 200.

[0091] In this embodiment, the rotation position sensing unit 124 includes a rotation position sensor 1241 and at least one accessory 1242 adapted to the rotation position sensor; the rotation position sensor 1241 and the accessory 1242 may work in one of electrical induction, magnetic induction, optical induction, and mechanical induction. The rotation position sensor 1241 is electrically or wirelessly connected to the controller. The rotation position sensor 1241 is disposed on the bracket, and the accessory 1242 is disposed on the turntable 122. One of the accessories 1242 is used to feedback whether the notch 1221 is aligned with the direction of the first gripping mechanism 200. When the notch 1221 of the turntable 122 needs to be rotated to align with the direction of the first gripping mechanism 200, the rotation position sensor 1241 senses the accessory 1242, and the rotation position sensor 1241 feeds back to the controller to stop rotating the turntable 122.

[0092] The other structures and connection relationships of the beverage capsule storage and transfer device described in this embodiment are the same as or similar to those in the first embodiment.

[0093] Example 4

[0094] like Fig.10 As shown, a storage cabinet includes a cabinet body 700 and the beverage capsule storage and transfer device described in any one of embodiments 1 to 3; the beverage capsule storage and transfer device is arranged in the cabinet body 700, and the cabinet body 700 is provided with an opening 710 for the transfer mechanism of the beverage capsule storage and transfer device to pass through.

[0095] Example 5

[0096] like Fig.11 As shown, an automatic vending machine includes the storage cabinet and the beverage capsule vending machine described in Example 4; the storage cabinet is connected to the interior of the beverage capsule vending machine through an opening 710, so that the beverage capsule is transferred to the beverage capsule vending machine through a transfer mechanism 500;

[0097] The beverage capsule vending machine includes a beverage capsule storage and retrieval device, a beverage capsule brewing mechanism, a human-computer interaction system for consumers to select products, and a payment system; the human-computer interaction system is respectively connected to the payment system and the controller.

[0098] In this embodiment, the beverage capsule storage and access device 800 and the beverage capsule brewing mechanism are respectively located above and below the beverage capsule vending machine.

[0099] The beverage capsule storage and retrieval device 800 includes a second beverage capsule storage mechanism, a second gripping mechanism, a second motion mechanism for driving the second gripping mechanism to move, and a second image acquisition mechanism. The second image acquisition mechanism is installed on the second gripping mechanism or the second motion mechanism; the controller is electrically or wirelessly connected to the second gripping mechanism, the second motion mechanism, the second image acquisition mechanism, and the second beverage capsule storage mechanism, respectively.

[0100] The second beverage capsule storage mechanism has the same or similar structure as the first beverage capsule storage mechanism. Similarly, the second gripping mechanism has the same or similar structure as the first gripping mechanism. The second motion mechanism has the same or similar structure as the first motion mechanism. The second image acquisition mechanism has the same or similar structure as the first image acquisition mechanism.

[0101] In the vending machine of this embodiment, the target position of the transfer mechanism in the beverage capsule storage and transfer device is within the range that the second grabbing mechanism can grab. When the transfer mechanism transfers the beverage capsule, the transfer mechanism moves from the inside of the beverage capsule storage and transfer device to the inside of the beverage capsule vending machine, and is located within the range that the second grabbing mechanism can grab, and the second grabbing mechanism grabs the beverage capsule on the transfer mechanism.

[0102] Obviously, the above embodiments of the present invention are merely examples for clearly illustrating the present invention, and are not intended to limit the embodiments of the present invention. For those skilled in the art, other different forms of changes or modifications can be made based on the above description. It is not necessary and impossible to list all the embodiments here. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the present invention should be included in the protection scope of the claims of the present invention.

Claims

1. A beverage capsule storage and transfer device, characterized in that: It comprises a first beverage capsule storage mechanism, a first grabbing mechanism, a first motion mechanism for driving the first grabbing mechanism to move, a first image acquisition mechanism, a transmission mechanism and a controller; the first image acquisition mechanism is installed on the first grabbing mechanism or the first motion mechanism; The transfer mechanism comprises a storage platform and a moving component for reciprocating the storage platform with a target position at a first grabbing mechanism; the first grabbing mechanism is used to grab the beverage capsule stored in the first beverage capsule storage mechanism and place it on the storage platform; The controller is electrically or wirelessly connected to the first grabbing mechanism, the first moving mechanism, the first image acquisition mechanism, the first beverage capsule storage mechanism and the transmission mechanism respectively.

2. The beverage capsule storage and retrieval device according to claim 1, characterized in that: The moving assembly includes a screw rod, a slide seat arranged on the screw rod, and a screw rod motor driving the screw rod to move the slide seat; the slide seat is connected and fixed to the storage table.

3. The beverage capsule storage and retrieval device according to claim 1, characterized in that: The first beverage capsule storage mechanism includes a bracket and a plurality of storage units distributed up and down; each of the storage units includes a support plate, a turntable, and a motor for driving the turntable to rotate; at least a portion of the support plate is connected to the bracket to fix the support plate; the support plate is used to support the motor and / or the turntable; a plurality of placement portions for placing beverage capsules are provided on the periphery and inner side of the turntable; the turntables of each storage unit are distributed up and down, and the axial centerline directions of each turntable are the same; a plurality of turntables are provided with notches, the notches extend from the outer edge of the turntable to the inner side, and the size of the notches allows the first grabbing mechanism to pass through when moving, so as to facilitate grabbing of the beverage capsule on an adjacent turntable corresponding to the notch.

4. The beverage capsule storage and retrieval device according to claim 1, characterized in that: The transfer mechanism is arranged above, below or on one side of the first beverage capsule storage mechanism; or the transfer mechanism is arranged between two of the storage units.

5. The beverage capsule storage and retrieval device according to claim 1 or 3, characterized in that: The first motion mechanism is a two-axis robotic arm, which includes a Z-axis moving component and an X or Y-axis moving component arranged on the Z-axis moving component. The first grasping mechanism is arranged on the X or Y-axis moving component so that the first grasping mechanism can move to the turntable along the Z-axis direction and the X or Y-axis direction.

6. The beverage capsule storage and retrieval device according to claim 1, characterized in that: The first image acquisition mechanism is a camera or a sensor.

7. The beverage capsule storage and retrieval device according to claim 3, characterized in that: The storage unit further includes a rotation position sensing unit for detecting the rotation position of the turntable, and the rotation position sensing unit is electrically or wirelessly connected to the controller.

8. The beverage capsule storage and retrieval device according to claim 1, characterized in that: The beverage capsule storage and transfer device further comprises a vibration plate feeding mechanism; the vibration plate feeding mechanism is used to arrange the beverage capsules in order and convey them to a range that can be grasped by the first grasping mechanism; the vibration plate feeding mechanism is electrically or wirelessly connected to the controller.

9. A storage cabinet, characterized in that: It comprises a cabinet and the beverage capsule storage and transfer device according to any one of claims 1 to 8; the beverage capsule storage and transfer device is arranged in the cabinet, and the cabinet is provided with an opening for the transfer mechanism to pass through.

10. A vending machine, characterized in that: It comprises the storage cabinet and beverage capsule vending machine as claimed in claim 9; the storage cabinet is connected to the interior of the beverage capsule vending machine through the opening so as to transfer the beverage capsule to the beverage capsule vending machine through the transfer mechanism; the beverage capsule vending machine comprises a beverage capsule storage and retrieval device and a beverage capsule brewing mechanism.

Images