Full-automatic unmanned coffee making device

Abstract

The invention relates to the technical field of automatic coffee making equipment, in particular to a full-automatic unmanned coffee making device which comprises a base station, the base station is provided with a full-automatic coffee machine and a full-automatic paper cup separating device, a bidirectional moving device is arranged in the middle of the base station, and an automatic grabbing and placing device is arranged at the top of the bidirectional moving device. A transparent glass cover is mounted on the surface of the base; a window is formed in one side of the transparent glass cover; the full-automatic unmanned coffee making process is achieved, a user only needs to start equipment through the touch display screen controller, the system can automatically complete the whole process from paper cup separation, coffee making to finished cup output, and convenience and efficiency are greatly improved; by means of the full-automatic paper cup separating device, stacked paper cups can be accurately separated, the paper cup on the bottommost layer can be taken out, full-automatic operation is achieved, and the paper cups can be effectively separated and placed in an unattended state.

Description

Technical Field

[0001] The present invention relates to the technical field of automatic coffee making equipment, and in particular to a fully automatic unmanned coffee making device. Background Art

[0002] As the pace of social life continues to accelerate, coffee has become an indispensable part of people's daily lives, especially in public places such as offices, shopping malls, and cafes. The demand for coffee is increasing. A fully automatic coffee machine is a device that can automatically complete the entire coffee making process. It is usually used in home, office or commercial environments. Unlike semi-automatic or manual coffee machines, fully automatic coffee machines can independently complete multiple steps from grinding coffee beans, adding water, extracting coffee to serving. Users only need to press a button to enjoy a cup of fresh, professionally brewed coffee.

[0003] However, most of the equipment on the market today cannot achieve closed-loop automated operation from paper cup feeding to finished product output; the intermediate process still requires human intervention, which cannot maximize the efficiency of automated equipment. On the one hand, the separation and precise placement of paper cups is a complex process, and many automated equipment require human intervention to complete the removal and placement of paper cups; on the other hand, many automated equipment are prone to problems such as cup jamming and tight adhesion when handling paper cups, which require human intervention to solve, increasing operating costs and time. Summary of the invention

[0004] In view of the defects existing in the above-mentioned prior art, the present invention provides a fully automatic unmanned coffee making device, which solves the problems that the traditional manual coffee making method is time-consuming and inefficient, and the existing coffee machine requires manual placement of paper cups in the appropriate position, which is time-consuming and labor-intensive.

[0005] The objective of the present invention is achieved through the following technical scheme: a fully automatic unmanned coffee making device, comprising a base, the base is provided with a fully automatic coffee machine and a fully automatic paper cup separation device, a two-way moving device is provided in the middle of the base, an automatic grabbing and placing device is provided on the top of the two-way moving device, a transparent glass cover is installed on the surface of the base, and a window is opened on one side of the transparent glass cover;

[0006] The fully automatic paper cup separation device comprises a box body, two groups of first bearing seats are symmetrically installed on the top of the box body, a rotating shaft is rotatably connected between each group of the first bearing seats, a rotating disk is fixedly connected to the surface of the rotating shaft, a first sliding groove is opened on one side surface of the rotating disk, and a second sliding groove opposite to the first sliding groove is opened on the other side surface of the rotating disk, an eccentric rotating lifting mechanism is fixedly connected to the surface of the rotating shaft located on both sides of the rotating disk, a cylinder mounting plate is arranged at the bottom of each two eccentric rotating lifting mechanisms, a cylinder is installed on the top of the cylinder mounting plate, an arc-shaped clamping plate is connected to the output end of the cylinder, a first sliding pin is arranged in the first sliding groove, a first connecting rod is connected to one side of the first sliding pin, and a first arc-shaped support is connected to one end of the first connecting rod. A support plate, a second sliding pin is arranged in the second sliding groove, a second connecting rod is connected to one side of the second sliding pin, one end of the second connecting rod is connected to the second arc supporting plate, one end of the rotating shaft is connected to a driven pulley, a first servo motor is installed at the bottom of the inner surface of the box body, one end of the first servo motor is connected to a driving pulley, the driving pulley is connected to the two driven pulleys by belts, a limiting block is installed on one side of the first arc supporting plate at the top of the box body, the first connecting rod and the second connecting rod are both slidably connected to the limiting block, a through groove for rotation of the rotating disk, for lifting of the eccentric rotating lifting mechanism, for the belt transmission, and for placing paper cups is opened on the top of the box body, and a cup holder is arranged at the bottom of the inner inner wall of the box body directly below the paper cup.

[0007] Furthermore, the eccentric rotating lifting mechanism includes a first eccentric gear and a second eccentric gear, the first eccentric gear and the second eccentric gear are meshed and connected, the first eccentric gear and the second eccentric gear are jointly rotatably connected on both sides with a gourd-shaped plate, the two gourd-shaped plates are connected by a pin, the rotating shaft is fixedly connected to the first eccentric gear at a point deviating from the center of the circle, the second eccentric gear is connected to a connecting shaft at both sides deviating from the center of the circle, the two connecting shafts are jointly rotatably connected to a first concave plate, the top of the inner wall of the box body is located on both sides of the first concave plate and is connected to the second concave plate, the bottom of the first concave plate is connected to a first sliding rod, the first sliding rod passes through the second concave plate and is connected to the cylinder mounting plate.

[0008] Furthermore, the bidirectional moving device includes a fixed plate, linear guide rails are installed on both sides of the top of the fixed plate, and a movable plate is installed on the top of the two linear guide rails, and both ends of the movable plate are connected to an L-shaped connecting plate, and the surface of the fixed plate is provided with a sliding groove for the sliding of the L-shaped connecting plate. A second servo motor is installed at the bottom of the L-shaped connecting plate, and racks are installed on both sides of the bottom of the fixed plate. The output end of the second servo motor passes through the L-shaped connecting plate and is connected to a gear, and the gear and the rack are meshingly connected. Second bearing seats are installed on both sides of the top of the movable plate, and a screw rod is rotatably connected between the two second bearing seats, and a nut seat is threadedly connected to the surface of the screw rod, and two sliding rod supports are installed on the top of the movable plate on both sides of the second bearing seat, and a second sliding rod is connected between the two sliding rod supports. A linear bearing is slidably connected to the surface of the second sliding rod, and a slide table is connected to the top of the linear bearing, and a third servo motor is installed on the top of the movable plate, and the third servo motor is connected to the screw rod.

[0009] Furthermore, the automatic grasping and placing device includes a supporting platform, a first stepper motor is installed at the bottom of the supporting platform, the output end of the first stepper motor passes through the supporting platform and is connected to a rotating disk through a flange coupling, two motor mounting vertical plates are installed on the top of the rotating disk, a second stepper motor is installed on one side of the motor mounting vertical plate, the output end of the second stepper motor is connected to the first rotating plate through a flange coupling, a motor mounting horizontal plate is arranged on the top of the two first rotating plates, a third stepper motor is installed at both ends of the motor mounting horizontal plate, one of the output ends of the third stepper motor is connected to the top of one of the first rotating plates through a flange coupling, one side of one of the third stepper motors is rotatably connected to the top of the other first rotating plate through a flange rotating shaft, and the output end of the other third stepper motor is connected to the top of the other first rotating plate through a flange coupling. The shaft is connected to a rotating frame, and another side of the third stepper motor is rotationally connected to the rotating frame through a flange rotating shaft. A fourth servo motor is installed on the rotating frame, and the output end of the fourth servo motor is connected to a clamping grab mounting frame through a flange coupling. A fifth stepper motor is installed on one side of the clamping grab mounting frame, and the output end of the fifth stepper motor passes through the clamping grab mounting frame and is connected to a first gear connecting rod through a flange coupling. The other side of the clamping grab mounting frame is rotationally connected to a second gear connecting rod through a rotating shaft, and the second gear connecting rod is meshed with the first gear connecting rod. One end of the first gear connecting rod and the second gear connecting rod are both rotationally connected to an arc-shaped clamping grab through a rotating shaft, and both sides of the clamping grab mounting frame are rotationally connected to third connecting rods, and the third connecting rod is rotationally connected to the center of the corresponding arc-shaped clamping grab through a rotating shaft.

[0010] Furthermore, support legs are installed at the bottom of the box.

[0011] Furthermore, the support platform is connected to the slide platform.

[0012] Furthermore, a touch screen controller is arranged on the top of the base, outside the transparent glass cover.

[0013] In summary, compared with the prior art, the present invention has the following advantages:

[0014] 1. The present invention realizes a fully automatic unmanned coffee making process. The user only needs to start the device through the touch screen controller, and the system will automatically complete the whole process from paper cup separation, coffee making to finished cup output, which greatly improves convenience and efficiency.

[0015] 2. The fully automatic paper cup separation device of the present invention can accurately separate the stacked paper cups and take out the bottom paper cups, realizing fully automatic operation, and can effectively separate and place paper cups in an unattended state. Its core mechanism uses precise mechanical design, uses an electric motor to drive the rotation and lifting device, and is precisely clamped with an arc-shaped clamping plate to ensure that the paper cups are smoothly taken out of the stack. Two sets of arc-shaped support plates are used in combination, and the two sets cooperate with each other to support the bottom of the paper cups to ensure that the paper cups will not fall during the work process. This automation not only reduces the manpower demand, but also improves work efficiency.

[0016] 3. The automatic grabbing and placing device of the present invention has the ability to adjust multiple degrees of freedom, and the cooperation of the bidirectional moving device can accurately control the position of grabbing and placing the paper cup according to actual needs. Through the cooperation of multiple servo motors and stepper motors, it is ensured that the grabbing device can accurately grab the paper cup and place it in the appropriate position, ensuring the efficiency and accuracy of the entire system.

[0017] 4. In the present invention, multiple servo motors and stepper motors are used to make the speed of the whole process relatively smooth, thereby preventing the paper cups filled with coffee from shaking and causing overflow during transportation, and ensuring the stability of the coffee liquid in the paper cups. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Figure 1 It is a schematic diagram of the structure of the present invention;

[0019] Figure 2 This is a structural schematic diagram of the fully automatic paper cup separation device of the present invention;

[0020] Figure 3 This is a structural schematic diagram of the fully automatic paper cup separation device of the present invention;

[0021] Figure 4 This is a schematic diagram of the structure of the eccentric rotating lifting mechanism of the present invention;

[0022] Figure 5 It is a schematic diagram of the structure of the bidirectional mobile device of the present invention;

[0023] Figure 6 It is a schematic diagram of the structure of the bidirectional mobile device of the present invention;

[0024] Figure 7 This is a schematic diagram of the structure of the automatic grabbing and placing device of the present invention;

[0025] Figure 8 It is a schematic diagram of the structure of the automatic grabbing and placing device of the present invention.

[0026] In the figure: 1-base, 2-full-automatic coffee machine, 3-full-automatic paper cup separation device, 4-bidirectional moving device, 5-automatic grabbing and placing device, 6-transparent glass cover, 7-window, 8-paper cup, 301-box, 302-first bearing seat, 303-rotating shaft, 304-rotating plate, 305-first sliding groove, 306-second sliding groove, 307-eccentric rotating lifting mechanism, 308-cylinder mounting plate, 309-cylinder, 310-arc clamping plate, 311-first Sliding pin, 312-first connecting rod, 313-first arc support plate, 314-second sliding pin, 315-second connecting rod, 316-second arc support plate, 317-driven pulley, 318-first servo motor, 319-driving pulley, 320-belt, 321-limiting block, 322-cup holder, 3071-first eccentric gear, 3072-second eccentric gear, 3073-gourd plate, 3074-pin, 3075-connecting shaft, 3076-first concave Plate, 3077-second concave plate, 3078-first slide bar, 401-fixed plate, 402-linear guide rail, 403-movable plate, 404-L-type connecting plate, 405-second servo motor, 406-rack, 407-gear, 408-second bearing seat, 409-screw, 410-nut seat, 411-slide bar support, 412-second slide bar, 413-linear bearing, 414-slide table, 415-third servo motor, 501-support table, 502-first Stepper motor, 503-rotating disc, 504-motor mounting vertical plate, 505-second stepper motor, 506-first rotating plate, 507-motor mounting horizontal plate, 508-third stepper motor, 509-rotating frame, 510-fourth servo motor, 511-clamping gripper mounting frame, 512-fifth stepper motor, 513-first gear connecting rod, 514-second gear connecting rod, 515-arc clamping gripper, 516-third connecting rod, 9-supporting leg, 10-touch display screen controller. DETAILED DESCRIPTION

[0027] The technical solution of the present invention is further specifically described below through specific embodiments, but the present invention is not limited to these embodiments.

[0028] Combination Figures 1 to 8As shown, a fully automatic unmanned coffee making device comprises a base 1, on which a fully automatic coffee machine 2 and a fully automatic paper cup separation device 3 are arranged, a bidirectional moving device 4 is arranged in the middle of the base 1, an automatic grabbing and placing device 5 is arranged on the top of the bidirectional moving device 4, a transparent glass cover 6 is installed on the surface of the base 1, and a window 7 is opened on one side of the transparent glass cover 6;

[0029] Combination Figure 2 , Figure 3 As shown, the fully automatic paper cup separation device 3 includes a box body 301, two groups of first bearing seats 302 are symmetrically installed on the top of the box body 301, a rotating shaft 303 is rotatably connected between each group of first bearing seats 302, a rotating disk 304 is fixedly connected to the surface of the rotating shaft 303, a first sliding groove 305 is opened on one side of the rotating disk 304, and a second sliding groove 306 opposite to the first sliding groove 305 is opened on the other side of the rotating disk 304. The surface of the rotating shaft 303 is fixedly connected to both sides of the rotating disk 304. The eccentric rotating lifting mechanism 307 is connected, and a cylinder mounting plate 308 is arranged at the bottom of each of the two eccentric rotating lifting mechanisms 307. A cylinder 309 is installed on the top of the cylinder mounting plate 308. The output end of the cylinder 309 is connected to an arc clamping plate 310. A first sliding pin 311 is arranged in the first sliding groove 305, and a first connecting rod 312 is connected to one side of the first sliding pin 311. One end of the first connecting rod 312 is connected to a first arc supporting plate 313. A second sliding pin 314 is arranged in the second sliding groove 306. The second sliding pin 314 is connected to the second sliding pin 314. A second connecting rod 315 is connected to one side of the movable pin 314, and one end of the second connecting rod 315 is connected to a second arc-shaped support plate 316. One end of the rotating shaft 303 is connected to a driven pulley 317. A first servo motor 318 is installed at the bottom of the inner surface of the box body 301. One end of the first servo motor 318 is connected to a driving pulley 319. The driving pulley 319 is connected to the two driven pulleys 317 through a belt 320. A limit block 321 is installed on one side of the first arc-shaped support plate 313 at the top of the box body 301. The first connecting rod 315 is connected to the driven pulley 317 at one end of the rotating shaft 303. 12 and the second connecting rod 315 are both slidably connected with the limit block 321. The top of the box body 301 is provided with a through groove for the rotation of the rotating disk 304, the lifting of the eccentric rotating lifting mechanism 307, the transmission of the belt 320, and the placement of the paper cup 8. The bottom of the inner wall of the box body 301 is provided with a cup holder 322 just below the paper cup 8; the stacked paper cups can be accurately separated and the bottom layer of paper cups can be taken out through the fully automatic paper cup separation device, realizing fully automatic operation, and being able to effectively separate and place paper cups in an unattended state. Its core mechanism uses precise mechanical design, uses an electric motor to drive the rotation and lifting device, and is precisely clamped with an arc-shaped clamping plate to ensure that the paper cups are smoothly taken out of the stack. Two sets of arc-shaped support plates are used in combination, and the two sets cooperate with each other to support the bottom of the paper cup to ensure that the paper cups will not fall during the work process. This automation not only reduces the manpower demand, but also improves work efficiency.

[0030] Combination Figure 4 As shown, the eccentric rotating lifting mechanism 307 includes a first eccentric gear 3071 and a second eccentric gear 3072, the first eccentric gear 3071 and the second eccentric gear 3072 are meshed and connected, the first eccentric gear 3071 and the second eccentric gear 3072 are connected to a gourd-shaped plate 3073 on both sides of the first eccentric gear 3071 and the second eccentric gear 3072 for common rotation, the two gourd-shaped plates 3072 are connected by a pin 3074, the rotating shaft 303 is fixedly connected to the first eccentric gear 3071 at a position deviating from the center of the circle, the second eccentric gear 3072 is connected to a connecting shaft 3075 at both sides of the center of the circle, the two connecting shafts 3075 are connected to a first concave plate 3076 for common rotation, the top of the inner wall of the box body 301 is located on both sides of the first concave plate 3076 and is connected to a second concave plate 3077, the bottom of the first concave plate 3076 is connected to a first slide bar 3078, the first slide bar 3078 passes through the second concave plate 3077 and is installed with the cylinder The first eccentric gear 3071 is connected to the plate 3072. When the rotating shaft 303 rotates, it drives the first eccentric gear 3071 to rotate on the gourd-shaped plate 3072. The first eccentric gear 3071 and the second eccentric gear 3072 are meshed and connected, which will drive the second eccentric gear 3072 to rotate on the gourd-shaped plate 3072. The second eccentric gear 3072 is connected with a connecting shaft 3075 away from the center of the circle. The connecting shaft 3075 is rotationally connected to the first concave plate 3076. At this time, the second eccentric gear 3072 rotates, and the first sliding bar 3078 at the bottom of the first concave plate 3076 is slidingly connected to the second concave plate 3077, so the first concave plate 3076 and the first sliding bar 3078 will move up and down, thereby driving the cylinder mounting plate 308 and the cylinder 309 to move up and down, and share a driving system with the rotating disk 304, so that the cylinder 309 moves up and down and cooperates with the first and second arc-shaped support plates.

[0031] Combination Figure 5 , Figure 6As shown, the bidirectional moving device 4 includes a fixed plate 401, linear guide rails 402 are installed on both sides of the top of the fixed plate 401, a moving plate 403 is installed on the top of the two linear guide rails 402, L-shaped connecting plates 404 are connected to both ends of the moving plate 403, a sliding groove for sliding the L-shaped connecting plate 404 is opened on the surface of the fixed plate 401, a second servo motor 405 is installed at the bottom of the L-shaped connecting plate 404, racks 406 are installed on both sides of the bottom of the fixed plate 401, the output end of the second servo motor 405 passes through the L-shaped connecting plate 404 and is connected to a gear 407, the gear 407 and the rack 406 are meshed and connected, second bearing seats 408 are installed on both sides of the top of the moving plate 403, a screw rod 409 is rotatably connected between the two second bearing seats 408, a nut seat 410 is threadedly connected to the surface of the screw rod 409, and the top of the moving plate 403 is located on both sides of the second bearing seat 408. Two slide rod supports 411, a second slide rod 412 is connected between the two slide rod supports 411, a linear bearing 413 is slidably connected to the surface of the second slide rod 412, a slide table 414 is connected to the top of the linear bearing 413, a third servo motor 415 is installed on the top of the movable plate 403, the third servo motor 415 is connected to the screw rod 409, and the gear 407 is driven by the second servo motor 405 to engage with the rack 406, so that the L-shaped connecting plate 404 and the movable plate 403 move, and the movable plate 403 gradually approaches the fully-automatic paper cup separation device 3, and the screw rod 409 is threadedly connected with the nut seat 410 by the third servo motor 415, so that the slide table 414 gradually approaches the fully-automatic paper cup separation device 3, so that the automatic grasping and placing device 5 can move accurately inside the device, so as to transfer paper cups and place coffee between different positions, thereby enhancing the automation and flexibility of the system.

[0032] Combination Figure 7 , Figure 8As shown, the automatic grasping and placing device 5 includes a support table 501, a first stepper motor 502 is installed at the bottom of the support table 501, the output end of the first stepper motor 502 passes through the support table 501 and is connected to a rotating disk 503 through a flange coupling, two motor mounting vertical plates 504 are installed on the top of the rotating disk 503, a second stepper motor 505 is installed on one side of the motor mounting vertical plate 504, the output end of the second stepper motor 505 is connected to a first rotating plate 506 through a flange coupling, a motor mounting horizontal plate 507 is arranged on the top of the two first rotating plates 506, and a third stepper motor 508 is installed at both ends of the motor mounting horizontal plate 507, and one of the output ends of the third stepper motor 508 is connected to the top of one of the first rotating plates 506 through a flange coupling. The third stepper motor 508 is connected to the top of the other first rotating plate 506 through a flange rotating shaft, and the output end of the other third stepper motor 508 is connected to the rotating frame 509 through a flange rotating shaft. The other third stepper motor 508 is connected to the rotating frame 509 through a flange rotating shaft. A fourth servo motor 510 is installed on the rotating frame 509. The output end of the fourth servo motor 510 is connected to a clamping and grasping mounting frame 511 through a flange coupling. A fifth stepper motor 512 is installed on one side of the clamping and grasping mounting frame 511. The output end of the fifth stepper motor 512 passes through the clamping and grasping mounting frame 511 and is connected to a first gear connecting rod 513 through a flange coupling. The other side of the clamping and grasping mounting frame 511 is connected to a rotating shaft through a rotating shaft. A second gear link 514 is connected, and the second gear link 514 is meshed with the first gear link 513. One end of the first gear link 513 and the second gear link 514 are both rotatably connected with an arc-shaped clamping catch 515 through a rotating shaft. Both sides of the clamping catch mounting frame 511 are rotatably connected with a third link 516. The third link 516 is rotatably connected to the center of the corresponding arc-shaped clamping catch 515 through a rotating shaft. The third servo motor 415 drives the screw rod 409 to be threadedly connected with the nut seat 410, so that the slide 414 gradually approaches the fully automatic paper cup separation device 3. At this time, the automatic grabbing and placing device 5 will grab the paper cup 8 in the cup rack 322, and the first stepper motor 502 drives the rotating disc 503 to rotate, so that the arc-shaped clamping catch 515 faces Paper cup 8, drives the first rotating plate 506 to rotate through the second stepper motor 505, adjusts the angle of the first rotating plate 506 to adjust the height of the arc clamping catch 515, drives the motor mounting cross plate 507 to rotate through one of the third stepper motors 508, and adjusts the height of the arc clamping catch 515 again, drives the rotating frame 509 to rotate through another third stepper motor 508, and adjusts the angle of the arc clamping catch 515, drives the clamping catch mounting frame 511 through the fourth servo motor 510, and adjusts the angle of the arc clamping catch 515 again, drives the first gear connecting rod 513 to rotate through the fifth stepper motor 512, and meshes with the second gear connecting rod 514, and then adjusts the clamping of the two arc clamping catches 515 through the cooperation of the third connecting rod 516,The paper cup 8 in the cup holder 322 is grasped by two arc-shaped grippers 515, and the grasping and placing action is precisely controlled by multiple motors working together to ensure that the gripping and releasing of the paper cup can be precisely operated, thus achieving completely unmanned operation and reducing the need for manual intervention.

[0033] Combination Figure 1 As shown, support legs 9 are installed at the bottom of the box 301 to provide additional stability.

[0034] Combination Figure 5 As shown, the support platform 501 is connected to the slide platform 414 to ensure that the bidirectional moving device 4 can drive the automatic grasping and placing device 5 to move accurately.

[0035] Combination Figure 1 As shown, a touch screen controller 10 is provided on the top of the base 1 outside the transparent glass cover 6 , and the user starts the device by touching the display controller 10 .

[0036] Working principle: when coffee is needed, the user starts the device by touching the display screen controller 10, and the automatic paper cup separation device 3 starts to work. The bottommost paper cup 8 of the stacked paper cups 8 is placed between the two first arc-shaped support plates 313, and the two second arc-shaped support plates 316 are located between the bottommost paper cup 8 and the second-to-last paper cup 8. The first arc-shaped support plate 313 and the second arc-shaped support plate 316 are both located below the edge of the paper cup 8. The driving pulley 319 is driven by the first servo motor 318, and the power is then transmitted to the two driven pulleys 317 through the belt 320. The two driven pulleys 317 will drive the two rotating shafts 303 to rotate at the same time, and drive the rotating disk 304 to rotate. The first and second sliding plates are respectively on the first and second sliding plates. When the rotating disk 304 is rotated, the first and second connecting rods are driven to slide in the limit block 321, thereby driving the first and second arc-shaped support plates to move. Since the first sliding groove 305 and the second sliding groove 306 are in opposite directions, when the two first arc-shaped support plates 313 are close to each other, the two second arc-shaped support plates 316 are away from each other, and when the two first arc-shaped support plates 313 are away from each other, the two second arc-shaped support plates 316 are close to each other. When the rotating shaft 303 rotates, the first eccentric gear 3071 is driven to rotate on the gourd-shaped plate 3072. The first eccentric gear 3071 and the second eccentric gear 3072 are meshed and connected, which will drive the second eccentric gear 3072 to rotate on the gourd-shaped plate 3072. 072 is connected with a connecting shaft 3075 away from the center of the circle, and the connecting shaft 3075 is rotationally connected with the first concave plate 3076. At this time, the second eccentric gear 3072 rotates, and the first slide bar 3078 at the bottom of the first concave plate 3076 is slidably connected with the second concave plate 3077, so the first concave plate 3076 and the first slide bar 3078 will move up and down, thereby driving the cylinder mounting plate 308 and the cylinder 309 to move up and down, and the cylinder 309 drives the arc clamping plate 310 to extend and retract, and the two arc clamping plates 310 clamp the paper cup 8 at the bottom layer at the same time. When the straight-line distance between the connecting shaft 3075 and the rotating shaft 303 is the smallest, the straight-line distance between the two first arc support plates 313 is the largest, and the two second arc support plates 313 are When the straight-line distance between the plates 316 is the smallest, the two first arc-shaped support plates 313 will no longer support the bottom paper cup 8, and the two second arc-shaped support plates 316 will hold all paper cups 8 except the bottom paper cup 8. At this time, the cylinder 309 is activated, and the two arc-shaped clamping plates 310 clamp the bottom paper cup 8. At the same time, the rotating shaft 303 continues to rotate, and the bottom paper cup 8 will be clamped downward. At the same time, the two first arc-shaped support plates 313 move closer to each other, and the two second arc-shaped support plates 316 move away from each other. The stacked paper cups 8 will fall due to gravity. When the straight-line distance between the connecting shaft 3075 and the rotating shaft 303 is the largest, the original bottom paper cup 8 has been clamped by the two arc-shaped clamping plates 310 and is separated from the stacked paper cups 8. The cylinder 309 contracts.The original bottom layer of paper cups 8 will fall into the cup rack 322 due to gravity. At the same time, the straight-line distance between the two first arc-shaped support plates 313 is the smallest, and the stacked paper cups 8 will be dragged. The automatic grabbing and placing device 5 is transported to a suitable position through the bidirectional moving device 4. The second servo motor 405 drives the gear 407 to mesh with the rack 406, so that the L-shaped connecting plate 404 and the moving plate 403 move. The moving plate 403 gradually approaches the fully automatic paper cup separating device 3, and the third servo motor 415 drives the screw rod 409 is threadedly connected with the nut seat 410, so that the slide 414 gradually approaches the fully automatic paper cup separation device 3. At this time, the automatic grabbing and placing device 5 will grab the paper cup 8 in the cup rack 322, and the rotating disk 503 is driven to rotate by the first stepper motor 502, so that the arc clamping grip 515 faces the paper cup 8. The first rotating plate 506 is driven to rotate by the second stepper motor 505, and the angle of the first rotating plate 506 is adjusted to adjust the height of the arc clamping grip 515. The motor 508 is driven by one of the third stepper motors 508 to rotate. The horizontal plate 507 is installed to rotate, and the height of the arc clamping catch 515 is adjusted again. The rotating frame 509 is driven to rotate by another third stepper motor 508 to adjust the angle of the arc clamping catch 515. The clamping catch mounting frame 511 is driven by the fourth servo motor 510 to adjust the angle of the arc clamping catch 515 again. The first gear connecting rod 513 is driven to rotate by the fifth stepper motor 512 to mesh with the second gear connecting rod 514. The clamping of the two arc clamping catches 515 is adjusted by the cooperation of the third connecting rod 516. The paper cup 8 in the cup holder 322 is grabbed by two arc-shaped grippers 515, and the automatic grabbing and placing device 5 is moved to the cup table of the fully automatic coffee machine 2 by the bidirectional moving device 4. After the fully automatic coffee machine 2 pours coffee into the paper cup 8, the automatic grabbing and placing device 5 grabs the paper cup 8 filled with coffee, and then the automatic grabbing and placing device 5 is moved to the position of the window 7 by the bidirectional moving device 4. The paper cup 8 filled with coffee is placed at the window 7 by the automatic grabbing and placing device 5, and the user can take the prepared coffee at the window 7.

[0037] The implementation of the present invention is not limited to the above-mentioned embodiments. Without departing from the spirit and scope of the present invention, ordinary technicians in this field can make various changes and improvements to the present invention in form and detail, and these are considered to fall within the protection scope of the present invention.

Claims

1. A fully automatic unmanned coffee making device, comprising a base (1), characterized in that: The base (1) is provided with a fully automatic coffee machine (2) and a fully automatic paper cup separation device (3); a bidirectional moving device (4) is provided in the middle of the base (1); an automatic grabbing and placing device (5) is provided on the top of the bidirectional moving device (4); a transparent glass cover (6) is installed on the surface of the base (1); a window (7) is provided on one side of the transparent glass cover (6); The fully automatic paper cup separation device (3) comprises a box body (301), two groups of first bearing seats (302) are symmetrically mounted on the top of the box body (301), a rotating shaft (303) is rotatably connected between each group of the first bearing seats (302), a rotating disk (304) is fixedly connected to the surface of the rotating shaft (303), a first sliding groove (305) is provided on one side of the rotating disk (304), a second sliding groove (306) in the opposite direction to the first sliding groove (305) is provided on the other side of the rotating disk (304), and the rotating shaft (303) is fixedly connected to the surface of the rotating shaft (303). An eccentric rotating lifting mechanism (307) is fixedly connected to both sides of the rotating disk (304), a cylinder mounting plate (308) is arranged at the bottom of each of the two eccentric rotating lifting mechanisms (307), a cylinder (309) is installed on the top of the cylinder mounting plate (308), an arc-shaped clamping plate (310) is connected to the output end of the cylinder (309), a first sliding pin (311) is arranged in the first sliding groove (305), a first connecting rod (312) is connected to one side of the first sliding pin (311), and a first arc-shaped supporting plate (313) is connected to one end of the first connecting rod (312). ), a second sliding pin (314) is arranged in the second sliding groove (306), a second connecting rod (315) is connected to one side of the second sliding pin (314), one end of the second connecting rod (315) is connected to a second arc-shaped supporting plate (316), one end of the rotating shaft (303) is connected to a driven pulley (317), a first servo motor (318) is installed at the bottom of the inner surface of the box body (301), one end of the first servo motor (318) is connected to a driving pulley (319), the driving pulley (319) and the two driven pulleys (317) are connected by belts The box body (301) is connected with a belt (320), a limit block (321) is installed on the top of the box body (301) on one side of the first arc-shaped support plate (313), the first connecting rod (312) and the second connecting rod (315) are both slidably connected with the limit block (321), the top of the box body (301) is provided with a through groove for the rotation of the rotating disk (304), for the lifting of the eccentric rotating lifting mechanism (307), for the transmission of the belt (320), and for placing the paper cup (8), and the bottom of the inner side wall of the box body (301) is provided with a cup holder (322) directly below the paper cup (8).

2. The fully automatic unmanned coffee making device according to claim 1, characterized in that: The eccentric rotating lifting mechanism (307) comprises a first eccentric gear (3071) and a second eccentric gear (3072), wherein the first eccentric gear (3071) and the second eccentric gear (3072) are meshed and connected, and a gourd-shaped plate (3073) is connected to rotate together on both sides of the first eccentric gear (3071) and the second eccentric gear (3072), and the two gourd-shaped plates (3072) are connected by a pin (3074), and the rotating shaft (303) is fixed to the first eccentric gear (3071) at a position deviating from the center of the circle. The second eccentric gear (3072) is connected with a connecting shaft (3075) at a position deviating from the center of the circle on both sides, and the two connecting shafts (3075) are connected to a first concave plate (3076) for common rotation, and the top of the inner wall of the box body (301) is located on both sides of the first concave plate (3076) and is connected with a second concave plate (3077), and the bottom of the first concave plate (3076) is connected with a first slide bar (3078), and the first slide bar (3078) passes through the second concave plate (3077) and is connected to the cylinder mounting plate (308).

3. The fully automatic unmanned coffee making device according to claim 2, characterized in that: The bidirectional moving device (4) comprises a fixed plate (401), linear guide rails (402) are installed on both sides of the top of the fixed plate (401), a moving plate (403) is installed on the top of the two linear guide rails (402), both ends of the moving plate (403) are connected with L-shaped connecting plates (404), a sliding groove for sliding the L-shaped connecting plate (404) is opened on the surface of the fixed plate (401), a second servo motor (405) is installed at the bottom of the L-shaped connecting plate (404), racks (406) are installed on both sides of the bottom of the fixed plate (401), the output end of the second servo motor (405) passes through the L-shaped connecting plate (404) and is connected with a gear (407), the gear (407) and the rack (406) are meshingly connected, and the Second bearing seats (408) are installed on both sides of the top of the movable plate (403), a screw rod (409) is rotatably connected between the two second bearing seats (408), and a nut seat (410) is connected to the surface of the screw rod (409) through a thread. Two sliding rod supports (411) are installed on both sides of the top of the movable plate (403) located on the second bearing seats (408), a second sliding rod (412) is connected between the two sliding rod supports (411), a linear bearing (413) is slidably connected to the surface of the second sliding rod (412), and a slide table (414) is connected to the top of the linear bearing (413). A third servo motor (415) is installed on the top of the movable plate (403), and the third servo motor (415) is connected to the screw rod (409).

4. The fully automatic unmanned coffee making device according to claim 3, characterized in that: The automatic grasping and placing device (5) comprises a support platform (501), a first stepper motor (502) is installed at the bottom of the support platform (501), an output end of the first stepper motor (502) passes through the support platform (501) and is connected to a rotating disk (503) via a flange coupling, two motor mounting vertical plates (504) are installed on the top of the rotating disk (503), a second stepper motor (505) is installed on one side of the motor mounting vertical plate (504), and an output end of the second stepper motor (505) is connected to the first rotating plate (506) via a flange coupling. A motor mounting horizontal plate (507) is disposed on the top of the two first rotating plates (506), and a third stepper motor (508) is mounted on both ends of the motor mounting horizontal plate (507), and an output end of one of the third stepper motors (508) is connected to the top of one of the first rotating plates (506) through a flange coupling, and one side of one of the third stepper motors (508) is rotatably connected to the top of the other first rotating plate (506) through a flange rotating shaft, and the output end of the other third stepper motor (508) is connected to a rotating shaft through a flange coupling. The rotating frame (509) is provided with a third stepper motor (508) which is rotatably connected to the rotating frame (509) via a flange rotating shaft. A fourth servo motor (510) is installed on the rotating frame (509). The output end of the fourth servo motor (510) is connected to a clamping and grasping mounting frame (511) via a flange coupling. A fifth stepper motor (512) is installed on one side of the clamping and grasping mounting frame (511). The output end of the fifth stepper motor (512) passes through the clamping and grasping mounting frame (511) and is connected to a first gear connecting rod (511) via a flange coupling. 3), the other side of the clamping grip mounting frame (511) is rotatably connected to a second gear connecting rod (514) via a rotating shaft, the second gear connecting rod (514) is meshedly connected to the first gear connecting rod (513), one end of the first gear connecting rod (513) and the second gear connecting rod (514) are both rotatably connected to an arc-shaped clamping grip (515) via a rotating shaft, and both sides of the clamping grip mounting frame (511) are rotatably connected to a third connecting rod (516), and the third connecting rod (516) is rotatably connected to the center of the corresponding arc-shaped clamping grip (515) via a rotating shaft.

5. The fully automatic unmanned coffee making device according to claim 4, characterized in that: Support legs (9) are installed at the bottom of the box (301).

6. The fully automatic unmanned coffee making device according to claim 5, characterized in that: The support platform (501) is connected to the slide platform (414).

7. The fully automatic unmanned coffee making device according to claim 6, characterized in that: A touch screen controller (10) is arranged on the top of the base (1) and outside the transparent glass cover (6).

Images