A fully automatic unmanned coffee making device

Abstract

The application relates to the technical field of coffee automatic making equipment, in particular to a full-automatic unmanned coffee making device which comprises a base, the base 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, 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, and a window is formed in one side of the transparent glass cover; in the application, a full-automatic unmanned coffee making process is realized, a user only needs to start the equipment through a touch display screen controller, the system can automatically complete the whole process from paper cup separation, coffee making to finished product cup output, the convenience and efficiency are greatly improved, the full-automatic paper cup separating device can accurately separate stacked paper cups and take out the paper cup at the bottom layer, full-automatic operation is realized, and the paper cups can be effectively separated and placed in an unattended state.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of coffee automation making equipment, and particularly relates to a full-automatic unmanned coffee making device. BACKGROUND

[0002] With the continuous acceleration of social life rhythm, coffee has become an indispensable part of people's daily life, especially in public places such as offices, shopping malls, cafes, etc. The demand for coffee is increasing, and the full-automatic coffee machine is a device that can automatically complete the entire coffee making process, and is usually used in families, offices or commercial environments. Unlike semi-automatic or manual coffee machines, full-automatic coffee machines can independently complete the steps from grinding coffee beans, adding water, extracting coffee to cupping. Users only need to press a button to enjoy a cup of fresh, professionally brewed coffee.

[0003] However, most of the equipment on the current market cannot realize the closed-loop automation operation from the paper cup feeding to the finished product output; the intermediate process still needs manual participation, and the maximum efficiency of the automatic equipment cannot be realized. On the one hand, the separation and accurate placement of paper cups is a complex process, and many automatic equipment needs manual intervention to complete the taking out and placing of paper cups; on the other hand, many automatic equipment is prone to problems such as cup jamming and tight sticking when processing paper cups, which needs to rely on manual intervention to solve, increasing the operation cost and time. SUMMARY

[0004] The present application provides a full-automatic unmanned coffee making device to solve the problems of long time consumption and low efficiency of traditional manual coffee making method and the need for manual placement of paper cups in the appropriate position of the existing coffee machine.

[0005] The purpose of the present application is realized by the following technical scheme, a full-automatic unmanned coffee making device, comprising a base, the base 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, an automatic grabbing and placing device is arranged on the top of the bidirectional moving device, a transparent glass cover is installed on the surface of the base, a window is formed in one side of the transparent glass cover;

[0006] The full-automatic paper cup separating device includes a box body, two groups of first bearing seats are symmetrically installed on the top of the box body, rotating shafts are rotationally connected between each group of the first bearing seats, rotating discs are fixedly connected to the surfaces of the rotating shafts, a first sliding groove is formed in one side surface of the rotating disc, a second sliding groove is formed in the other side surface of the rotating disc and is opposite to the first sliding groove in direction, eccentric rotating lifting mechanisms are fixedly connected to the surfaces of the rotating shafts on the two sides of the rotating disc, cylinder mounting plates are arranged at the bottoms of the two eccentric rotating lifting mechanisms, cylinders are mounted at the top of the cylinder mounting plate, arc-shaped clamping plates are connected to the output ends of the cylinders, 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, a first arc-shaped supporting plate is connected to one end of the first connecting rod, 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, and a second arc-shaped supporting plate is connected to one end of the second connecting rod, a driven belt pulley is connected to one end of the rotating shaft, a first servo motor is mounted on the inner surface of the box body at the bottom, a driving belt pulley is connected to one end of the first servo motor, the driving belt pulley and the two driven belt pulleys are connected through a belt, a limiting block is mounted on one side of the first arc-shaped supporting plate at the top of the box body, the first connecting rod and the second connecting rod are in sliding connection with the limiting block, a through groove for the rotation of the rotating disc, the lifting of the eccentric rotating lifting mechanism, the transmission of the belt and the placement of the paper cup is formed in the top of the box body, and a cup holder is arranged on the inner side wall of the box body below the paper cup.

[0007] Further, 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 in meshing connection, gourd-shaped plates are rotationally connected to the two sides of the first eccentric gear and the second eccentric gear, the two gourd-shaped plates are connected through a pin, the rotating shaft is fixedly connected to the position deviating from the center of the first eccentric gear, connecting shafts are connected to the positions deviating from the center of the two sides of the second eccentric gear, a first concave plate is rotationally connected to the two connecting shafts, second concave plates are connected to the two sides of the first concave plate at the top of the inner side wall of the box body, a first sliding rod is connected to the bottom of the first concave plate and penetrates through the second concave plate and the cylinder mounting plate.

[0008] Further, the bidirectional moving device comprises a fixed plate, linear guides are installed on both sides of the top of the fixed plate, a moving plate is commonly installed on the top of the two linear guides, L-shaped connecting plates are connected to both ends of the moving plate, sliding grooves for the sliding of the L-shaped connecting plates are formed on the surface of the fixed plate, a second servo motor is installed at the bottom of the L-shaped connecting plate, racks are installed on both sides of the bottom of the fixed plate, a gear is connected to the output end of the second servo motor and penetrates through the L-shaped connecting plate, the gear is in meshing connection with the rack, second bearing seats are installed on both sides of the top of the moving plate, a screw rod is rotatably connected between the two second bearing seats, a nut seat is connected to the surface of the screw rod through screw threads, two slide rod supports are installed on both sides of the top of the moving plate, a second slide rod is connected between the two slide rod supports, linear bearings are slidably connected to the surface of the second slide rod, slide tables are connected to the top of the linear bearings, a third servo motor is installed on the top of the moving plate, and the third servo motor is connected with the screw rod.

[0009] Further, the automatic grabbing and placing device comprises a support table, a first stepper motor is installed at the bottom of the support table, a rotating disc is connected to the output end of the first stepper motor and penetrates through the support table through a flange coupling, two motor installation vertical plates are installed on the top of the rotating disc, a second stepper motor is installed on one side of the motor installation vertical plate, a first rotating plate is connected to the output end of the second stepper motor through a flange coupling, motor installation horizontal plates are arranged on the top of the two first rotating plates, third stepper motors are installed at both ends of the motor installation horizontal plates, the output end of one of the third stepper motors 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, the output end of the other third stepper motor is connected to a rotating frame through a flange coupling, one side of the other third stepper motor is rotatably connected to the rotating frame through a flange rotating shaft, a fourth servo motor is installed on the rotating frame, a clamping grab installation frame is connected to the output end of the fourth servo motor through a flange coupling, a fifth stepper motor is installed on one side of the clamping grab installation frame, a first gear connecting rod is connected to the output end of the fifth stepper motor and penetrates through the clamping grab installation frame through a flange coupling, a second gear connecting rod is rotatably connected to the other side of the clamping grab installation frame through a rotating shaft, the second gear connecting rod is in meshing connection with the first gear connecting rod, arc-shaped clamping grabs are rotatably connected to one end of the first gear connecting rod and the second gear connecting rod through rotating shafts, and third connecting rods are rotatably connected to both sides of the clamping grab installation frame.

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

[0011] Further, the support table is connected with the sliding table.

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

[0013] Compared with the prior art, the present application has the following advantages:

[0014] 1. In the present application, a full-automatic unmanned coffee making process is realized, and the user only needs to start the equipment through the touch display screen controller, and the system will automatically complete the whole process from paper cup separation, coffee making to finished product cup output, greatly improving the convenience and efficiency.

[0015] 2. In the present application, the stacked paper cups can be accurately separated and the bottommost paper cup can be taken out through the full-automatic paper cup separation device, realizing full-automatic operation, and the paper cups can be effectively separated and placed in an unattended state. The core mechanism uses precise mechanical design, uses a motor to drive a rotating and lifting device, and cooperates with an arc clamping plate to accurately clamp, so that the paper cup is smoothly taken out from the stack. Two sets of arc-shaped support plates are used in cooperation, and the two sets of arc-shaped support plates support each other to ensure that the paper cup will not fall during the working process. This automation not only reduces the demand for manpower, but also improves the working efficiency.

[0016] 3. The automatic grabbing and placing device has multi-degree-of-freedom adjustment capability, 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 stepping 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 precision of the whole system.

[0017] 4. In the present application, multiple servo motors and stepping motors are used to make the whole process smooth, prevent shaking during transportation of the paper cup filled with coffee from causing overflow, and ensure the stability of the coffee liquid in the paper cup. BRIEF DESCRIPTION OF DRAWINGS

[0018] Figure 1 is a structural schematic view of the present application;

[0019] Figure 2 is a structural schematic view of the full-automatic paper cup separation device of the present application;

[0020] Figure 3 is a structural schematic view of the full-automatic paper cup separation device of the present application;

[0021] Figure 4 is a structural schematic view of the eccentric rotating and lifting mechanism of the present application;

[0022] Figure 5 is a structural schematic view of the bidirectional moving device of the present application;

[0023] Figure 6 Structure diagram of bidirectional moving device of the application;

[0024] Figure 7 Structure diagram of automatic grabbing and placing device of the application;

[0025] Figure 8 Structure diagram of automatic grabbing and placing device of the application.

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

[0027] The technical solutions of the application are further specifically described below through specific embodiments, but the application is not limited to these embodiments.

[0028] Combination Figures 1 to 8As shown, a fully automatic unmanned coffee making device, including base 1, base 1 is provided with automatic coffee machine 2 and automatic paper cup separating device 3, the middle of base 1 is provided with two-way moving device 4, the top of two-way moving device 4 is provided with automatic grabbing and placing device 5, the surface of base 1 is installed with transparent glass cover 6, one side of transparent glass cover 6 is provided with window 7;

[0029] In combination Figure 2 、 Figure 3 As shown, the automatic paper cup separating device 3 includes a box body 301, two sets 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 set of first bearing seats 302, the surface of the rotating shaft 303 is fixedly connected with a rotating disc 304, a first sliding groove 305 is formed on one side surface of the rotating disc 304, a second sliding groove 306 is formed on the other side surface of the rotating disc 304, the direction of the second sliding groove 306 is opposite to that of the first sliding groove 305, eccentric rotating lifting mechanisms 307 are fixedly connected to the surface of the rotating shaft 303 on both sides of the rotating disc 304, a cylinder mounting plate 308 is arranged at the bottom of each two eccentric rotating lifting mechanisms 307, a cylinder 309 is mounted 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, a first arc-shaped support 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, a second arc-shaped support plate 316 is connected to one end of the second connecting rod 315, a driven pulley 317 is connected to one end of the rotating shaft 303, a first servo motor 318 is mounted on the inner surface of the box body 301 at the bottom, a driving pulley 319 is connected to one end of the first servo motor 318, the driving pulley 319 and the two driven pulleys 317 are connected through a belt 320, a limiting block 321 is mounted on one side of the first arc-shaped support plate 313 at the top of the box body 301, the first connecting rod 312 and the second connecting rod 315 are both slidingly connected with the limiting block 321, a through slot is formed at the top of the box body 301 for the rotation of the rotating disc 304, the lifting of the eccentric rotating lifting mechanisms 307, the transmission of the belt 320, and the placement of the paper cup 8, a cup holder 322 is arranged on the inner side wall of the box body 301 below the paper cup 8; The automatic paper cup separating device can accurately separate the stacked paper cups and take out the bottommost paper cup, realizing fully automatic operation, and effectively separating and placing the paper cup in an unattended state. The core mechanism uses precise mechanical design, uses a motor to drive the rotating and lifting device, and uses an arc-shaped clamping plate to accurately clamp, ensuring that the paper cup is smoothly taken out from the stack. The two arc-shaped support plates are used in cooperation, and the two arc-shaped support plates support each other to ensure that the paper cup will not fall during the working process. This automation not only reduces the labor demand, but also improves the work efficiency.

[0030] In combination Figure 4 As shown, eccentric rotation lifting mechanism 307 includes first eccentric gear 3071 and second eccentric gear 3072, first eccentric gear 3071 and second eccentric gear 3072 are meshed and connected, both sides of first eccentric gear 3071 and second eccentric gear 3072 are commonly connected with gourd-shaped plate 3073, two gourd-shaped plates 3073 are connected through pin 3074, rotating shaft 303 is fixedly connected with first eccentric gear 3071 at a position deviating from the center of the circle, second eccentric gear 3072 is connected with connecting shaft 3075 at a position deviating from the center of the circle, two connecting shafts 3075 are commonly connected with first concave plate 3076, second concave plate 3077 is connected with the top of the inner side wall of box body 301 on both sides of first concave plate 3076, first slide rod 3078 is connected with the bottom of first concave plate 3076, first slide rod 3078 penetrates through second concave plate 3077 and is connected with cylinder mounting plate 308, when rotating shaft 303 rotates, first eccentric gear 3071 rotates in gourd-shaped plate 3073, first eccentric gear 3071 and second eccentric gear 3072 are meshed and connected, which will drive second eccentric gear 3072 to rotate in gourd-shaped plate 3073, connecting shaft 3075 is connected with second eccentric gear 3072 at a position deviating from the center of the circle, connecting shaft 3075 is rotatably connected with first concave plate 3076, at this time, second eccentric gear 3072 rotates, and first slide rod 3078 at the bottom of first concave plate 3076 is slidably connected with second concave plate 3077, so first concave plate 3076 and first slide rod 3078 move up and down, thereby driving cylinder mounting plate 308 and cylinder 309 to move up and down, cylinder 309 shares a driving system with rotating disc 304, thereby making cylinder 309 move up and down and cooperate with first and second arc-shaped support plates.

[0031] In combination Figure 5 , Figure 6As shown, the bidirectional moving device 4 comprises a fixed plate 401, the top of which is provided with two linear guides 402, the top of which is provided with a moving plate 403, the two ends of which are connected with L-shaped connecting plates 404, the surface of the fixed plate 401 is provided with sliding grooves for the sliding of the L-shaped connecting plates 404, the bottom of the L-shaped connecting plate 404 is provided with a second servo motor 405, the bottom of the fixed plate 401 is provided with a rack 406, the output end of the second servo motor 405 is connected with a gear 407 through the L-shaped connecting plate 404, the gear 407 is connected with the rack 406 in a meshing manner, the top of the moving plate 403 is provided with two second bearing seats 408, a lead screw 409 is rotatably connected between the two second bearing seats 408, the surface of the lead screw 409 is connected with a nut seat 410 through threads, two slide rod supports 411 are mounted on the top of the moving plate 403 and located on the two sides of the second bearing seat 408, 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 sliding table 414 is connected to the top of the linear bearing 413, a third servo motor 415 is mounted on the top of the moving plate 403 and connected with the lead screw 409, 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 moves towards the full-automatic paper cup separating device 3, the third servo motor 415 drives the lead screw 409 to be threadedly connected with the nut seat 410, so that the sliding table 414 gradually moves towards the full-automatic paper cup separating device 3, so that the automatic grabbing and placing device 5 can move accurately inside the equipment, so as to transfer paper cups, place coffee, etc. between different positions, thereby enhancing the automation and flexibility of the system.

[0032] In combination Figure 7 , Figure 8As shown, the automatic grabbing and placing device 5 comprises a support table 501, the bottom of the support table 501 is provided with a first stepper motor 502, the output end of the first stepper motor 502 is connected with a rotating disc 503 through a flange coupling, the top of the rotating disc 503 is provided with two motor mounting vertical plates 504, one side of the motor mounting vertical plate 504 is provided with a second stepper motor 505, the output end of the second stepper motor 505 is connected with a first rotating plate 506 through a flange coupling, the top of the two first rotating plates 506 is provided with a motor mounting horizontal plate 507, the two ends of the motor mounting horizontal plate 507 are provided with third stepper motors 508, the output end of one of the third stepper motors 508 is connected with the top of one of the first rotating plates 506 through a flange coupling, one side of one of the third stepper motors 508 is rotatably connected with the top of the other first rotating plate 506 through a flange rotating shaft, the output end of the other third stepper motor 508 is connected with a rotating frame 509 through a flange coupling, one side of the other third stepper motor 508 is rotatably connected with the rotating frame 509 through a flange rotating shaft, the rotating frame 509 is provided with a fourth servo motor 510, the output end of the fourth servo motor 510 is connected with a clamping and grabbing mounting frame 511 through a flange coupling, one side of the clamping and grabbing mounting frame 511 is provided with a fifth stepper motor 512, the output end of the fifth stepper motor 512 is connected with a first gear connecting rod 513 through a flange coupling, the other side of the clamping and grabbing mounting frame 511 is rotatably connected with a second gear connecting rod 514 through a rotating shaft, the second gear connecting rod 514 is rotatably connected with the first gear connecting rod 513, one end of the first gear connecting rod 513 and the second gear connecting rod 514 is rotatably connected with an arc-shaped clamping and grabbing device 515, the two sides of the clamping and grabbing mounting frame 511 are rotatably connected with third connecting rods 516, the center of the corresponding arc-shaped clamping and grabbing device 515 is rotatably connected with the third connecting rod 516 through a rotating shaft, the sliding table 414 is gradually close to the full-automatic paper cup separating device 3 through the third servo motor 415 driving the screw rod 409 and the nut seat 410 threaded connection, at this time the automatic grabbing and placing device 5 will grab the paper cup 8 in the cup holder 322, the rotating disc 503 is driven to rotate through the first stepper motor 502, so that the arc-shaped clamping and grabbing device 515 faces the paper cup 8, the first rotating plate 506 is driven to rotate through the second stepper motor 505, the angle of the first rotating plate 506 is adjusted to adjust the height of the arc-shaped clamping and grabbing device 515, the motor mounting horizontal plate 507 is driven to rotate through one of the third stepper motors 508, the height of the arc-shaped clamping and grabbing device 515 is adjusted again, the rotating frame 509 is driven to rotate through the other third stepper motor 508, the angle of the arc-shaped clamping and grabbing device 515 is adjusted, the clamping and grabbing mounting frame 511 is driven to rotate through the fourth servo motor 510, the angle of the arc-shaped clamping and grabbing device 515 is adjusted again, the first gear connecting rod 513 is driven to rotate through the fifth stepper motor 512, the second gear connecting rod 514 is engaged, and the two arc-shaped clamping and grabbing devices 515 are adjusted through the cooperation of the third connecting rod 516,The paper cup 8 in the cup holder 322 is grabbed by two arc-shaped clamping claws 515. Through the cooperation of multiple motors, the grabbing and placing actions are accurately controlled to ensure that the clamping and releasing of the paper cup can be accurately operated, completely unmanned operation is realized, and the need for manual intervention is reduced.

[0033] In combination Figure 1 As shown, the bottom of the box body 301 is provided with supporting legs 9 to provide additional stability.

[0034] In combination Figure 5 As shown, the supporting table 501 is connected with the sliding table 414 to ensure that the bidirectional moving device 4 can drive the automatic grabbing and placing device 5 to move accurately.

[0035] In combination Figure 1 As shown, the top of the base 1 is provided with a touch display screen controller 10 outside the transparent glass cover 6. The user starts the device through the touch display screen controller 10.

[0036] Working principle: when the user needs coffee, the user starts the device by touching the display screen controller 10, the automatic paper cup separating device 3 starts to work, the bottommost paper cup 8 of the stacked paper cups 8 is placed between the two first arc-shaped supporting plates 313, and the two second arc-shaped supporting plates 316 are located between the bottommost paper cup 8 and the second-to-last paper cup 8, the first arc-shaped supporting plate 313 and the second arc-shaped supporting plate 316 are both located below the cup rim of the paper cup 8, the first servo motor 318 drives the driving pulley 319, and then the power is transmitted to the two driven pulleys 317 through the belt 320, the two driven pulleys 317 rotate at the same time, driving the rotating disc 304 to rotate, and the first and second slides slide in the first and second sliding grooves respectively, when the rotating disc 304 rotates, the first and second connecting rods slide in the limiting block 321, thereby driving the first and second arc-shaped supporting plates to move, because the directions of the first sliding groove 305 and the second sliding groove 306 are opposite, when the two first arc-shaped supporting plates 313 move closer to each other, the two second arc-shaped supporting plates 316 move away from each other, and when the two first arc-shaped supporting plates 313 move away from each other, the two second arc-shaped supporting plates 316 move closer to each other, when the rotating shaft 303 rotates, the first eccentric gear 3071 rotates in the gourd-shaped plate 3073, the first eccentric gear 3071 and the second eccentric gear 3072 are engaged and connected, thereby driving the second eccentric gear 3072 to rotate in the gourd-shaped plate 3073, the second eccentric gear 3072 is connected with the connecting shaft 3075 away from the off-center position of the circle, and the connecting shaft 3075 is rotatably connected with the first concave plate 3076, at this time, the second eccentric gear 3072 rotates, and the first slide rod 3078 at the bottom of the first concave plate 3076 is slidably connected with the second concave plate 3077, so that the first concave plate 3076 and the first slide rod 3078 move up and down, thereby driving the cylinder mounting plate 308 and the cylinder 309 to move up and down, the arc-shaped clamping plate 310 is driven to stretch and contract by the cylinder 309, and the two arc-shaped clamping plates 310 simultaneously clamp the bottommost paper cup 8, 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-shaped supporting plates 313 is the largest at this time, and the straight-line distance between the two second arc-shaped supporting plates 316 is the smallest, at this time, the two first arc-shaped supporting plates 313 do not support the bottommost paper cup 8, and the two second arc-shaped supporting plates 316 support all the paper cups 8 except the bottommost paper cup 8, at this time, the cylinder 309 is started, the two arc-shaped clamping plates 310 clamp the bottommost paper cup 8, and the rotating shaft 303 continues to rotate, thereby clamping the bottommost paper cup 8 downward, at the same time, the two first arc-shaped supporting plates 313 move closer to each other, and the two second arc-shaped supporting plates 316 move away from each other, the stacked paper cups 8 will descend due to gravity, when the straight-line distance between the connecting shaft 3075 and the rotating shaft 303 is the largest, the original bottommost paper cup 8 has been clamped and separated from the stacked paper cups 8 by the two arc-shaped clamping plates 310, the cylinder 309 is retracted,The originally bottommost paper cup 8 will fall into the cup holder 322 due to gravity, and the straight-line distance between the two first arc-shaped support plates 313 is the smallest, so the stacked paper cups 8 will be held, the automatic grabbing and placing device 5 is transported to the appropriate position by the bidirectional moving device 4, the L-shaped connecting plate 404 and the moving plate 403 are moved by the meshing connection of the gear 407 and the rack 406 driven by the second servo motor 405, the sliding table 414 gradually approaches the full-automatic paper cup separating device 3 by the threaded connection of the screw rod 409 and the nut seat 410 driven by the third servo motor 415, at this time the automatic grabbing and placing device 5 will grab the paper cup 8 in the cup holder 322, the arc-shaped clamping grab 515 faces the paper cup 8 by rotating the rotating disc 503 driven by the first stepper motor 502, the height of the arc-shaped clamping grab 515 is adjusted by rotating the first rotating plate 506 driven by the second stepper motor 505, adjusting the angle of the first rotating plate 506, the height of the arc-shaped clamping grab 515 is adjusted again by rotating the motor mounting horizontal plate 507 driven by one of the third stepper motors 508, the angle of the arc-shaped clamping grab 515 is adjusted by rotating the rotating frame 509 driven by the other third stepper motor 508, the angle of the arc-shaped clamping grab 515 is adjusted again by the fourth servo motor 510 driving the clamping grab mounting frame 511, the clamping of the two arc-shaped clamping grabs 515 is adjusted by rotating the first gear connecting rod 513 driven by the fifth stepper motor 512, meshing with the second gear connecting rod 514, and cooperating with the third connecting rod 516, the paper cup 8 in the cup holder 322 is grabbed by the two arc-shaped clamping grabs 515, the automatic grabbing and placing device 5 is moved to the cup table of the full-automatic coffee machine 2 by the bidirectional moving device 4, waits for the full-automatic coffee machine 2 to pour coffee into the paper cup 8, the automatic grabbing and placing device 5 grabs the coffee-filled paper cup 8, and the coffee-filled paper cup 8 is placed at the window 7 by the automatic grabbing and placing device 5, and the user can take the finished coffee at the window 7.

[0037] The embodiments of the present application are not limited to the above-described examples, and various changes and improvements can be made to the present application in form and details without departing from the spirit and scope of the present application, and these are considered to fall within the protection scope of the present application.

Claims

1. A fully automatic, unmanned coffee making device comprising a base (1), characterized in that: The base (1) is provided with a full-automatic coffee machine (2) and a full-automatic paper cup separating device (3), 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 mounted on the surface of the base (1), and a window (7) is formed in one side of the transparent glass cover (6); The full-automatic paper cup separating 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 first bearing seats (302), a rotating disc (304) is fixedly connected to the surface of the rotating shaft (303), a first sliding groove (305) is formed in one side surface of the rotating disc (304), a second sliding groove (306) opposite to the first sliding groove (305) is formed in the other side surface of the rotating disc (304), eccentric rotating lifting mechanisms (307) are fixedly connected to the surfaces of the rotating shaft (303) on the two sides of the rotating disc (304), a pneumatic cylinder mounting plate (308) is arranged at the bottom of each two eccentric rotating lifting mechanisms (307), a pneumatic cylinder (309) is mounted on the top of the pneumatic cylinder mounting plate (308), an arc-shaped clamping plate (310) is connected to the output end of the pneumatic 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), 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), a second arc-shaped supporting plate (316) is connected to one end of the second connecting rod (315), a driven pulley (317) is connected to one end of the rotating shaft (303), a first servo motor (318) is mounted on the inner surface of the bottom of the box body (301), a driving pulley (319) is connected to one end of the first servo motor (318), the driving pulley (319) and the two driven pulleys (317) are connected through a belt (320), a limiting block (321) is mounted on one side of the first arc-shaped supporting plate (313) on the top of the box body (301), the first connecting rod (312) and the second connecting rod (315) are slidably connected with the limiting block (321), and a through groove is formed in the top of the box body (301) for the rotation of the rotating disc (304), the lifting of the eccentric rotating lifting mechanism (307), the transmission of the belt (320) and the placement of a paper cup (8), and a cup holder (322) is arranged on the inner side wall of the bottom of the box body (301) below the paper cup (8).

2. The fully automatic, unattended coffee making apparatus according to claim 1, characterized in that: The eccentric rotation lifting mechanism (307) comprises 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 commonly connected with gourd-shaped plates (3073) on both sides, the two gourd-shaped plates (3073) are connected through a pin (3074), the rotating shaft (303) is fixedly connected with the first eccentric gear (3071) at a position deviating from the center, the second eccentric gear (3072) is connected with connecting shafts (3075) at positions deviating from the center on both sides, the two connecting shafts (3075) are commonly connected with a first concave plate (3076), the inside wall top of the box body (301) is connected with second concave plates (3077) on both sides of the first concave plate (3076), the first concave plate (3076) is connected with a first sliding rod (3078) at the bottom, and the first sliding rod (3078) penetrates through the second concave plate (3077) and is connected with the cylinder mounting plate (308).

3. A fully automatic, unattended coffee making apparatus according to claim 2, characterized in that: The bidirectional moving device (4) comprises a fixed plate (401), the top of the fixed plate (401) is provided with linear guides (402) on both sides, the top of the two linear guides (402) is commonly provided with a moving plate (403), the moving plate (403) is connected with L-shaped connecting plates (404) at both ends, the surface of the fixed plate (401) is provided with sliding grooves for the sliding of the L-shaped connecting plates (404), the bottom of the L-shaped connecting plates (404) is provided with a second servo motor (405), the bottom of the fixed plate (401) is provided with racks (406) on both sides, the output end of the second servo motor (405) is connected with a gear (407) penetrating through the L-shaped connecting plate (404), the gear (407) and the rack (406) are meshed and connected, the top of the moving plate (403) is provided with second bearing seats (408) on both sides, a lead screw (409) is rotatably connected between the two second bearing seats (408), the surface of the lead screw (409) is threadedly connected with a nut seat (410), the top of the moving plate (403) is provided with two sliding rod supports (411) on both sides of the second bearing seat (408), a second sliding rod (412) is connected between the two sliding rod supports (411), the surface of the second sliding rod (412) is slidably connected with a linear bearing (413), the top of the linear bearing (413) is connected with a sliding table (414), the top of the moving plate (403) is provided with a third servo motor (415), and the third servo motor (415) is connected with the lead screw (409).

4. A fully automatic, unattended coffee making apparatus according to claim 3, characterized in that: The automatic grabbing and placing device (5) comprises a supporting table (501), a first stepping motor (502) is installed at the bottom of the supporting table (501), a rotating disc (503) is connected through a flange coupling at the output end of the first stepping motor (502), two motor mounting vertical plates (504) are installed at the top of the rotating disc (503), a second stepping motor (505) is installed on one side of the motor mounting vertical plate (504), a first rotating plate (506) is connected through a flange coupling at the output end of the second stepping motor (505), a motor mounting horizontal plate (507) is arranged at the top of the first rotating plate (506), a third stepping motor (508) is installed at both ends of the motor mounting horizontal plate (507), the output end of one of the third stepping motors (508) is connected through a flange coupling at the top of one of the first rotating plates (506), one side of one of the third stepping motors (508) is connected through a flange rotating shaft with the top of the other first rotating plate (506), the output end of the other third stepping motor (508) is connected through a flange coupling with a rotating frame (509), one side of the other third stepping motor (508) is connected through a flange rotating shaft with the rotating frame (509), a fourth servo motor (510) is installed on the rotating frame (509), a clamping grab mounting frame (511) is connected through a flange coupling at the output end of the fourth servo motor (510), a fifth stepping motor (512) is installed on one side of the clamping grab mounting frame (511), a first gear connecting rod (513) is connected through a flange coupling at the output end of the fifth stepping motor (512) and penetrates the clamping grab mounting frame (511), a second gear connecting rod (514) is rotatably connected on the other side of the clamping grab mounting frame (511), the second gear connecting rod (514) is meshed with the first gear connecting rod (513), one end of the first gear connecting rod (513) and the second gear connecting rod (514) is rotatably connected with an arc-shaped clamping grab (515), a third connecting rod (516) is rotatably connected on both sides of the clamping grab mounting frame (511), and the third connecting rod (516) is rotatably connected with the center of the corresponding arc-shaped clamping grab (515) through a rotating shaft.

5. A fully automatic, unattended coffee making apparatus according to claim 4, characterized in that: The box (301) is provided with supporting legs (9) at the bottom.

6. A fully automatic, unattended coffee making apparatus according to claim 5, characterized in that: The supporting table (501) is connected with the sliding table (414).

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

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