Coffee robot automatic grinding system

Abstract

The application relates to the technical field of coffee robots, in particular to a coffee robot automatic grinding system which comprises an end arm of a manipulator, a coffee bean suction pipeline, a grinding mechanism and a gas pressure suction mechanism; the grinding mechanism comprises a coffee bean inlet and a coffee powder outlet; one end of the coffee bean suction pipeline is used for extending into a coffee bean storage bin, and the other end is communicated with the coffee bean inlet; the gas pressure suction mechanism comprises a coffee powder discharge pipe, a coffee powder box and a negative pressure air pipe; one end of the coffee powder discharge pipe is connected with the coffee powder box, the other end is communicated with the coffee powder outlet, and the negative pressure air pipe is communicated with the coffee powder box. By integrating the grinding mechanism in the end arm of the manipulator, the original coffee powder grinding module of the coffee robot and the grinding mechanism of the application are simultaneously started under the condition that the order quantity is relatively large; coffee beans are sucked through the coffee bean suction pipeline, and the coffee powder grinding of other orders is carried out during the time when the manipulator executes other carrying operations, so that the waiting time of grinding coffee powder of multiple orders is shortened.

Description

Technical Field

[0001] This invention relates to the field of coffee robot technology, and in particular to an automatic coffee grinding system for a coffee robot. Background Technology

[0002] An automated coffee-grinding robot is an intelligent device that integrates a series of complex processes, including coffee bean grinding, water temperature control, brewing and extraction, and milk frothing. Utilizing advanced sensor technology, a precise mechanical structure, and an intelligent control system, it can automatically complete the entire process from coffee beans to a cup of aromatic coffee without human intervention.

[0003] Coffee robots typically consist of multiple modules working together to automate coffee making. The core modules include a multi-axis robotic arm, motion control module, grinding module, extraction module, milk frothing system, liquid dispenser, and user interface.

[0004] Current coffee robots are mostly deployed in high-traffic shopping malls or office buildings, often resulting in long queues due to concentrated orders. The waiting experience near these robots is poor; the surrounding environment is less pleasant than a coffee shop, and there are often no seats available, forcing customers to stand and wait for their coffee. This negatively impacts customer perception of robot-made coffee. Therefore, there is an urgent need to upgrade coffee robots to increase their coffee-making speed and reduce customer wait times. Summary of the Invention

[0005] In view of this, the present invention provides an automatic coffee grinding system for coffee robots to solve the problem of slow coffee making speed in the prior art.

[0006] This invention provides an automated coffee grinding system for robots, comprising a robotic end-effector, a coffee bean suction pipe, a grinding mechanism, and a pneumatic suction mechanism. The robotic end-effector includes a housing and a robotic claw located at the end of the housing. The grinding mechanism is housed inside the housing and includes a coffee bean inlet and a coffee powder outlet. One end of the coffee bean suction pipe is located outside the housing and extends into a coffee bean storage compartment, while the other end is connected to the coffee bean inlet. The pneumatic suction mechanism includes a coffee powder discharge pipe, a coffee powder container, and a negative pressure air pipe. One end of the coffee powder discharge pipe is connected to the coffee powder container, and the other end is connected to the coffee powder outlet. The negative pressure air pipe is connected to the coffee powder container, which contains a filter to prevent coffee powder from being sucked into the negative pressure air pipe. The coffee powder container also has a powder outlet.

[0007] Optionally, the grinding mechanism includes a stator and a rotor coaxially arranged and both in a ring shape. The stator is sleeved around the outside of the rotor and forms a grinding channel. The coffee bean inlet is located at one end of the grinding channel facing the mechanical claw, and the coffee powder outlet is located at the other end. The end of the stator away from the mechanical claw protrudes from the rotor and is provided with an end cap. A drive shaft passes through the center of the end cap and is fixedly connected to the rotor. The coffee powder discharge pipe is located inside the rotor and is rotatably connected to a transfer pipe. The periphery of the opening of the transfer pipe is connected to the periphery of the rotor end.

[0008] Optionally, a sealed bearing is provided on the side wall of the drive shaft between the end cover and the rotor, and a dust cover is connected between the sealed bearing and the end cover.

[0009] Optionally, both the outer wall of the rotor and the inner wall of the stator are inclined relative to the axis, and the surface of the outer wall of the rotor intersects the surface of the inner wall of the stator; the housing is provided with a grinding precision adjustment mechanism connected to the stator, which is suitable for moving the stator relative to the rotor along the axial direction.

[0010] Optionally, the grinding precision adjustment mechanism includes a nut seat, a lead screw sleeve, a motor, a transmission gear, and a guide structure. The transmission shaft passes through the lead screw sleeve and is rotatably connected to it coaxially via a bearing. The nut seat is connected to the outside of the lead screw sleeve, and the nut seat is fixed to the end cover. The motor is used to drive the lead screw sleeve to rotate via the transmission gear. The guide structure is located between the stator and the inner wall of the housing to guide the stator to move axially.

[0011] Optionally, the mechanical claw is hollow inside and has through ends, and the coffee bean suction tube is located inside the mechanical claw.

[0012] Optionally, the mechanical claw includes a first rod portion, a second rod portion, and an automatic telescopic rod. The first rod portion is located at the end of the housing, the second rod portion is hinged to the first rod portion, and one end of the automatic telescopic rod is hinged to the housing, while the other end is hinged to the second rod portion.

[0013] Optionally, the sidewall of the mechanical gripper has a flat surface, and a vertical groove is provided on the flat surface to accommodate the automatic telescopic rod. The first rod portion and the second rod portion can be rotated to a state where their opposing ends are in contact. An automatic turntable is provided at the end of the housing, and the first rod portion is disposed on the automatic turntable. The automatic turntable is used to rotate the mechanical gripper so that the flat surface faces the outer wall of the object being gripped.

[0014] Optionally, the outer wall of the mechanical claw is fitted with an elastically deformable sleeve to increase the static friction with the object being gripped.

[0015] Optionally, a protective sleeve is provided around the periphery of the housing, and the protective sleeve and the outer wall of the housing form an annular space, and a cooling pipe for cooling the grinding mechanism is provided in the annular space.

[0016] The technical solution of the present invention has the following advantages:

[0017] 1. By integrating a grinding mechanism into the end effector of the robotic arm, when there are many orders, in addition to activating the original coffee powder grinding module of the coffee robot, the grinding mechanism is also activated. After the coffee beans are picked up through the coffee bean suction pipe, the grinding mechanism can be used to grind coffee powder for other orders while the robotic arm is performing other handling operations, thereby shortening the waiting time for grinding coffee powder for multiple orders.

[0018] 2. One set of air pressure suction mechanism can both suck up coffee beans through the coffee bean suction tube and suck up the ground coffee powder into the coffee powder box for discharge, eliminating the need for two separate mechanisms to perform these two functions, thus reducing the size of the entire system.

[0019] 3. The grinding precision adjustment mechanism adjusts the length of the grinding channel and the width of the narrowest part of the grinding channel by moving the stator and rotor relative to each other, thereby controlling the coarseness of the ground coffee powder.

[0020] 4. The coffee bean suction pipe is designed to be located inside a hollow mechanical claw, so that the mechanical claw can be used as a gripping vessel and can also reach into the coffee bean storage to suck up coffee beans. Multiple mechanical claws can also suck up different types of coffee beans at the same time, thereby making a blended coffee.

[0021] 5. By designing the mechanical gripper as a multi-segment hinged structure, multiple mechanical grippers can work together to grasp containers, mimicking human fingers. The flexible design of the mechanical gripper allows it to grasp containers of various sizes.

[0022] 6. By setting an automatic turntable as the base of the mechanical gripper, the mechanical gripper can be bent and rotated to a specific angle to grasp irregularly shaped containers. Attached Figure Description

[0023] To more clearly illustrate the technical solutions of the embodiments of the present invention, the accompanying drawings used in the embodiments will be briefly introduced below. It should be understood that the following drawings only show some embodiments of the present invention and should not be regarded as a limitation on the scope. For those skilled in the art, other related drawings can be obtained based on these drawings without creative effort.

[0024] Figure 1 This is a perspective view of the automatic coffee grinding system of the coffee robot in an embodiment of the present invention.

[0025] Figure 2This is an axial sectional view of the automatic coffee grinding system in an embodiment of the present invention.

[0026] Figure 3 yes Figure 2 Enlarged view of section A.

[0027] Figure 4 This is a perspective view of the grinding precision adjustment mechanism in an embodiment of the present invention.

[0028] Figure 5 This is a schematic diagram of the end effector structure of the robotic arm in an embodiment of the present invention.

[0029] In the diagram: 1. End effector of the robotic arm; 11. Housing; 12. Claw; 12. First lever; 121. Second lever; 122. Automatic telescopic lever; 123. Coffee bean suction pipe; 124. Plane; 125. Vertical groove; 126. Sleeve; 127. Hinge; 128. Grinding mechanism; 2. Stator; 21. End cap; 211. Rotor; 22. Grinding channel; 23. Coffee bean inlet; 24. Coffee powder outlet; 25. Air pressure suction mechanism; 3. Coffee powder discharge pipe; 31. Coffee powder box; 321. Filter; 322. Powder outlet. Negative pressure air pipe 33, electric valve 34, rotating shaft 341, valve plate 342, first motor 41, transmission shaft 42, adapter pipe 5, sealed bearing 6, dust cover 7, cooling pipe 8, grinding precision adjustment mechanism 9, nut seat 91, lead screw sleeve 92, motor 93, transmission gear 94, first gear 941, second gear 942, guide structure 95, protective sleeve 10, bushing 13, connecting rod 14, space 15, automatic turntable 16, third motor 17, third gear 18, fourth gear 19. Detailed Implementation

[0030] The specific embodiments of the present invention will now be described in detail with reference to the accompanying drawings. Obviously, the described embodiments are merely some, not all, of the embodiments of the present invention. Based on the description of the present invention, all other embodiments obtained by those skilled in the art without inventive effort are within the scope of protection of the present invention.

[0031] Unless otherwise explicitly specified and limited, the terms "setup," "installation," and "connection" should be interpreted broadly. For example, they can refer to fixed connections, detachable connections, or integral connections; they can refer to mechanical connections or electrical connections; they can refer to direct connections or indirect connections through an intermediate medium. Those skilled in the art can understand the specific meaning of these terms based on the specific circumstances.

[0032] The terms “upper,” “lower,” “left,” “right,” “front,” “back,” “top,” “bottom,” “inner,” and “outer,” etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, or the orientation or positional relationship commonly used when the product of the invention is in use. They are only for the convenience of description and simplification, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on the present invention.

[0033] The terms “first,” “second,” “third,” etc., are used merely to distinguish elements with similar properties, not to indicate or imply relative importance or a specific order.

[0034] The terms “include,” “comprising,” or any other variation thereof are intended to cover non-exclusive inclusion, which includes not only the elements listed but also other elements not expressly listed.

[0035] Please refer to Figures 1 to 5 This invention provides an automatic coffee grinding system for a robot, including a robotic end arm 1, a coffee bean suction pipe 124, a grinding mechanism 2, and a pneumatic suction mechanism 3. The robotic end arm 1 includes a housing 11 and a robotic claw 12 located at the end of the housing 11, and the grinding mechanism 2 is located inside the housing 11.

[0036] Please refer to Figure 2 and Figure 3 The housing 11 of the robotic arm 1 is cylindrical, preferably cylindrical; the grinding mechanism 2 has a coffee bean inlet 24 at one end facing the robotic claw 12 and a coffee powder outlet 25 at the other end; a coffee bean suction pipe 124 is provided at the end of the robotic claw 12 on the housing 11, one end of the coffee bean suction pipe 124 is located outside the housing 11 and is used to extend into the coffee bean storage to suck up coffee beans, and the other end of the coffee bean suction pipe 124 passes through the housing 11 and is connected to the coffee bean inlet 24.

[0037] Please refer to Figure 2 The air pressure suction mechanism 3 includes a coffee powder discharge pipe 31, a coffee powder container 32, and a negative pressure air pipe 33. The coffee powder outlet 25 of the grinding mechanism 2 is connected to one end of the coffee powder discharge pipe 31, and the other end of the coffee powder discharge pipe 31 is connected to the coffee powder container 32. One end of the negative pressure air pipe 33 is connected to a vacuum device, and the other end is connected to the coffee powder container 32. A filter 321 is installed inside the coffee powder container 32 to separate the coffee powder from the opening of the negative pressure air pipe 33, thereby preventing the coffee powder from being sucked into the negative pressure air pipe 33. The filter 321 can be a filter screen, which is fixed to the inner wall of the coffee powder container 32. The opening of the negative pressure air pipe 33 is located on one side of the filter screen, and the space on the other side of the filter screen is used to hold the coffee powder. The bottom of the coffee powder container 32 is preferably designed in a funnel shape, and a powder outlet 322 is provided at the bottom of the funnel.

[0038] Please refer to Figure 2 and Figure 1 Furthermore, an electric valve 34 is provided on the powder outlet 322. The electric valve 34 includes a rotating shaft 341 and a valve plate 342. The valve plate 342 is located inside the powder outlet 322. The actuator inside the electric valve 34 rotates the valve plate 342 through the rotating shaft 341, so that the periphery of the valve plate 342 is seamlessly connected to the inner wall of the powder outlet 322, thereby sealing the powder outlet 322. Rotating the valve plate 342 to be parallel to the axis of the powder outlet 322 allows the coffee powder in the coffee powder box 32 to flow out smoothly.

[0039] The working principle of the air pressure suction mechanism 3 is as follows: When the powder outlet 322 is closed, the negative pressure air pipe 33 draws air from the coffee powder box 32, coffee powder discharge pipe 31, grinding mechanism 2, and coffee bean suction pipe 124 to form a negative pressure environment, so that the coffee bean suction pipe 124 can draw coffee beans from the coffee bean storage hopper, so that the coffee beans enter the coffee bean inlet 24, and are then squeezed into the grinding mechanism 2. After being squeezed and ground, coffee powder is obtained and discharged from the coffee powder outlet 25. The coffee powder is drawn into the coffee powder box 32 through the coffee powder discharge pipe 31.

[0040] Please refer to Figure 2 When it is necessary to pour coffee powder from coffee powder container 32 into a vessel (such as a powder dispenser), the end of the robotic arm can be controlled to be in a vertical position, and the electric valve 34 can be opened, so that the coffee powder slides down the funnel-shaped inner wall under the action of gravity and leaks into the vessel through the powder outlet 322.

[0041] Furthermore, to accelerate the speed at which coffee powder is poured into the container, a vibrator, such as a vibration motor, can be installed on the outer wall of the coffee powder container 32. The high-frequency vibration effect will cause all the coffee powder to leak out of the outlet 322 of the coffee powder container 32 as quickly as possible. An air supply pipe can also be connected to the coffee powder container 32, and a second electric valve can be installed on the coffee powder discharge pipe 31 (the function of which is to prevent the airflow from blowing the coffee powder in the coffee powder container 32 back towards the grinding mechanism through the coffee powder discharge pipe 31). The outlet 322 is designed to fit the shape of the powder distributor. When pouring coffee powder, the outlet 322 enters the powder distributor and presses against the bottom wall of the powder distributor. The air supply pipe is activated to discharge air, so that the coffee powder in the coffee powder container 32 is forced into the powder distributor by air pressure. The air in the coffee powder container 32 escapes from the gap between the outlet 322 and the bottom wall of the powder distributor, and the coffee powder remains in the powder distributor.

[0042] Please refer to Figure 2Specifically, the grinding mechanism 2 includes a stator 21 and a rotor 22 arranged coaxially. Both the stator 21 and the rotor 22 are ring-shaped. The stator 21 is non-rotatably disposed inside the housing 11, and the rotor 22 is rotatably disposed inside the stator 21. The rotor 22 may be completely located inside the stator 21, or one or both ends of the rotor 22 may extend axially outside the stator 21. Multiple raised and recessed textures are provided on the inner wall of stator 21 and the outer wall of rotor 22. The inner wall of stator 21 and the outer wall of rotor 22 form an annular grinding channel 23. The coffee bean inlet 24 is located at the end of grinding channel 23 facing the mechanical claw 12, and the coffee powder outlet 25 is located at the end of grinding channel 23 away from the mechanical claw 12. From coffee bean inlet 24 to coffee powder outlet 25, the width of grinding channel 23 gradually decreases radially. When coffee beans enter grinding channel 23 from coffee bean inlet 24, they are squeezed and broken, and move towards coffee powder outlet 25 under the action of the textures on both sides of grinding channel 23. During the movement, the particle size becomes finer and finer, and finally they are discharged from coffee powder outlet 25.

[0043] Please refer to Figure 2 Specifically, a bushing 13 is fixed inside the housing 11, located inside the rotor 22. A bearing connects the inner wall of the rotor 22 to the outer wall of the bushing 13, allowing the rotor 22 to rotate stably around the axis of the bushing 13. A first motor 41 is fixed inside the housing 11, with its output shaft connected to a drive shaft 42. The rotor 22 is coaxially connected to the drive shaft 42, and the first motor 41 drives the rotor 22 to rotate via the drive shaft 42. An end cap 211 is fixed to the end of the stator 21 furthest from the mechanical gripper 12. The end cap 211 has a central hole for the drive shaft 42 to pass through, and a connecting rod 14 is fixed to the end of the drive shaft 42, which is then fixed to the end of the rotor 22.

[0044] Please refer to Figure 2 The coffee powder discharge pipe 31 is located inside the rotor 22. The end of the coffee powder discharge pipe 31 away from the mechanical claw 12 is rotatably connected to the adapter pipe 5 via a bearing. The periphery of the opening of the adapter pipe 5 is fixedly connected to the periphery of the end of the rotor 22. The coffee powder discharge pipe 31, the rotor 22, and the adapter pipe 5 are coaxial. The adapter pipe 5 is a reducing pipe, preferably funnel-shaped, with the diameter of the end of the adapter pipe 5 away from the coffee powder discharge pipe 31 being larger than the diameter of the end closer to the coffee powder discharge pipe 31.

[0045] Please refer to Figure 2The end of the stator 21 furthest from the mechanical claw 12 is longer than the corresponding end of the rotor 22. The inner wall of this end of the stator 21 protrudes beyond the rotor 22. The inner wall of the stator 21 protruding beyond the rotor 22, together with the inner wall of the end cover 211 facing the mechanical claw 12 and the inner wall of the adapter pipe 5, forms a space 15 for accommodating coffee powder. The drive shaft 42 extends into this space 15. To eliminate the impact of the gap between the drive shaft 42 and the central hole of the end cover 211 on the sealing performance of the space 15, a sealed bearing 6 is provided on the side wall of the drive shaft 42 between the end cover 211 and the rotor 22. A dust cover 7 is connected between the outer ring of the sealed bearing 6 and the inner wall of the end cover 211. The periphery of one end of the dust cover 7 is seamlessly connected to the sealed bearing 6, and the periphery of the other end is seamlessly connected to the end cover 211 around the drive shaft 42. The dust cover 7 is made of a material that can both prevent dust and stretch axially, such as a corrugated pipe or a rubber sleeve.

[0046] The aforementioned automatic coffee grinding system integrates a grinding mechanism 2 within the end effector arm 1 of the robotic arm. When there are many orders, in addition to activating the original coffee powder grinding module of the coffee robot, the grinding mechanism 2 is also activated. After the coffee beans are picked up through the coffee bean suction pipe 124, the system grinds coffee powder for other orders while the robotic arm performs other handling operations, thereby shortening the waiting time for grinding coffee powder for multiple orders.

[0047] Please refer to Figure 2 Furthermore, in this embodiment of the invention, the grinding precision of the grinding mechanism 2 is adjustable, which is achieved by the grinding precision adjustment mechanism 9. The principle is to move the stator 21 relative to the rotor 22 along the axial direction. The outer wall of the rotor 22 and the inner wall of the stator 21 are both inclined relative to the axis, and the surface where the outer wall of the rotor 22 is located intersects the surface where the inner wall of the stator 21 is located. When the rotor 22 and the stator 21 are relatively displaced along the axial direction, the length of the grinding channel 23 along the axial direction will change, and the width of the narrowest part of the grinding channel 23 near the coffee powder outlet 25 will also change. Both of these changes will cause the grinding particle size of the coffee powder to change, thereby controlling the coarseness of the ground coffee powder.

[0048] Please refer to Figure 2Specifically, the grinding precision adjustment mechanism 9 includes a nut seat 91, a lead screw sleeve 92, a transmission gear 94, a guide structure 95, and a second motor 93. The transmission shaft 42 passes through the lead screw sleeve 92, and the lead screw sleeve 92 is coaxially connected to the transmission shaft 42 through a bearing. The outer wall of the lead screw sleeve 92 is threadedly connected to the nut seat 91, and the nut seat 91 is fixed to the end cover 211. The guide structure 95 is located between the stator 21 and the inner wall of the housing 11 to guide the stator 21 to move axially. The motor 93 drives the lead screw sleeve 92 to rotate through the transmission gear 94, causing the nut seat 91 and the end cover 211 to tend to rotate with the lead screw sleeve 92. However, due to the guiding effect of the guide structure 95 on the stator 21 and the end cover 211, the nut seat 91 can only move axially, thereby pulling the end cover 211 and the stator 21 to move axially, thus realizing the axial movement of the stator 21 relative to the rotor 22.

[0049] Specifically, the guide structure 95 includes a protrusion and a groove for interlocking. The groove extends along the length of the housing 11. It can be that the protrusion protrudes from the stator 21 and the groove is provided on the inner wall of the housing 11, or the protrusion protrudes from the inner wall of the housing 11 and the groove is provided on the outer wall of the stator 21; please refer to... Figure 2 The transmission gear 94 includes a meshing first gear 941 and a second gear 942, wherein the first gear 941 is directly driven by the output shaft of the second motor 93, the second motor 93 is fixed to the inner wall of the housing 11, and the second gear 942 is coaxially fixed to the side wall of the lead screw sleeve 92; please refer to Figure 4 Alternatively, the second motor 93 can be fixed to the end cover 211, and the thickness of the first gear 941 along the axial direction can be increased so that the first gear 941 can move axially relative to the second gear 942. This solution is suitable for situations where the first motor 41 occupies the internal space of the housing 11, making it impossible for the second motor 93 to be installed near the first motor 41.

[0050] Please refer to Figure 1 Furthermore, the mechanical gripper 12 is a hollow tube with two open ends, and the aforementioned coffee bean suction pipe 124 is the inner cavity of the mechanical gripper 12. The coffee bean suction pipe 124 is designed to be located inside the hollow mechanical gripper 12, allowing the mechanical gripper 12 to function as both a gripping vessel and a container for sucking up coffee beans. Multiple mechanical grippers 12 can simultaneously suck up different types of coffee beans, thus producing a blended coffee. The coffee bean storage compartment can be arranged in a grid array, with each grid pre-filled with a specified weight and type of coffee beans for the mechanical gripper 12 to insert into and suck up.

[0051] Please refer to Figure 2 and Figure 3The mechanical gripper 12 includes a first rod portion 121, a second rod portion 122, and an automatic telescopic rod 123. The first rod portion 121 is vertically fixed to the end of the housing 11. The second rod portion 122 is hinged to the top of the first rod portion 121. One end of the automatic telescopic rod 123 is hinged to the end of the housing 11, and the other end is hinged to the second rod portion 122. The automatic telescopic rod 123 can be electrically powered. By pulling the second rod portion 122 to rotate around the hinge axis 128, the gripping range of the multiple mechanical grippers 12 arranged in a circle changes, thus adapting to gripping containers of different diameters. By designing the mechanical gripper 12 as a multi-segment hinged structure, multiple mechanical grippers 12 can simulate human fingers to cooperate in grasping containers. The flexible design of the mechanical gripper 12 allows it to grasp containers of various sizes. The top end of the first rod 121 and the bottom end of the second rod 122 can rotate around the hinge 128 to fit together, so that the coffee bean suction tube 124 in the mechanical claw 12 will not leak air through gaps, thus achieving normal coffee bean suction.

[0052] Please refer to Figure 5 Furthermore, at least two automatic turntables 16 are connected to the end of the housing 11 via bearings. Each automatic turntable 16 corresponds one-to-one with a mechanical claw 12, and each automatic turntable 16 is equipped with one mechanical claw 12. The automatic turntables 16 are driven to rotate by a small third motor 17. A third gear 18 is coaxially mounted on each automatic turntable 16, and a fourth gear 19 is mounted on the output shaft of the third motor 17. Transmission is achieved through the meshing of the fourth gear 19 and the third gear 18. Figure 3 The first rod 121 is vertically fixed to the automatic turntable 16, the second rod 122 is hinged to the top of the first rod 121, and the automatic telescopic rod 123 is hinged at one end to the automatic turntable 16 and at the other end to the second rod 122. Please refer to... Figure 5 and Figure 3 By setting an automatic turntable 16 as the base of the mechanical claw 12, the second rod 122 can be driven to rotate around the hinge axis 128 relative to the first rod 121 by the extension and retraction of the automatic telescopic rod 123, thereby bending the mechanical claw 12. The mechanical claw 12 can be rotated to a specific angle by the moving turntable 16, thereby grasping irregularly shaped containers.

[0053] Please refer to Figure 5 Furthermore, the sidewall of the mechanical gripper 12 has a plane 125 parallel to its axis, and a vertical groove 126 is provided on the plane 125 to accommodate the automatic telescopic rod 123 (see...). Figure 2The automatic telescopic rod 123 does not protrude from the plane 125. The plane 125 increases the contact area with the surface of the container when the robotic arm grasps the container, thereby increasing the static friction. The automatic turntable 16 works in conjunction with the plane 125 to rotate the robotic gripper 12 so that the plane 125 faces the outer wall of the object being gripped. To further increase the static friction between the robotic gripper 12 and the container, a sleeve 127 can be fitted onto the outer wall of the robotic gripper 12. The sleeve 127 fits tightly against the contour of the robotic gripper 12 and has the ability to elastically deform, thereby adapting to the bending of the robotic gripper 12. The sleeve 127 is preferably made of rubber.

[0054] Please refer to Figure 2 Since grinding coffee will raise the temperature of the grinding mechanism 2, thus affecting the flavor of the coffee powder, a protective sleeve 10 can be fitted around the periphery of the housing 11, forming an annular space with the outer wall of the housing 11. A cooling pipe 8 is installed within the annular space, and a circulating cooling medium flows through the cooling pipe 8. The cooling pipe 8 is spirally arranged around the annular space, which can cool the grinding mechanism 2. The aforementioned third motor 17 can also be hidden within this annular space.

[0055] The above description is merely a specific embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Any variations or substitutions that can be easily conceived by those skilled in the art within the scope of the technology disclosed in the present invention should be included within the scope of protection of the present invention.

Claims

1. A coffee robot automatic grinding system, characterized in that, The utility model provides a coffee bean grinding machine, including mechanical arm, coffee bean suction pipeline, grinding mechanism and air pressure suction mechanism, the mechanical arm includes casing and sets up the mechanical claw in the casing end, the inside of casing is provided with grinding mechanism, and the grinding mechanism includes coffee bean import and coffee powder export, one end of coffee bean suction pipeline is located in the casing outside for the extension into coffee bean storage, and the other end is connected with coffee bean import, the air pressure suction mechanism includes coffee powder discharge pipe, coffee powder box and negative pressure air pipe, one end of coffee powder discharge pipe is connected coffee powder box, and the other end is connected with coffee powder export, and negative pressure air pipe is connected coffee powder box, and coffee powder box is equipped with filter in and blocks coffee powder to be inhaled negative pressure air pipe, and coffee powder box is equipped with the powder outlet on. The grinding mechanism includes the stator and the rotor which are coaxially arranged and are both annular, the stator is sleeved outside the rotor and surrounds the grinding channel, the grinding channel is provided with the coffee bean import at one end facing the mechanical claw and is provided with the coffee powder export at the other end, the end of the stator away from the mechanical claw protrudes from the rotor and is provided with an end cover, a transmission shaft is arranged in the center of the end cover, and the transmission shaft is fixedly connected with the rotor, the coffee powder discharge pipe is located in the interior of the rotor and is rotationally connected with an adapter pipe, and the peripheral edge of the pipe opening of the adapter pipe is connected with the peripheral edge of the end of the rotor. The inside of the casing is provided with a grinding precision adjusting mechanism connected with the stator, which is suitable for moving the stator relative to the rotor in the axial direction, the grinding precision adjusting mechanism includes a nut seat, a screw rod sleeve, a motor, a transmission gear and a guide structure, the transmission shaft is arranged in the screw rod sleeve and is coaxially rotationally connected through a bearing, the screw rod sleeve is connected with the nut seat outside, the nut seat is fixed on the end cover, the motor is used to drive the screw rod sleeve to rotate through the transmission gear, and the guide structure is arranged between the stator and the inner side wall of the casing for guiding the axial movement of the stator.

2. The coffee robot grinding system of claim 1, wherein, A sealing bearing is arranged on the side wall of the transmission shaft between the end cover and the rotor, and a dustproof sleeve is connected between the sealing bearing and the end cover.

3. The coffee robot grinding system of claim 1, wherein, The outer side wall of the rotor and the inner side wall of the stator are both inclined relative to the axis, and the plane where the outer side wall of the rotor is located intersects with the plane where the inner side wall of the stator is located.

4. The coffee robot grinding system of claim 1, wherein, The mechanical claw is hollow inside and penetrates through both ends, and the coffee bean suction pipeline is located inside the mechanical claw.

5. The coffee robot grinding system of claim 4, wherein, The mechanical claw includes a first rod part, a second rod part and an automatic telescopic rod, the first rod part is arranged at the end of the casing, the second rod part is hingedly connected to the first rod part, one end of the automatic telescopic rod is hingedly connected to the casing, and the other end of the automatic telescopic rod is hingedly connected to the second rod part.

6. The coffee robot grinding system of claim 5, wherein, A flat surface is arranged on the side wall of the mechanical claw, a vertical groove is arranged on the flat surface to accommodate the automatic telescopic rod, the first rod part and the second rod part can be rotated to a state where the opposite ends are attached, an automatic turntable is arranged at the end of the casing, the first rod part is arranged on the automatic turntable, and the automatic turntable is used to rotate the mechanical claw to make the flat surface face the outer side wall of the clamped object.

7. The coffee robot grinding system of claim 6, wherein, An elastically deformable sleeve is tightly sleeved on the outer side wall of the mechanical claw to increase the static friction force with the clamped object.

8. The coffee robot grinding system of claim 1, wherein, The shell is sleeved with a protective sleeve on the circumference, the protective sleeve and the outer wall of the shell form an annular space, and a cooling pipe for cooling the grinding mechanism is arranged in the annular space.

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