Multi-axis cooperative cup carrying and positioning control system and working process

Abstract

The invention relates to the field of cups, in particular to a multi-axis cooperative cup carrying and positioning control system and workflow, the multi-axis cooperative cup carrying and positioning control system comprises a central control unit and a shaft system module, the shaft system module comprises an X-axis moving module, a Y-axis moving module, a Z-axis lifting module and a clamping hand opening and closing module, an X-axis origin sensor is arranged on the X-axis moving module, a Y-axis origin sensor is arranged on the Y-axis moving module, the X-axis moving module comprises an X-axis driving assembly, an X-axis track and an X-axis platform, the Y-axis moving module comprises a Y-axis driving assembly, a Y-axis track and a Y-axis platform, and the Z-axis lifting module comprises a Z-axis driving assembly, a limiting piece, a Z-axis lead screw and a loading platform. The clamping hand opening and closing module comprises an opening and closing driving assembly, a limiting piece, an opening and closing lead screw and a cup clamp. According to the method, the positioning precision is improved, the compatibility is comprehensively upgraded, the efficiency is obviously optimized, the safety is greatly enhanced, and the compliance adaptation is realized.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of cup, in particular to a multi-axis cooperative cup carrying and positioning control system and working process. BACKGROUND

[0002] With the improvement of people's living standards and the continuous improvement of the quality of life, more and more people will buy some drinks to meet their own needs, and coffee is one of them.

[0003] Coffee refers to the beverage made of roasted and ground coffee beans. It is one of the main drinks popular in the world together with cocoa and tea. In order to meet the demand of a large number of white-collar workers in office buildings, coffee vending machines will be set up in office buildings.

[0004] With the intelligent upgrading of the coffee industry, coffee vending machines have higher requirements for the accuracy, efficiency and compatibility of cup carrying. The existing technology has the following significant defects:

[0005] Insufficient positioning accuracy: traditional equipment adopts two-axis or three-axis motion architecture and relies on stepper motor drive. The positioning error is often not less than ±0.5mm, which easily leads to problems such as cup leakage and cover offset, and the qualified rate is less than 90%;

[0006] Poor adaptability to multiple cup types: single equipment can only adapt to 1-2 cup types, and manual adjustment of mechanical limit is required when changing cup types, which takes more than 10 minutes, and cannot meet the multi-specification demand of commercial scenarios;

[0007] Redundant coordination logic: multi-axis motion lacks unified scheduling, and the process connection has 2-3 second lag, and single cup preparation takes more than 20 seconds, which is low in efficiency;

[0008] Safety protection is missing: there is no shaft interference warning mechanism, and Z-axis overtravel is easy to collide with the equipment shell, and the equipment failure rate is higher than 5% / thousand times of operation.

[0009] The patent of "Multi-axis cooperative mechanical arm control system" with publication number CN119820370A, although it involves multi-axis linkage, focuses on the field of machine tool processing, and its heavy driving structure and rough positioning logic cannot adapt to the lightness and high precision demand of food-grade cup carrying. SUMMARY

[0010] The present application provides a multi-axis cooperative cup carrying and positioning control system, which overcomes the defects of low positioning accuracy, poor adaptability, insufficient efficiency and weak safety of the prior art, and provides a four-axis cooperative, precise positioning and multi-cup type compatible full-automatic cup carrying and positioning solution. The present application provides the following technical solutions:

[0011] The application discloses a multi-axis cooperative cup carrying and positioning control system which comprises a central control unit and an axis system module, the axis system module comprises an X-axis moving module, a Y-axis moving module, a Z-axis lifting module and a clamping hand opening and closing module, an X-axis origin sensor is arranged on the X-axis moving module, a Y-axis origin sensor is arranged on the Y-axis moving module, the X-axis moving module comprises an X-axis driving assembly, an X-axis track and an X-axis platform, the X-axis platform is slidably installed on the X-axis track, and the X-axis driving assembly is electrically connected with the X-axis platform, a limiting piece is arranged at the limit position of the two sides of the X-axis track, the Y-axis moving module comprises a Y-axis driving assembly, Y-axis tracks and Y-axis platforms, the number of the Y-axis tracks is two, the two Y-axis tracks are connected through a shaft coupling, a Y-axis platform is slidably installed on each Y-axis track, and the Y-axis driving assembly is electrically connected with the two Y-axis platforms, respectively, and a limiting piece is arranged at the limit position of the two sides of each Y-axis track, the Z-axis lifting module comprises a Z-axis driving assembly, limiting pieces, a Z-axis screw rod and a loading platform, the output end of the Z-axis driving assembly is connected with the Z-axis screw rod, the loading platform for placing a cup clamp is slidably installed on the Z-axis screw rod, a limiting piece is arranged at the upper portion of the Z-axis screw rod, a plurality of functional stations are arranged on the Z-axis screw rod, the clamping hand opening and closing module comprises an opening and closing driving assembly, limiting pieces, an opening and closing screw rod and a cup clamp, the output end of the opening and closing driving assembly is connected with the opening and closing screw rod, the cup clamp for placing a cup is rotatably installed on the opening and closing screw rod through a nut, limiting pieces are arranged at the limit positions of the two sides of the opening and closing screw rod, position sensors are arranged at the origins of the Z-axis screw rod and the opening and closing screw rod, and the central control unit is electrically connected with the X-axis driving assembly, the X-axis origin sensor, the Y-axis driving assembly, the Y-axis origin sensor, the Z-axis driving assembly, the position sensors and the opening and closing driving assembly. In the application, the process height parameter of the Z-axis lifting module is as follows: Z=95mm: adaptive to cup receiving, ice receiving, coffee extraction and cap receiving actions; Z=60mm: adaptive to cap pressing and finished product delivery actions; Z=46mm: as a transition height for linkage operation of the X-axis moving module and the Y-axis moving module, and the position can be calibrated and adjusted through the central control unit. The action logic of the clamping hand opening and closing module (represented by I-axis parameters) is as follows: cup taking / cup holding state: I=0mm (the cup clamp is located at an original position and clamps a cup mouth); cup releasing state: I=2.7mm (the cup clamp moves along the opening and closing screw rod and releases the cup to make the cup fall to a target work station). The cup receiving work station coordinate parameters are as follows: A cup falling position: X=140.49mm, Y=10mm, Z=95mm, I=0mm; B cup falling position: X=274mm, Y=123.44mm, Z=95mm, I=0mm; C cup falling position: X=377mm, Y=123.44mm, Z=95mm, I=0mm.The intermediate process station coordinate parameters include: ice receiving position: X=298mm, Y=0mm, Z=95mm, I=0mm; extraction position: X=10mm, Y=0mm, Z=95mm, I=0mm; cover falling position: X=131mm, Y=179.2mm, Z=95mm, I=0mm; cover pressing position: X=351mm, Y=265.29mm, Z=60mm, I=0mm. The coordinate parameters of the delivery station are: delivery 1 position: X=80mm, Y=431.73mm, Z=60mm, I=2.7mm; delivery 2 position: X=200mm, Y=431.73mm, Z=60mm, I=2.7mm.

[0012] As a further scheme of the application: the central control unit adopts a PLC controller, receives signals of the X-axis origin sensor and the Y-axis origin sensor through a Modbus protocol, and outputs driving instructions through a Modbus-RTU protocol, and preferably, the central control unit adopts a Siemens S7-1200 series PLC, and a preset coordinate database (containing full-process coordinates of different cup types) is built-in to realize real-time regulation and control of motion parameters.

[0013] As a further scheme of the application: the X-axis driving assembly and the Y-axis driving assembly both adopt electric cylinders, the motor in the electric cylinder is a Panasonic servo motor (power 400W) supporting position / speed dual-mode control, and preferably, the X-axis driving assembly and the Y-axis driving assembly both adopt Yintai linear electric cylinders, the parallelism of the Y-axis track and the X-axis track is not greater than 0.02mm / m, the effective stroke of the X-axis driving assembly is 815mm, the repeat positioning accuracy is ±0.05mm, is responsible for horizontal transverse displacement adjustment, the effective stroke of the Y-axis driving assembly is 660mm, the repeat positioning accuracy is ±0.05mm, is responsible for horizontal longitudinal displacement adjustment, the Z-axis driving assembly adopts a servo motor, is provided with a bottom origin (Z=0mm), an interference limit (Z=98mm) and multiple process heights, is responsible for vertical lifting, and the opening and closing driving assembly adopts a stepping motor (step angle 1.8°) suitable for clamping requirements of φ50-φ90mm cup mouths.

[0014] As a further scheme of the application: the limiting piece is made of sheet metal process, the manufacturing process is mature, and the service life is long, and preferably, the limiting piece adopts a mechanical limiting block, each limiting piece is provided with a position sensor, the central control unit is electrically connected with the position sensor, the X-axis origin sensor and the Y-axis origin sensor both adopt photoelectric sensors, and preferably, the X-axis origin sensor and the Y-axis origin sensor both adopt Omron E3Z photoelectric switches (response time ≤1ms), and the limiting piece and the position sensor jointly realize double protection to avoid overtravel interference.

[0015] As a further scheme of the present application: the Z-axis screw rod adopts a ball screw, and the opening and closing screw rod adopts a micro ball screw (lead 1mm).

[0016] As a further scheme of the present application: the Z-axis screw rod, the Y-axis rail and the X-axis rail are all provided with a plurality of functional work stations, and each functional work station is provided with a position sensor, and the position sensor adopts a Sony magnetic scale (resolution 0.1μm), and the full stroke position feedback frequency is greater than or equal to 1kHz.

[0017] As a further scheme of the present application: the cup clamp, the Z-axis screw rod, the opening and closing screw rod and the loading platform are all made of food-grade stainless steel, so as to ensure the safety of contact with the beverage.

[0018] A working process of a multi-axis cooperative cup carrying and positioning control system, comprising the following steps:

[0019] S1: initialization calibration: the central control unit triggers each component to return to the original point (X=0mm, Y=0mm, Z=0mm, I=0mm), and the X-axis original point sensor, the Y-axis original point sensor and the position sensor complete position calibration, and the time consumption is less than or equal to 3 seconds;

[0020] S2: cup grabbing: according to the target cup type (A / B / C), the X-axis moving module and the Y-axis moving module move to the corresponding cup receiving work station along the linear interpolation motion, the Z-axis lifting module rises to 95mm, and the clamping hand opening and closing module remains at 0mm to clamp the cup;

[0021] S3: intermediate process execution: sequentially link to the ice receiving work station (ice receiving), the extraction work station (coffee liquid receiving), the cover receiving work station (cup cover receiving) and the cover pressing work station (cup cover compacting), and the Z-axis lifting module synchronously adapts to the corresponding process height; the X-axis moving module and the Y-axis moving module adopt a motion mode combining linear interpolation and circular interpolation, so as to realize the smooth transition between different functional work stations, and the motion speed can be adjusted in the range of 0-500mm / s;

[0022] S4: finished product delivery: the X-axis moving module and the Y-axis moving module move to the delivery work station, the clamping hand opening and closing module switches to 2.7mm to release the cup, and the delivery is completed;

[0023] S5: system reset: each component returns to the original point, the clamping hand opening and closing module restores the clamping state, and is ready for the next cycle, and the time consumption is less than or equal to 2 seconds.

[0024] Compared with the prior art, the present application has the following beneficial effects:

[0025] 1. Positioning accuracy leap: the four-axis cooperative positioning error is less than or equal to ±0.1mm, the cup receiving liquid leakage rate is reduced to less than or equal to 0.5%, and the cover pressing qualified rate is improved to 99.8%;

[0026] 2. Significantly optimized efficiency: Single cycle time ≤15 seconds, 25% faster than traditional equipment, meeting the commercial demand of 240 cups per hour;

[0027] 3. Comprehensive Compatibility Upgrade: Adapts to three cup types (A / B / C) through preset coordinates, eliminating the need for mechanical adjustments when switching cup types, with a response time of ≤0.5 seconds;

[0028] 4. Significantly enhanced safety: Interference limit warning + buffer stroke (10mm redundancy retained on X / Y axes) design, ensuring 1000 consecutive fault-free operations;

[0029] 5. Compliance Compatibility: The parts in contact with the cup are made of food-grade 304 stainless steel, which complies with RoHS 2.0 and GB4806.9-2016 food contact standards. Attached Figure Description

[0030] Figure 1 This is a schematic diagram of the shaft module in the multi-axis collaborative cup handling and positioning control system of this invention.

[0031] Figure 2 This is a schematic diagram of the X-axis movement module in the multi-axis collaborative cup handling and positioning control system of this invention.

[0032] Figure 3 This is a schematic diagram of the Y-axis movement module in the multi-axis collaborative cup handling and positioning control system of this invention.

[0033] Figure 4 This is a schematic diagram of the Z-axis lifting module in the multi-axis collaborative cup handling and positioning control system of this invention.

[0034] Figure 5 This is a schematic diagram of the gripper opening and closing module in the multi-axis collaborative cup handling and positioning control system of this invention.

[0035] In the diagram: 1 - X-axis moving module; 2 - Y-axis moving module; 3 - Z-axis lifting module; 4 - Grip opening and closing module; 5 - X-axis origin sensor; 6 - Y-axis origin sensor. Detailed Implementation

[0036] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0037] The central control unit coordinates the four-axis movement through preset coordinate instructions to realize the full-process automation of cup taking, ice receiving, extraction, cover falling, cover pressing and delivery of A / B / C cup types. The Z-axis lifting module is provided with three process heights (95mm / 60mm / 46mm), the clamping hand opening and closing module realizes the accurate switching of I=0mm (realizing clamping of the cup) and I=2.7mm (realizing release of the background), the overall positioning error is ≤±0.1mm, and the single cycle time is ≤15 seconds. The application improves the standardization efficiency of coffee preparation, is suitable for commercial automatic coffee equipment, and has significant practical value.

[0038] The specific implementation of the application is described in detail below in combination with specific embodiments.

[0039] Reference is made to Figures 1-5A multi-axis cooperative cup carrying and positioning control system, comprising a central control unit and an axis system module, the axis system module comprising an X-axis moving module 1, a Y-axis moving module 2, a Z-axis lifting module 3 and a clamping hand opening and closing module 4, the X-axis moving module 1 is provided with an X-axis origin sensor 5, the Y-axis moving module 2 is provided with a Y-axis origin sensor 6, the X-axis moving module 1 comprises an X-axis drive assembly, an X-axis track and an X-axis platform, the X-axis platform is slidingly installed on the X-axis track and the X-axis drive assembly is electrically connected with the X-axis platform, a limiting piece is installed at the limit position of the two sides of the X-axis track, the Y-axis moving module 2 comprises a Y-axis drive assembly, a Y-axis track and a Y-axis platform, the number of the Y-axis track is two and the two Y-axis tracks are connected through a shaft coupling, a Y-axis platform is slidingly installed on each Y-axis track and the Y-axis drive assembly is electrically connected with the two Y-axis platforms, a limiting piece is installed at the limit position of the two sides of each Y-axis track, the Z-axis lifting module 3 comprises a Z-axis drive assembly, a limiting piece, a Z-axis screw and a loading platform, the output end of the Z-axis drive assembly is connected with the Z-axis screw, the loading platform for placing a cup clamp is slidingly installed on the Z-axis screw, a limiting piece is installed on the upper part of the Z-axis screw, a plurality of functional stations are arranged on the Z-axis screw, the clamping hand opening and closing module 4 comprises an opening and closing drive assembly, a limiting piece, an opening and closing screw and a cup clamp, the output end of the opening and closing drive assembly is connected with the opening and closing screw, the cup clamp for placing a cup is rotationally installed on the opening and closing screw through a nut, limiting pieces are installed at the limit positions of the two sides of the opening and closing screw, position sensors are installed at the origins of the Z-axis screw and the opening and closing screw, and the central control unit is electrically connected with the X-axis drive assembly, the X-axis origin sensor 5, the Y-axis drive assembly, the Y-axis origin sensor 6, the Z-axis drive assembly, the position sensor and the opening and closing drive assembly. In the application, the process height parameter of the Z-axis lifting module 3 is: Z=95mm: adapting to cup receiving, ice receiving, coffee extraction and cap receiving actions; Z=60mm: adapting to cap pressing and finished product delivery actions; Z=46mm: serving as a transition height for the linkage operation of the X-axis moving module 1 and the Y-axis moving module 2, and the position can be calibrated and adjusted through the central control unit. The action logic of the clamping hand opening and closing module 4 (represented by I-axis parameters) is: cup taking / holding state: I=0mm (the cup clamp is at the origin position and clamps the cup mouth); cup releasing state: I=2.7mm (the cup clamp moves along the opening and closing screw and releases the cup to make it fall to a target station). The cup receiving station coordinate parameters are: A cup falling position: X=140.49mm, Y=10mm, Z=95mm, I=0mm; B cup falling position: X=274mm, Y=123.44mm, Z=95mm, I=0mm; C cup falling position: X=377mm, Y=123.44mm, Z=95mm, I=0mm.The intermediate process station coordinate parameters include: ice receiving position: X=298mm, Y=0mm, Z=95mm, I=0mm; extraction position: X=10mm, Y=0mm, Z=95mm, I=0mm; cover falling position: X=131mm, Y=179.2mm, Z=95mm, I=0mm; cover pressing position: X=351mm, Y=265.29mm, Z=60mm, I=0mm. The coordinate parameters of the delivery station are: delivery 1 position: X=80mm, Y=431.73mm, Z=60mm, I=2.7mm; delivery 2 position: X=200mm, Y=431.73mm, Z=60mm, I=2.7mm.

[0040] In an embodiment of the present application, the central control unit adopts a PLC controller, receives signals of the X-axis origin sensor 5 and the Y-axis origin sensor 6 through the Modbus protocol, and outputs driving instructions through the Modbus-RTU protocol. Preferably, the central control unit adopts a Siemens S7-1200 series PLC, and a preset coordinate database (including full-process coordinates of different cup types) is built-in to realize real-time regulation and control of motion parameters.

[0041] In an embodiment of the present application, the X-axis driving assembly and the Y-axis driving assembly both adopt electric cylinders, the motors in the electric cylinders are Panasonic servo motors (power 400W) supporting position / speed dual-mode control. Preferably, the X-axis driving assembly and the Y-axis driving assembly both adopt Yintai linear electric cylinders, the parallelism of the Y-axis track and the X-axis track is not greater than 0.02mm / m, the effective stroke of the X-axis driving assembly is 815mm, the repeat positioning accuracy is ±0.05mm, and the X-axis driving assembly is responsible for horizontal transverse displacement adjustment; the effective stroke of the Y-axis driving assembly is 660mm, the repeat positioning accuracy is ±0.05mm, and the Y-axis driving assembly is responsible for horizontal longitudinal displacement adjustment; the Z-axis driving assembly adopts a servo motor, is provided with a bottom origin (Z=0mm), an interference limit (Z=98mm) and multiple process heights, and is responsible for vertical lifting; and the opening and closing driving assembly adopts a stepping motor (step angle 1.8°) suitable for clamping requirements of φ50-φ90mm cup mouths.

[0042] In an embodiment of the present application, the limiting piece is made of sheet metal process, the manufacturing process is mature, and the service life is long. Preferably, the limiting piece adopts a mechanical limiting block, each limiting piece is provided with a position sensor, the central control unit is electrically connected with the position sensor, the X-axis origin sensor 5 and the Y-axis origin sensor 6 both adopt photoelectric sensors, and preferably, the X-axis origin sensor 5 and the Y-axis origin sensor 6 both adopt Omron E3Z photoelectric switches (response time ≤1ms). The limiting piece and the position sensor jointly realize double protection and avoid overtravel interference.

[0043] In one embodiment of the present application, the Z-axis lead screw adopts a ball screw, and the opening and closing lead screw adopts a micro ball screw (lead 1mm).

[0044] In one embodiment of the present application, a plurality of functional work stations (i.e. positions for performing cup receiving, ice receiving, etc.) are arranged on the Z-axis lead screw, the Y-axis rail and the X-axis rail, and a position sensor is installed at each functional work station. The position sensor adopts a Sony magnetic scale (resolution 0.1 μm), and the full stroke position feedback frequency is ≥1 kHz.

[0045] In one embodiment of the present application, the cup clamp, the Z-axis lead screw, the opening and closing lead screw and the loading platform are all made of food-grade stainless steel material, to ensure the safety of contact with the beverage.

[0046] The working process of a multi-axis cooperative cup carrying and positioning control system includes the following steps:

[0047] S1: initialization calibration: the central control unit triggers each component to return to the original point (X=0mm, Y=0mm, Z=0mm, I=0mm), and the X-axis original point sensor 5, the Y-axis original point sensor 6 and the position sensor complete position calibration, which takes ≤3 seconds;

[0048] S2: cup grabbing: according to the target cup type (A / B / C), the X-axis moving module 1 and the Y-axis moving module 2 move to the corresponding cup receiving work station along the linear interpolation motion, the Z-axis lifting module 3 rises to 95mm, and the clamping hand opening and closing module 4 remains at 0mm to clamp the cup;

[0049] S3: intermediate process execution: sequentially link to the ice receiving work station (ice receiving), the extraction work station (coffee liquid receiving), the cover receiving work station (cup cover receiving) and the cover pressing work station (cup cover compaction), and the Z-axis lifting module 3 synchronously adapts to the corresponding process height; the X-axis moving module 1 and the Y-axis moving module 2 adopt a motion mode combining linear interpolation and circular interpolation, to realize smooth transition between different functional work stations, and the motion speed can be adjusted within the range of 0-500mm / s;

[0050] S4: finished product delivery: the X-axis moving module 1 and the Y-axis moving module 2 move to the delivery work station, the clamping hand opening and closing module 4 switches to 2.7mm to release the cup, and the delivery is completed;

[0051] S5: system reset: each component returns to the original point, the clamping hand opening and closing module 4 restores the clamping state, and is ready for the next cycle, which takes ≤2 seconds.

[0052] Embodiment 2

[0053] Taking the full-automatic carrying process of B cup (medium cup) as an example, the embodiment of the present application is described in detail:

[0054] Initialization stage: after the system is powered on, the central control unit sends a reset command, the X-axis moving module 1 and the Y-axis moving module 2 respectively return to the origin of X=0mm and Y=0mm along the X-axis track and the Y-axis track, the Z-axis lifting module 3 is lowered to the sensing area of the position sensor at Z=0mm, and the clamping hand opening and closing module 4 is retracted to the clamping state of I=0mm; the position sensor adopts a Sony magnetic grating ruler, and the position deviation of each axis is calibrated, and the calibration time is 2.8 seconds.

[0055] Cup taking stage: the central control unit calls the B cup coordinate parameters, the X-axis moving module 1 is driven to X=274mm, the Y-axis moving module 2 is driven to Y=123.44mm (linear interpolation motion, speed 300mm / s); the Z-axis lifting module 3 is raised to Z=95mm, and the clamping hand opening and closing module 4 keeps I=0mm, so as to clamp the cup, and the cup taking action is completed in 1.2 seconds.

[0056] Intermediate process stage:

[0057] Ice receiving: the X-axis moving module 1 and the Y-axis moving module 2 are interpolated to X=298mm / Y=0mm, the Z-axis lifting module 3 maintains Z=95mm, and the ice receiving process is stable without shaking;

[0058] Extraction: move to X=10mm / Y=0mm, the Z-axis lifting module 3 keeps Z=95mm, and the position deviation is less than or equal to ±0.08mm when receiving the coffee liquid;

[0059] Cover falling: move to X=131mm / Y=179.2mm, the Z-axis lifting module 3 keeps Z=95mm, and the cup cover is accurately dropped into the cup mouth;

[0060] Cover pressing: the X-axis moving module 1 and the Y-axis moving module 2 move to X=351mm / Y=265.29mm, the Z-axis lifting module 3 is lowered to Z=60mm, the clamping hand opening and closing module 4 keeps I=0mm clamping, and the cover pressing is completed.

[0061] Delivery stage: the X-axis moving module 1 and the Y-axis moving module 2 move to X=80mm / Y=431.73mm (delivery 1st), the Z-axis lifting module 3 maintains Z=60mm, the clamping hand opening and closing module 4 extends to I=2.7mm to release the cup, and the delivery time is 0.8 seconds.

[0062] Reset stage: each axis returns to the origin, the clamping hand opening and closing module 4 returns to the clamping state of I=0mm, the reset time is 1.7 seconds, and the total time of a single cycle is 14.5 seconds.

[0063] In the embodiment, four-axis movement is uniformly scheduled through a central control unit, realizes seamless connection of processes, adapts to high-frequency operation scenarios of commercial coffee equipment, and can be popularized to the field of automatic preparation of drinks such as milk tea and juice.

[0064] It should be noted that in the present application, unless otherwise explicitly specified and limited, the terms "fixed", "provided" and the like should be understood broadly, for example, can be welded connection, or bolted connection, or integrated; can be mechanical connection, or electrical connection; can be directly connected, or indirectly connected through an intermediate medium, can be the internal communication of two elements or the interaction relationship of two elements, unless otherwise explicitly limited. For those skilled in the art, the specific meaning of the above terms in the present application can be understood according to the specific circumstances.

[0065] In addition, it should be understood that although the present specification is described in terms of embodiments, not every embodiment contains only one independent technical solution, and the description manner of the specification is only for the sake of clarity, and those skilled in the art should consider the specification as a whole, and the technical solutions in each embodiment can also be appropriately combined to form other embodiments that those skilled in the art can understand.

Claims

1. A multi-axis cooperative cup handling and positioning control system, comprising a central control unit and an axis system module, the axis system module comprising an X-axis moving module, a Y-axis moving module, a Z-axis lifting module and a clamping hand opening and closing module, the X-axis moving module being provided with an X-axis origin sensor, the Y-axis moving module being provided with a Y-axis origin sensor, the X-axis moving module comprising an X-axis drive assembly, an X-axis track and an X-axis platform, the X-axis platform being slidingly installed on the X-axis track and the X-axis drive assembly being electrically connected with the X-axis platform, a limiting piece being installed at the limit position on each side of the X-axis track, the Y-axis moving module comprising a Y-axis drive assembly, a Y-axis track and a Y-axis platform, the number of the Y-axis track being two and the two Y-axis tracks being connected through a shaft coupling, a Y-axis platform being slidingly installed on each Y-axis track and the Y-axis drive assembly being electrically connected with the two Y-axis platforms respectively, a limiting piece being installed at the limit position on each side of each Y-axis track, the Z-axis lifting module comprising a Z-axis drive assembly, a limiting piece, a Z-axis screw and a loading platform, the output end of the Z-axis drive assembly being connected with the Z-axis screw, the loading platform for placing a cup clamp being slidingly installed on the Z-axis screw, the limiting piece being installed on the upper part of the Z-axis screw, a plurality of functional stations being provided on the Z-axis screw, the clamping hand opening and closing module comprising an opening and closing drive assembly, a limiting piece, an opening and closing screw and a cup clamp, the output end of the opening and closing drive assembly being connected with the opening and closing screw, the cup clamp for placing a cup being rotationally installed on the opening and closing screw through a nut, the limiting piece being installed at the limit position on each side of the opening and closing screw, a position sensor being installed at the origin of the Z-axis screw and the origin of the opening and closing screw, the central control unit being electrically connected with the X-axis drive assembly, the X-axis origin sensor, the Y-axis drive assembly, the Y-axis origin sensor, the Z-axis drive assembly, the position sensor and the opening and closing drive assembly respectively.

2. The multi-axis, synergistic cup handling and positioning control system of claim 1, wherein, The central control unit adopts a PLC controller.

3. The multi-axis, synergistic cup handling and positioning control system of claim 2, wherein, The central control unit adopts a Siemens S7-1200 series PLC.

4. The multi-axis, synergistic cup handling and positioning control system of claim 1, wherein, The X-axis drive assembly and the Y-axis drive assembly both adopt an electric cylinder.

5. The multi-axis, synergistic cup handling and positioning control system of claim 1, wherein, The limiting piece adopts a mechanical limiting block, a position sensor being installed on each limiting piece and the central control unit being electrically connected with the position sensor.

6. The multi-axis synergistic cup handling and positioning control system of claim 1 or 5, wherein, A plurality of functional station points are provided on the Z-axis screw, the Y-axis track and the X-axis track, a position sensor being installed at each functional station point.

7. The multi-axis, synergistic cup handling and positioning control system of claim 1, wherein, The cup clamp, the Z-axis screw, the opening and closing screw and the loading platform are all made of food-grade stainless steel.

8. A workflow for a multi-axis coordinated cup handling and positioning control system, comprising: The steps comprise: S1: initialization calibration: the central control unit triggers each component to return to the origin, the X-axis origin sensor, the Y-axis origin sensor and the position sensor complete position calibration; S2: cup grabbing: according to the target cup type, the X-axis moving module and the Y-axis moving module move along a straight line to the corresponding cup receiving station, the Z-axis lifting module rises to 95mm, and the clamping hand opening and closing module clamps the cup; S3: intermediate process execution: sequentially linked to ice receiving station, extraction station, cover falling station and cover pressing station, Z-axis lifting module synchronously adapts to corresponding process height; S4: finished product delivery: X-axis moving module and Y-axis moving module move to delivery station, clamping hand opening and closing module releases cup, and delivery is completed; S5: system reset: each component returns to the original point, and the clamping hand opening and closing module restores the clamping state.

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