Coffee robot mechanical arm assembly based on visual positioning system

Abstract

The invention relates to the technical field of coffee mechanical arms, in particular to a coffee robot mechanical arm assembly based on a visual positioning system. Comprising a mechanical arm supporting table, and an adjustable cup clamping mechanism and an auxiliary material positioning mechanism are arranged above the mechanical arm supporting table. Two sets of clamping plates are controlled to be clamped on the outer wall of a container, then two sets of flexible rotating rods are controlled to rotate to drive two sets of swing rods to swing, so that two sets of rubber strips are twisted to be attached to the outer wall of the container to increase the contact area, and then two sets of V-shaped first positioning plates and second positioning plates are controlled to be close to the outer wall of the container; the rubber balls abut against the outer wall of the coffee container, so that the mechanical arm assembly can fix the coffee containers in different shapes, and it is guaranteed that the coffee containers cannot shake in the coffee processing process; the adaptability of the mechanical arm assembly to coffee containers in different shapes is improved, and meanwhile the stability of coffee processing work is improved.

Description

TECHNICAL FIELD

[0001] The present application belongs to the technical field of coffee robot arm, and particularly relates to a coffee robot arm assembly based on a visual positioning system. BACKGROUND

[0002] With the improvement of people's quality of life, people's demand for coffee making is also getting higher and higher. At present, different types of coffee robots have appeared on the market, and their ideas are to use a mechanical arm to replace human hands and combine with a fully automatic coffee machine and other equipment to realize the automatic production of coffee or other non-coffee drinks.

[0003] Through retrieval, in the prior art, Chinese patent publication No. CN217225575U, published on August 19, 2022, discloses an intelligent coffee machine robot, which comprises a mechanical arm, a system control module and a beverage making module. The mechanical arm and the system control module comprise a mechanical arm, a system control unit for controlling the mechanical arm, and a mechanical arm support table for fixing the mechanical arm. The beverage making module comprises a beverage making unit and a beverage support table for fixing the beverage making unit. The mechanical arm support table and the beverage support table are detachably connected. The utility model adopts a modular structure design, so that the flexibility of the intelligent coffee machine robot is greatly improved. The intelligent coffee machine robot can be easily assembled, transported and handled, thereby reducing transportation cost and offline assembly cost.

[0004] However, the device still has the following defects: The existing coffee making mechanical arm assembly has a flexible clamping plate at the end of the execution mechanism for clamping coffee containers, which is designed with a single arc. When facing conical cups, traveling cups and other special-shaped containers, it cannot form a three-point stable clamping, resulting in low success rate of grabbing, and the mechanical arm assembly lacks adaptability to different shapes of coffee containers. SUMMARY

[0005] In view of the above problems, the present application provides a coffee robot arm assembly based on a visual positioning system, which comprises a mechanical arm support table, the top of the mechanical arm support table is provided with a mechanical arm mechanism; the output end of the mechanical arm mechanism is drivingly connected with an adjustable cup clamping mechanism and an auxiliary driving mechanism; the output end of the auxiliary driving mechanism is drivingly connected with a positioning auxiliary material mechanism; The top of the mechanical arm support table is provided with a coffee liquid making mechanism and an auxiliary material storage mechanism on one side edge; the top of the mechanical arm support table is provided with a placement table; the top of the mechanical arm support table is provided with a plurality of groups of cup-shaped scanning cameras arranged in a ring array around the central axis of the placement table; The adjustable cup clamping mechanism comprises a clamp; two groups of driving blocks are symmetrically connected on the output end of the clamp; two groups of clamping plates are symmetrically arranged on the side wall away from the clamp of the two groups of driving blocks; the top view cross section of each group of clamping plates is a fan ring, and a group of rubber strips are arranged at the bottom of each group of clamping plates; one end of each group of clamping plates away from the driving block is provided with a group of swing rods; one end of each group of swing rods away from the clamping plate is connected with the bottom side wall of the rubber strip.

[0006] Further, the mechanical arm mechanism comprises a rotating seat; a first swing arm is arranged on the side wall of the rotating seat; a second swing arm is drivingly connected to one end of the first swing arm away from the rotating seat; a third swing arm is drivingly connected to one end of the second swing arm away from the first swing arm; a rotating output arm is drivingly connected to one end of the third swing arm away from the second swing arm.

[0007] Further, two groups of first movable grooves are symmetrically arranged at the two side edges of the side wall of the clamp; a group of rotating columns are arranged in each group of first movable grooves; two groups of first positioning plates are symmetrically drivingly connected to the outer wall of the two groups of rotating columns; each group of first positioning plates is provided with a group of second positioning plates at the other end.

[0008] Further, a plurality of groups of rubber balls are equidistantly arranged on the side wall close to the driving block of each group of first positioning plates and second positioning plates; a group of flexible rotating rods are arranged in each group of clamping plates; one end of each group of flexible rotating rods is drivingly connected with the driving block, and the other end is drivingly connected with the corresponding group of swing rods.

[0009] Further, the auxiliary driving mechanism comprises a rotating disc; a positioning column is arranged on the top of the rotating disc; an electric push rod is drivingly connected to the outer wall of the positioning column; an electric sliding table is drivingly connected to the output end of the electric push rod; an adjusting cavity is arranged in the rotating disc.

[0010] Further, an adjusting screw is rotatably arranged in the adjusting cavity; a translation block is slidingly connected to the inner wall of the bottom of the adjusting cavity; a guide motor is arranged at the bottom of the positioning column; the output end of the guide motor is drivingly connected with the top of the translation block; a plurality of groups of support balls are uniformly arranged at the bottom of the positioning column.

[0011] Further, the positioning auxiliary mechanism comprises an auxiliary block; the auxiliary block is drivingly connected with the output end of the electric sliding table; a second movable groove is arranged on the side wall away from the electric sliding table of the auxiliary block; a feeding disc is arranged in the second movable groove.

[0012] Further, one side wall of the auxiliary block is provided with an auxiliary material connecting plate; the top of the auxiliary material connecting plate is provided with a plurality of groups of auxiliary material injection ports in arc shape at equal intervals; the bottom of the feeding disc is provided with a feeding pipe; the feeding pipe is in movable communication with any one group of auxiliary material injection ports; and the bottom of the second movable groove is provided with a cleaning groove.

[0013] Further, the top view of the cleaning groove is in semicircular ring shape; the feeding pipe is movably penetrated into the cleaning groove; the bottom of the auxiliary block is provided with an auxiliary positioning camera; two groups of cleaning channels are formed in one side wall of the auxiliary block; and the two ends of the feeding pipe are in communication with the two groups of cleaning channels.

[0014] Further, the auxiliary material storage mechanism comprises an auxiliary material storage box; one side wall of the auxiliary material storage box is provided with a maintenance groove; the adjustable cup clamping mechanism and the positioning auxiliary material mechanism are movably penetrated into the maintenance groove; two groups of guide sliding grooves are symmetrically formed in the top and bottom inner walls of the maintenance groove; sealing plates are arranged in the two groups of guide sliding grooves; and the sealing plates are connected with the corresponding inner walls of the maintenance groove through folding sealing covers.

[0015] The beneficial effects of the present application are: 1. By controlling the two groups of clamping plates to clamp the outer wall of the container, then controlling the two groups of flexible rotating rods to rotate and drive the two groups of swing rods to swing, so that the two groups of rubber strips are twisted and attached to the outer wall of the container to increase the contact area, then controlling the two groups of V-shaped first positioning plates and second positioning plates to approach the outer wall of the container, so that the plurality of rubber balls are in contact with the outer wall of the coffee container to avoid the container from shaking, not only the mechanical arm assembly can fix coffee containers of different shapes, but also ensures that the coffee container will not shake during coffee processing, thereby improving the adaptability of the mechanical arm assembly to coffee containers of different shapes and improving the stability of coffee processing work.

[0016] 2. The auxiliary material storage mechanism stores a plurality of auxiliary materials and is in movable communication with the corresponding auxiliary material injection ports, during coffee processing, the feeding disc is controlled to rotate, so that the feeding pipe is in communication with the corresponding auxiliary material injection port, thereby adding the corresponding auxiliary material to the coffee liquid, and during the switching of the auxiliary material, the feeding pipe is controlled to rotate around the central axis of the feeding disc to the inside of the cleaning groove and in communication with the two groups of cleaning channels, through bidirectional rapid flushing, the mutual pollution between the auxiliary materials is avoided, not only the coffee processing efficiency of the mechanical arm assembly is improved, but also the flexibility of auxiliary material switching is improved.

[0017] 3. By controlling the rotating disc to drive the positioning column to rotate, and the guide motor arranged at the bottom of the positioning column can adjust the direction of the electric push rod in real time through the translation block, so that the auxiliary driving mechanism can drive the positioning auxiliary material mechanism to rotate and draw patterns, and by controlling the position of the translation block, the drawing range can be adjusted according to the cup shape or process, thereby improving the processing flexibility of the mechanical arm assembly.

[0018] 4. By controlling the robotic arm mechanism to rotate counterclockwise, the adjustable clamping cup mechanism and the positioning auxiliary material mechanism are driven to rotate into the maintenance groove. Then, the sealing plate is controlled to move along the guide slide and drive the folding sealing cover to unfold, sealing the maintenance groove. Corresponding cleaning components can also be set in the maintenance groove to clean and dry the adjustable clamping cup mechanism and the positioning auxiliary material mechanism, avoiding prolonged contact with the outside air and corrosion by impurities in the air, thus improving the service life of the robotic arm assembly.

[0019] Other features and advantages of the invention will be set forth in the description which follows, and will be apparent in part from the description, or may be learned by practicing the invention. The objects and other advantages of the invention may be realized and obtained by means of the structures pointed out in the description, claims and drawings. Attached Figure Description

[0020] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0021] Figure 1 A schematic diagram of the structure of a robotic arm assembly according to an embodiment of the present invention is shown; Figure 2 A schematic diagram of the robotic arm assembly in idle state according to an embodiment of the present invention is shown; Figure 3 A schematic diagram of the structure of the robotic arm mechanism according to an embodiment of the present invention is shown; Figure 4 A schematic diagram of the end effector according to an embodiment of the present invention is shown; Figure 5 A cross-sectional schematic diagram of an end effector according to an embodiment of the present invention is shown; Figure 6 A schematic diagram of the auxiliary drive mechanism according to an embodiment of the present invention is shown; Figure 7 A cross-sectional schematic diagram of an auxiliary drive mechanism according to an embodiment of the present invention is shown; Figure 8 A schematic diagram of the positioning auxiliary material mechanism according to an embodiment of the present invention is shown; Figure 9 A cross-sectional schematic diagram of a positioning auxiliary material mechanism according to an embodiment of the present invention is shown; Figure 10 A schematic diagram of the auxiliary material storage mechanism according to an embodiment of the present invention is shown.

[0022] In the diagram: 1. Robotic arm support platform; 2. Robotic arm mechanism; 3. Adjustable cup clamping mechanism; 4. Auxiliary drive mechanism; 5. Positioning auxiliary material mechanism; 6. Coffee liquid making mechanism; 7. Auxiliary material storage mechanism; 8. Placement platform; 9. Cup-shaped scanning camera; 201. Rotary seat; 202. First swing arm; 203. Second swing arm; 204. Third swing arm; 205. Rotary output arm; 301. Gripper; 302. Drive block; 303. Grip plate; 304. Rubber strip; 305. Swing rod; 306. First movable groove; 307. Rotating column; 308. First positioning plate; 309. Second positioning plate; 310. Rubber ball. 311. Flexible rotating rod; 401. Rotary disk; 402. Positioning column; 403. Electric push rod; 404. Electric slide table; 405. Adjustment cavity; 406. Adjustment screw; 407. Translation block; 408. Guide motor; 409. Support ball; 501. Auxiliary block; 502. Second movable groove; 503. Feeding tray; 504. Auxiliary material connecting plate; 505. Auxiliary material injection port; 506. Feeding pipe; 507. Cleaning tank; 508. Auxiliary positioning camera; 509. Cleaning channel; 701. Auxiliary material storage box; 702. Maintenance tank; 703. Guide chute; 704. Sealing plate; 705. Folding sealing cover. Detailed Implementation

[0023] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, 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, 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.

[0024] This invention provides a coffee robot robotic arm assembly based on a vision positioning system, including a robotic arm support platform 1. For example, as shown... Figure 1 and Figure 2 As shown, the top of the robotic arm support platform 1 is provided with a robotic arm mechanism 2; the output end of the robotic arm mechanism 2 is connected to an adjustable cup clamping mechanism 3 and an auxiliary drive mechanism 4; the output end of the auxiliary drive mechanism 4 is connected to a positioning auxiliary material mechanism 5; a coffee liquid making mechanism 6 and an auxiliary material storage mechanism 7 are provided at one edge of the top of the robotic arm support platform 1; a placement platform 8 is provided on the top of the robotic arm support platform 1; and several sets of cup-shaped scanning cameras 9 are arranged in a circular array on the top of the robotic arm support platform 1 with the central axis of the placement platform 8 as the center.

[0025] When making coffee, the coffee cup is first placed on top of the placement platform 8. Then, several sets of cup-shaped scanning cameras 9 scan the shape of the coffee cup. The robotic arm mechanism 2 then drives the adjustable cup clamping mechanism 3 to fit and fix the coffee cup according to its shape. The coffee cup is then moved to the coffee liquid making mechanism 6 to collect the coffee liquid. The positioning auxiliary material mechanism 5 is then controlled to add auxiliary materials and process the coffee liquid. This completes the coffee making process. This solves the problem that the existing robotic arm assembly for making coffee requires two sets of robotic arms to work together to complete the coffee making process, thus reducing the space occupied.

[0026] For example, such as Figure 3 As shown, the robotic arm mechanism 2 includes a rotating base 201; a first swing arm 202 is provided on one side wall of the rotating base 201; a second swing arm 203 is drivenly connected to one end of the first swing arm 202 away from the rotating base 201; a third swing arm 204 is drivenly connected to one end of the second swing arm 203 away from the first swing arm 202; and a rotary output arm 205 is drivenly connected to one end of the third swing arm 204 away from the second swing arm 203.

[0027] For example, such as Figure 4 and Figure 5 As shown, the adjustable cup clamping mechanism 3 includes a clamping device 301; two sets of driving blocks 302 are symmetrically connected to the output end of the clamping device 301; two sets of clamping plates 303 are symmetrically arranged on the side wall of the two sets of driving blocks 302 away from the clamping device 301; the top view of each set of clamping plates 303 is a fan-shaped cross section, and each set of clamping plates 303 is provided with a set of rubber strips 304 at the bottom; a set of swing rods 305 is provided at the end of each set of clamping plates 303 away from the driving block 302; the end of each set of swing rods 305 away from the clamping plate 303 is connected to the bottom side wall of the rubber strips 304; two sets of clamping plates 303 are symmetrically opened at the two edges of the side wall of the clamping device 301. The first movable groove 306; each set of the first movable groove 306 is provided with a set of rotating columns 307; two sets of first positioning plates 308 are symmetrically connected to the outer walls of the two sets of rotating columns 307; a set of second positioning plates 309 is provided at the other end of each set of first positioning plates 308; several sets of rubber balls 310 are equally spaced on the side wall of each set of first positioning plates 308 and second positioning plates 309 near the drive block 302; a set of flexible rotating rods 311 is provided in each set of clamping plates 303; one end of each set of flexible rotating rods 311 is connected to the drive block 302, and the other end is connected to a corresponding set of swing rods 305.

[0028] During coffee preparation, since coffee cups can be irregularly shaped, such as conical cups and travel mugs, after scanning the cup shape, the gripper 301 drives two sets of gripping plates 303 to clamp onto the outer wall of the container. Then, the two sets of drive blocks 302 drive two sets of flexible rotating rods 311 to rotate, thereby causing two sets of swing rods 305 to swing. This causes two sets of rubber strips 304 to twist and adhere to the outer wall of the container, increasing the contact area. Subsequently, the two sets of V-shaped first positioning plates 308 and second positioning plates 309 are controlled to approach the outer wall of the container, so that several sets of rubber balls 310 abut against the outer wall of the coffee container to prevent the container from shaking. This not only enables the robotic arm assembly to fix coffee containers of different shapes, but also ensures that the coffee container does not shake during the coffee processing process. This improves the adaptability of the robotic arm assembly to coffee containers of different shapes and enhances the stability of the coffee processing operation.

[0029] For example, such as Figure 6 and Figure 7 As shown, the auxiliary drive mechanism 4 includes a rotating disk 401; a positioning post 402 is provided on the top of the rotating disk 401; an electric push rod 403 is drivenly connected to the outer wall of the positioning post 402; an electric slide table 404 is drivenly connected to the output end of the electric push rod 403; an adjustment cavity 405 is provided inside the rotating disk 401; an adjustment screw 406 is rotatably provided inside the adjustment cavity 405; a translation block 407 is slidably connected to the bottom inner wall of the adjustment cavity 405; a guide motor 408 is provided at the bottom of the positioning post 402; the output end of the guide motor 408 is drivenly connected to the top of the translation block 407; and several sets of support balls 409 are evenly distributed at the bottom of the positioning post 402.

[0030] When making coffee, latte art is usually involved. Therefore, by controlling the rotating disk 401 to drive the positioning column 402 to rotate, the guide motor 408 at the bottom of the positioning column 402 can adjust the direction of the electric push rod 403 in real time through the translation block 407. This allows the auxiliary drive mechanism 4 to drive the positioning auxiliary material mechanism 5 to perform latte art. Furthermore, by controlling the position of the translation block 407, the latte art range can be adjusted according to the cup shape or process, thus improving the processing flexibility of the robotic arm assembly.

[0031] For example, such as Figure 8 and Figure 9As shown, the positioning auxiliary material mechanism 5 includes an auxiliary block 501; the auxiliary block 501 is connected to the output end of the electric slide table 404; a second movable groove 502 is provided on the side wall of the auxiliary block 501 away from the electric slide table 404; a feeding tray 503 is provided in the second movable groove 502; an auxiliary material connecting plate 504 is provided on the side wall of the auxiliary block 501; the top of the auxiliary material connecting plate 504 is provided with several sets of auxiliary material injection ports 505 at equal intervals in an arc shape; the bottom of the feeding tray 503 is provided with a feeding... Feed pipe 506; the feed pipe 506 is movably connected to any set of auxiliary material injection ports 505; a cleaning groove 507 is provided at the bottom of the second movable groove 502; the top view cross section of the cleaning groove 507 is semi-circular; the feed pipe 506 movably passes through the cleaning groove 507; an auxiliary positioning camera 508 is provided at the bottom of the auxiliary block 501; two sets of cleaning channels 509 are provided on one side wall of the auxiliary block 501; the two sets of cleaning channels 509 are respectively connected to both ends of the feed pipe 506.

[0032] During coffee making, the auxiliary material storage mechanism 7 stores various auxiliary materials, which are movably connected to the corresponding auxiliary material inlet 505. During coffee processing, the feeding tray 503 is controlled to rotate, so that the feeding tube 506 is connected to the corresponding auxiliary material inlet 505, thereby adding the corresponding auxiliary material to the coffee liquid. During the switching of auxiliary materials, the feeding tube 506 is controlled to rotate around the central axis of the feeding tray 503 to the cleaning tank 507 and connect to two sets of cleaning channels. Through bidirectional rapid rinsing, cross-contamination between auxiliary materials is avoided, which not only improves the coffee processing efficiency of the robotic arm assembly, but also improves the flexibility of auxiliary material switching.

[0033] For example, such as Figure 10 As shown, the auxiliary material storage mechanism 7 includes an auxiliary material storage box 701; a maintenance groove 702 is provided on one side wall of the auxiliary material storage box 701; the adjustable clamping cup mechanism 3 and the positioning auxiliary material mechanism 5 are movably inserted through the maintenance groove 702; two sets of guide slides 703 are symmetrically provided on the top and bottom inner walls of the maintenance groove 702; a sealing plate 704 is provided in the two sets of guide slides 703; a folding sealing cover 705 is connected between the sealing plate 704 and the corresponding inner wall of the maintenance groove 702.

[0034] When the robotic arm assembly is idle, by controlling the robotic arm mechanism 2 to rotate counterclockwise, the adjustable clamping cup mechanism 3 and the positioning auxiliary material mechanism 5 are driven to rotate into the maintenance groove 702. Then, the sealing plate 704 is controlled to move along the guide slide 703 and drive the folding sealing cover 705 to unfold, sealing the maintenance groove 702. Corresponding cleaning components can also be set in the maintenance groove 702 to clean and dry the adjustable clamping cup mechanism 3 and the positioning auxiliary material mechanism 5, avoiding long-term contact with the outside air and corrosion by impurities in the air, thus improving the service life of the robotic arm assembly.

[0035] By controlling the gripper 301 to drive the two sets of gripping plates 303 to clamp onto the outer wall of the container, and then controlling the two sets of drive blocks 302 to drive the two sets of flexible rotating rods 311 to rotate, thereby driving the two sets of swing rods 305 to swing, so that the two sets of rubber strips 304 twist and adhere to the outer wall of the container to increase the contact area. Then, controlling the two sets of V-shaped first positioning plates 308 and second positioning plates 309 to approach the outer wall of the container, so that several sets of rubber balls 310 abut against the outer wall of the coffee container to prevent the container from shaking. This not only enables the robotic arm assembly to fix coffee containers of different shapes, but also ensures that the coffee container will not shake during the coffee processing process. This improves the adaptability of the robotic arm assembly to coffee containers of different shapes and enhances the stability of the coffee processing work.

[0036] The auxiliary material storage mechanism 7 stores various auxiliary materials, which are movably connected to the corresponding auxiliary material inlet 505. During coffee processing, the feeding tray 503 is controlled to rotate, so that the feeding tube 506 is connected to the corresponding auxiliary material inlet 505, thereby adding the corresponding auxiliary material to the coffee liquid. During the switching of auxiliary materials, the feeding tube 506 is controlled to rotate around the central axis of the feeding tray 503 to the cleaning tank 507 and connect to two sets of cleaning channels. Through bidirectional rapid rinsing, cross-contamination between auxiliary materials is avoided, which not only improves the coffee processing efficiency of the robotic arm assembly, but also improves the flexibility of auxiliary material switching.

[0037] By controlling the rotating disk 401 to drive the positioning column 402 to rotate, the guide motor 408 at the bottom of the positioning column 402 can adjust the direction of the electric push rod 403 in real time through the translation block 407, so that the auxiliary drive mechanism 4 can drive the positioning auxiliary material mechanism 5 to perform rotational drawing work. Furthermore, by controlling the position of the translation block 407, the drawing range can be adjusted according to the cup shape or process, thereby improving the processing flexibility of the robotic arm assembly.

[0038] By controlling the robotic arm mechanism 2 to rotate counterclockwise, the adjustable clamping cup mechanism 3 and the positioning auxiliary material mechanism 5 are driven to rotate into the maintenance groove 702. Then, the sealing plate 704 is controlled to move along the guide slide 703 and drive the folding sealing cover 705 to unfold, sealing the maintenance groove 702. Corresponding cleaning components can also be set in the maintenance groove 702 to clean and dry the adjustable clamping cup mechanism 3 and the positioning auxiliary material mechanism 5, avoiding prolonged contact with the outside air and corrosion by impurities in the air, thus improving the service life of the robotic arm assembly.

[0039] Although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features; and these modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A coffee robot arm assembly based on visual positioning system, comprising a robot arm support table, characterized in that: The top of the mechanical arm support table is provided with a mechanical arm mechanism; the output end of the mechanical arm mechanism is drivingly connected with an adjustable cup clamping mechanism and an auxiliary driving mechanism; the output end of the auxiliary driving mechanism is drivingly connected with a positioning auxiliary material mechanism; The top of the mechanical arm support table is provided with a coffee liquid making mechanism and an auxiliary material storage mechanism; the top of the mechanical arm support table is provided with a placement table; the top of the mechanical arm support table is provided with a plurality of cup-shaped scanning cameras arranged in an annular array with the central axis of the placement table as the center. The adjustable cup clamping mechanism comprises a clamping device; the output end of the clamping device is drivingly connected with two groups of driving blocks in a symmetrical manner; two groups of clamping plates are symmetrically arranged on the side walls of the two groups of driving blocks away from the clamping device; the top view of each group of clamping plates is a fan ring, and a group of rubber strips are arranged at the bottom of each group of clamping plates; one end of each group of clamping plates away from the driving block is provided with a group of swing rods; one end of each group of swing rods away from the clamping plate is connected with the bottom side wall of the rubber strip.

2. The vision positioning system based coffee robot arm assembly according to claim 1, wherein: The mechanical arm mechanism comprises a rotating seat; a first swing arm is arranged on one side wall of the rotating seat; a second swing arm is drivingly connected to one end of the first swing arm away from the rotating seat; a third swing arm is drivingly connected to one end of the second swing arm away from the first swing arm; and a rotating output arm is drivingly connected to one end of the third swing arm away from the second swing arm.

3. The vision positioning system based coffee robot arm assembly of claim 1, wherein: Two groups of first movable grooves are symmetrically arranged at the two side edges of one side wall of the clamping device; one group of rotating columns is arranged in each first movable groove; two groups of first positioning plates are drivingly connected to the outer walls of the two groups of rotating columns in a symmetrical manner; and one group of second positioning plates is arranged at the other end of each group of first positioning plates.

4. The vision positioning system based coffee robot arm assembly of claim 3, wherein: A plurality of groups of rubber balls are equidistantly arranged on one side wall of each group of first positioning plates and second positioning plates; one group of flexible rotating rods is arranged in each group of clamping plates; one end of each group of flexible rotating rods is drivingly connected with the driving block, and the other end is drivingly connected with the corresponding group of swing rods.

5. The vision positioning system based coffee robot arm assembly of claim 1, wherein: The auxiliary driving mechanism comprises a rotating disc; a positioning column is arranged on the top of the rotating disc; an electric push rod is drivingly connected to the outer wall of the positioning column; an electric sliding table is drivingly connected to the output end of the electric push rod; and an adjusting cavity is arranged in the rotating disc.

6. The vision positioning system based coffee robot arm assembly of claim 5, wherein: An adjusting screw is rotatably arranged in the adjusting cavity; a translation block is slidingly connected to the inner wall of the bottom of the adjusting cavity; a guide motor is arranged at the bottom of the positioning column; the output end of the guide motor is drivingly connected with the top of the translation block; and a plurality of groups of support balls are uniformly arranged at the bottom of the positioning column.

7. The vision positioning system based coffee robot arm assembly of claim 5, wherein: The positioning auxiliary material mechanism comprises an auxiliary block; the auxiliary block is drivingly connected with the output end of the electric sliding table; a second movable groove is arranged on one side wall of the auxiliary block away from the electric sliding table; and a feeding disc is arranged in the second movable groove.

8. The vision positioning system based coffee robot arm assembly according to claim 7, wherein: An auxiliary material connecting plate is arranged on one side wall of the auxiliary block; a plurality of groups of auxiliary material injection ports are equidistantly arranged in a circular arc shape on the top of the auxiliary material connecting plate; a feeding pipe is arranged at the bottom of the feeding disc; the feeding pipe is in movable communication with any one of the auxiliary material injection ports; and a cleaning groove is arranged at the bottom of the second movable groove.

9. The vision positioning system based coffee robot arm assembly according to claim 8, wherein: The top view of the cleaning tank is a semi-circular ring; the feeding pipe is movably penetrated into the cleaning tank; the bottom of the auxiliary block is provided with an auxiliary positioning camera; two groups of cleaning channels are formed in the side wall of the auxiliary block; and the two groups of cleaning channels are communicated with the two ends of the feeding pipe, respectively.

10. The vision positioning system based coffee robot arm assembly according to claim 1, wherein: The auxiliary material storage mechanism comprises an auxiliary material storage box; a maintenance groove is formed in the side wall of the auxiliary material storage box; the adjustable cup clamping mechanism and the positioning auxiliary material mechanism are movably penetrated into the maintenance groove; two groups of guide sliding grooves are symmetrically formed in the top and bottom inner walls of the maintenance groove; sealing plates are arranged in the two groups of guide sliding grooves; and folding sealing covers are connected between the sealing plates and the corresponding side inner walls of the maintenance groove.

Images