Coffee residue soap making machine based on three-axis mechanical arm and control method of coffee residue soap making machine

Abstract

The invention discloses a coffee residue soap making machine based on a three-axis mechanical arm and a control method of the coffee residue soap making machine. A coffee residue feeder, a soap block feeder, a stirrer and a soap forming device are arranged in the rack; the three-axis mechanical arm is arranged in the rack; the open container is connected with the three-axis mechanical arm so as to move and turn over under the driving of the three-axis mechanical arm; the coffee residue feeder, the soap block feeder, the stirrer and the soap forming device are all located on the moving path of the open container. And the heating device is arranged on the outer side wall of the open container so as to heat the open container. The three-axis mechanical arm is introduced, the three-axis mechanical arm serves as a conveying executing mechanism of the open container, the open container can be automatically transferred among the soap block feeding station, the coffee residue feeding station, the stirring station and the soap forming station in the shortest path, only the local space is occupied, and the whole processing area can be covered; the size of a working area is greatly reduced, and the production efficiency is improved.

Description

Technical Field

[0001] This application relates to the field of coffee grounds soap making technology, and in particular to a coffee grounds soap making machine based on a three-axis robotic arm and its control method. Background Technology

[0002] In existing soap base processing production lines, containers used to hold and mix various raw materials need to move between multiple stations, including feeding, heating, adding auxiliary materials, stirring, and molding. Traditional methods often employ a fixed production layout, with containers transferred between stations via manual handling or large transport mechanisms (such as slide rails and conveyor trolleys). These devices are generally bulky, occupying significant production space and making them difficult to deploy in small or flexible production environments. Furthermore, manual handling or large mechanical transport methods often involve single movement paths and low turnover rates, hindering overall production efficiency.

[0003] Therefore, existing technologies still need to be improved and developed. Summary of the Invention

[0004] The technical problem to be solved by this application is to provide a coffee grounds soap making machine and its control method based on a three-axis robotic arm, which addresses the above-mentioned deficiencies of the existing technology and aims to solve the problem of low production efficiency of existing coffee grounds soap making equipment.

[0005] The technical solution adopted by this application to solve the technical problem is as follows: A coffee grounds soap-making machine based on a three-axis robotic arm, comprising: The frame is equipped with a coffee grounds feeder, a soap block feeder, a stirrer, and a soap maker. A three-axis robotic arm is mounted inside the frame; An open container is connected to the three-axis robotic arm to move and flip under the drive of the three-axis robotic arm; the coffee grounds feeder, the soap block feeder, the stirrer, and the soap maker are all located on the movement path of the open container; A heating device is disposed on the outer wall of the open container to heat the open container.

[0006] The coffee grounds soap-making machine based on a three-axis robotic arm, wherein the three-axis robotic arm includes: The first drive unit is connected to the open container and drives the open container to rotate along the V-axis to flip the open container. The second drive unit is connected to the first drive unit to drive the open container to reciprocate along the Z-axis via the first drive unit; A third drive unit is mounted on the frame and connected to the second drive unit to drive the open container to move along the U-axis via the second drive unit.

[0007] The coffee grounds soap-making machine based on a three-axis robotic arm, wherein the heating device includes: A heating element is arranged around the periphery of the open container and covers the outer wall of the open container; the heating element is connected to an external power source. A heat insulation layer is fitted around the heating core and is in contact with the heating core.

[0008] The coffee grounds soap-making machine based on a three-axis robotic arm, wherein the soap-forming unit includes: A mold for receiving liquid from the open container; The fourth drive unit is disposed within the frame and connected to the mold to drive the mold to reciprocate in a direction approaching and moving away from the open container; A fan is installed inside the frame; the mold is located within the air outlet range of the fan.

[0009] The coffee grounds soap-making machine based on a three-axis robotic arm, wherein the fourth drive unit includes: Fourth drive; A slide table; the mold is disposed on the slide table and slidably connected to the slide table; A fourth lead screw is disposed on the slide table and arranged horizontally; the fourth lead screw is threadedly connected to the mold and connected to the fourth driver, so as to drive the mold to reciprocate along the slide table under the drive of the fourth driver.

[0010] A control method for a coffee grounds soap-making machine based on a three-axis robotic arm as described above, wherein the control method includes the following steps: Turn on the heating device and perform preheating according to the preset fixed duty cycle. The current temperature of the open container is obtained. When the current temperature is not less than a first preset threshold, the heating device is PID-regulated based on the time window method, and it is determined whether the temperature is in a continuous rising state during the PID regulation process. If the current temperature is within a preset range, and the temperature is in a continuously rising state during the PID adjustment process, then the preset PID limiting mechanism is executed to limit the adjustment of the heating device. If the current temperature is within the preset range, and the temperature is not in the continuously rising state during the PID adjustment process, then the heating device will continue to be PID adjusted based on the time window method. If the current temperature reaches the target temperature, the heating device is turned off.

[0011] The control method for the coffee grounds soap-making machine based on a three-axis robotic arm, wherein activating the heating device and performing preheating according to a preset fixed duty cycle specifically includes: Turn on the heating device; If the current temperature is lower than the first preset threshold, then within each fixed time window, the heating device is controlled to perform a preset first duration of power-on and a preset second duration of power-off; wherein, the sum of the preset first duration and the preset second duration is equal to the fixed time window.

[0012] The control method for the coffee grounds soap-making machine based on a three-axis robotic arm, wherein the PID regulation of the heating device based on the time window method specifically includes: Based on the deviation between the current temperature and the target temperature, proportional, integral, and derivative calculations are performed to obtain the heating control value; Based on the heating control value and the fixed time window, calculate the first power-on duration and the first power-off duration of the heating device within the fixed time window; The heating device is adjusted according to the fixed time window, the first power-on duration, and the first power-off duration.

[0013] The control method for the coffee grounds soap-making machine based on a three-axis robotic arm, wherein the execution of a preset PID limiting mechanism to limit the heating device specifically includes: Based on the preset limit value and the fixed time window, calculate the second power-on duration and the second power-off duration of the heating device within the fixed time window; The heating device is limited and adjusted according to the fixed time window, the second power-on duration, and the second power-off duration.

[0014] The control method for the coffee grounds soap-making machine based on a three-axis robotic arm, wherein determining whether the temperature is in a continuously rising state during the PID adjustment process specifically includes: Temperature is sampled at preset intervals during PID control; Calculate the temperature slope based on the current sampled value and the previous sampled value; If the number of consecutive positive temperature slopes reaches a preset value, the temperature is determined to be in a state of continuous rise.

[0015] Beneficial effects: This application uses a frame to support various components and introduces a three-axis robotic arm. The three-axis robotic arm acts as a conveying mechanism for open containers, enabling automated transfer of open containers between soap bar feeding stations, coffee grounds feeding stations, mixing stations, and soap forming stations. Compared with traditional methods that rely on fixed transmission mechanisms or manual handling, the three-axis robotic arm can bypass various components and stations in three-dimensional space, achieving the shortest path transfer. It eliminates the need for space-consuming hardware such as tracks and conveyor belts, significantly reducing the overall production area. The three-axis robotic arm occupies only a local space to cover the entire processing area, greatly reducing the size of the work area and improving production efficiency. Attached Figure Description

[0016] Figure 1 This is a schematic diagram of the overall structure of the coffee grounds soap-making machine based on a three-axis robotic arm in this application; Figure 2 This is a schematic diagram of the three-axis robotic arm in this application; Figure 3 This is a schematic diagram of the assembly structure of the timing belt and driven pulley in this application. Figure 4 This is a schematic diagram of the coffee grounds feeder in this application; Figure 5 This is a schematic diagram of the extrusion unit in this application; Figure 6 This is a schematic diagram of the stirrer in this application; Figure 7 This is a schematic diagram of the soap-making apparatus in this application; Figure 8 This is a functional principle block diagram of the coffee grounds soap-making machine based on a three-axis robotic arm in this application; Figure 9 This is a flowchart of the control method for the coffee grounds soap-making machine based on a three-axis robotic arm in this application.

[0017] Explanation of reference numerals in the attached figures: 1. Frame; 2. Three-axis robotic arm; 21. First drive unit; 211. First motor; 212. Reducer; 213. Rotating shaft; 22. Second drive unit; 221. Second motor; 222. Second lead screw; 223. Guide rod; 23. Third drive unit; 231. Mounting part; 232. Third motor; 233. Synchronous belt; 234. Driven pulley; 3. Open container; 4. Heating device; 5. Coffee grounds feeder; 51. Coffee grounds hopper; 5 10. Discharge port; 52. Discharge drive; 53. Extrusion unit; 531. Rotating shaft; 532. Spiral blade; 6. Soap block feeder; 7. Agitator; 71. Mounting base; 72. Agitation drive; 73. Agitator rod; 74. Agitator blade; 8. Soap maker; 81. Mold; 82. Fourth drive unit; 821. Fourth actuator; 822. Slide table; 823. Fourth lead screw; 824. Fourth guide rod; 9. Controller; 10. Temperature detector. Detailed Implementation

[0018] To make the objectives, technical solutions, and effects of this application clearer and more explicit, the following detailed description of this application is provided with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only for explaining this application and are not intended to limit this application.

[0019] Those skilled in the art will understand that, unless specifically stated otherwise, the singular forms “a,” “an,” “the,” and “the” used herein may also include the plural forms. It should be further understood that the term “comprising” as used in this application means the presence of the stated features, integers, steps, operations, elements, and / or components, but does not exclude the presence or addition of one or more other features, integers, steps, operations, elements, components, and / or groups thereof. It should be understood that when we say an element is “connected” or “coupled” to another element, it can be directly connected or coupled to the other element, or there may be intermediate elements. Furthermore, “connected” or “coupled” as used herein can include wireless connections or wireless coupling. The term “and / or” as used herein includes all or any units and all combinations of one or more associated listed items.

[0020] It will be understood by those skilled in the art that, unless otherwise defined, all terms used herein (including technical and scientific terms) have the same meaning as commonly understood by one of ordinary skill in the art to which this application pertains. It should also be understood that terms such as those defined in general dictionaries should be understood to have the same meaning as in the context of the prior art, and should not be interpreted in an idealized or overly formal sense unless specifically defined as herein.

[0021] This application provides a coffee grounds soap-making machine based on a three-axis robotic arm, such as... Figure 1 and Figure 8 As shown, the coffee grounds soap-making machine based on a three-axis robotic arm includes: a frame 1, a three-axis robotic arm 2, an open container 3, and a heating device 4; the frame 1 is equipped with a coffee grounds feeder 5, a soap block feeder 6, a stirrer 7, and a soap-forming device 8; the three-axis robotic arm 2 is located inside the frame 1; the open container 3 is connected to the three-axis robotic arm 2 to move and rotate under the drive of the three-axis robotic arm 2; the coffee grounds feeder 5, the soap block feeder 6, the stirrer 7, and the soap-forming device 8 are all located on the moving path of the open container 3; the heating device 4 is placed on the outer wall of the open container 3 to heat the open container 3.

[0022] Specifically, the three-axis robotic arm 2 is connected to the open container 3 and is used to drive the open container 3 to move along three axes, thereby adjusting the position of the open container 3. The coffee grounds feeder 5, soap block feeder 6, stirrer 7, and soap maker 8 are all located on the movement path of the open container 3. The three-axis robotic arm 2 can then reciprocate the open container 3 between these devices to achieve the receiving, stirring, and coffee soap forming of the open container 3 for each material. The coffee grounds feeder 5, soap block feeder 6, and stirrer 7 are all located near the top of the frame 1; the soap maker 8 is located near the bottom of the frame 1. The three-axis robotic arm 2 is used to achieve three-axis movement along the U-axis, V-axis, and Z-axis, where the directions of the U-axis, V-axis, and Z-axis are respectively as follows: Figure 1 As indicated by the middle arrow.

[0023] The Z-axis controls the vertical movement of the open container 3, adjusting its height relative to the bottom of the frame 1 to accommodate the coffee grounds feeder 5, soap feeder 6, mixer 7, and soap maker 8. The U-axis controls the horizontal rotation of the open container 3. When the open container 3 moves along the Z-axis to a height that matches the soap feeder 6, the three-axis robotic arm 2 drives it along the U-axis to position it below the soap feeder 6, aligning it with its outlet to receive the soap material. Similarly, when the open container 3 moves along the Z-axis to a height that matches the height of the coffee grounds feeder 5 or the height of the mixer 7, the open container 3 can be moved below the coffee grounds feeder 5 and aligned with its outlet by the three-axis robotic arm 2 along the U-axis, thus receiving the coffee grounds material; or the open container 3 can be moved below the mixer 7, with its opening aligned with the mixer 7, and then the open container 3 can be moved upwards appropriately by the three-axis robotic arm 2 along the Z-axis, allowing the mixer 7 to be inserted into the material in the open container 3 for mixing.

[0024] The V-axis rotates the open container 3 along a vertical plane and is used to flip the open container 3. When the open container 3 flips to face upwards, it can receive material. When the open container 3 flips to face downwards, the material inside can be poured into the soap-making machine 8, and the finished coffee soap is output from the soap-making machine 8. The three-axis robotic arm 2 first drives the open container 3 to move in a coordinated manner along the Z-axis and U-axis so that the open container 3 is directly above the soap-making machine 8. Then, it drives the open container 3 to move along the V-axis to flip the opening of the open container 3 downwards, thereby transferring the stirred and mixed material inside the open container 3 to the soap-making machine 8.

[0025] Meanwhile, in this application, a heating device 4 is provided on the outer wall of the open container 3. By heating the open container 3 through the heating device 4, the soap material is melted in the open container 3. The melted soap base can be stirred and mixed evenly with the coffee grounds material to make coffee soap.

[0026] This application uses a frame 1 to support various components and introduces a three-axis robotic arm 2. The three-axis robotic arm 2 serves as the conveying mechanism for the open container 3, enabling the open container 3 to be automatically transferred between the soap feeding station, coffee grounds feeding station, stirring station, and soap forming station. Compared with the traditional method that relies on fixed transmission mechanisms or manual handling, the three-axis robotic arm 2 can bypass various components and stations in three-dimensional space to achieve the shortest path transfer. It eliminates the need for space-consuming hardware equipment such as tracks and conveyor belts, which can significantly reduce the overall production area. The three-axis robotic arm 2 occupies only a local space to cover the entire processing area, greatly reducing the size of the work area and improving production efficiency.

[0027] One embodiment of this application, such as Figure 1 As shown, the three-axis robotic arm 2 includes a first drive unit 21, a second drive unit 22, and a third drive unit 23; wherein, the first drive unit 21 is connected to the open container 3 and drives the open container 3 to rotate along the V-axis to flip the open container 3; the second drive unit 22 is connected to the first drive unit 21 to drive the open container 3 to reciprocate along the Z-axis through the first drive unit 21; the third drive unit 23 is disposed on the frame 1 and connected to the second drive unit 22 to drive the open container 3 to rotate along the U-axis through the second drive unit 22.

[0028] Specifically, the open container 3 is connected to the first drive unit 21, thereby realizing rotational movement along the V-axis under the drive of the first drive unit 21; the first drive unit 21 is connected to the second drive unit 22, which is used to drive the first drive unit 21 to move along the Z-axis. When the second drive unit 22 is started, the first drive unit 21 and the open container 3 form an integral structure and move along the Z-axis under the drive of the second drive unit 22, thereby realizing the movement of the open container 3 along the Z-axis.

[0029] The second drive unit 22 is connected to the third drive unit 23. The third drive unit 23 is used to drive the second drive unit 22 to rotate along the U-axis. When the third drive unit 23 is started, the second drive unit 22, the first drive unit 21 and the open container 3 form an integral structure and rotate along the U-axis under the drive of the third drive unit 23, thereby realizing the movement and rotation of the open container 3 along the U-axis.

[0030] It is understandable that the first drive unit 21 and the second drive unit 22 can be in operation simultaneously, allowing the open container 3 to achieve coordinated movement along the V-axis and Z-axis, meaning the open container 3 can rotate up and down while being raised and lowered. The second drive unit 22 and the third drive unit 23 can also be in operation simultaneously, allowing the open container 3 to achieve coordinated movement along the Z-axis and U-axis, meaning the open container 3 can rotate horizontally while being raised and lowered, thereby moving the open container 3 to a position adjacent to the soap feeder 6, coffee grounds feeder 5, stirrer 7, or soap maker 8, and adjusting its height to ensure accurate reception of soap or coffee grounds, that the stirrer 7 can agitate the material inside the open container 3, and that it can accurately move to the feeding position of the soap maker 8. The first drive unit 21 and the third drive unit 23 can also be in operation simultaneously according to actual needs. In summary, the first drive unit 21, the second drive unit 22, and the third drive unit 23 can be selected to operate at any two or all three simultaneously, depending on actual needs.

[0031] like Figure 2 As shown, the first drive unit 21 includes a first motor 211 (such as a stepper motor), a reducer 212, and a rotating shaft 213. One end of the rotating shaft 213 is connected to the open container 3, and the other end of the rotating shaft 213 is connected to the drive shaft of the first motor 211 through the reducer 212. Both the drive shaft of the first motor 211 and the rotating shaft 213 are arranged horizontally. When the first motor 211 is started, the rotating shaft 213 drives the open container 3 to rotate along the V-axis. By rotating the drive shaft of the first motor 211 in both directions, the opening of the open container 3 can be rotated upwards or downwards to receive or pour materials.

[0032] like Figure 2As shown, the second drive unit 22 includes a second motor 221 (such as a stepper motor), a second lead screw 222, and at least two guide rods 223. The drive shaft of the second motor 221, the second lead screw 222, and the guide rods 223 are all arranged vertically, with the drive shaft of the second motor 221 arranged vertically upward and connected to the second lead screw 222 to drive the second lead screw 222 to rotate along the horizontal plane. The first drive unit 21 is threadedly connected to the second lead screw 222. When the second lead screw 222 rotates, it drives the first drive unit 21 to move along the Z-axis, thereby realizing the movement of the open container 3 along the Z-axis. At least two guide rods 223 are distributed on the left and right sides of the second lead screw 222. The first drive unit 21 is sleeved on the guide rods 223 and can slide along the guide rods 223 under the drive of the second drive unit 22. The guide rods 223 guide and limit the movement of the first drive unit 21 to ensure that the movement of the open container 3 along the Z-axis is linear and does not deviate. By rotating the drive shaft of the second motor 221 in both directions, the open container 3 can be moved vertically up and down.

[0033] like Figure 2 and Figure 3 As shown, the third drive unit 23 includes a mounting part 231, a third motor 232 (such as a stepper motor), a synchronous belt 233, and a driven wheel 234. The second drive unit 22 is mounted on the mounting part 231. The driven wheel 234 and the synchronous belt 233 are respectively sleeved on the drive shaft of the third motor 232 and the driven wheel 234. The driven wheel 234 is connected to the mounting part 231 so that when the driven wheel 234 is rotated by the third motor 232, the mounting part 231 will rotate along the U-axis. The mounting part 231 is used to support the second drive unit 22, the first drive unit 21, and the open container 3. The mounting part 231, the second drive unit 22, the first drive unit 21, and the open container 3 form an integral structure, so that when the third motor 232 is started, the open container 3 can rotate along the U-axis. The forward and reverse rotation of the third motor 232 can realize the forward and reverse rotation of the open container 3 along the horizontal plane.

[0034] In one embodiment of this application, the heating device 4 includes a heating core and a heat insulation layer; the heating core is arranged around the periphery of the open container 3 and covers the outer wall of the open container 3; the heating core is connected to an external power source; the heat insulation layer is sleeved around the heating core and is in contact with the heating core.

[0035] Specifically, the heating element is a sheet-shaped nickel-chromium wire heating element with an output power of 320W; the open container 3 is cylindrical with an opening at one end along the axial direction; the heating element covers and adheres to the outer wall of the open container 3 circumferentially to achieve uniform heating. The open container 3 has a diameter of 44mm, a height of 50mm, and a full-load volume of 76ml. The insulation layer is an aluminum silicate insulation layer, which serves to insulate against heat, prevent scalding, and improve heating efficiency.

[0036] The bottom of the open container 3 is located on the side opposite to the opening. A temperature detector 10 (such as a high-precision PT100 platinum resistance temperature sensor) is fixed to the outer side of the bottom of the open container 3 by silicone rubber. This detector measures the temperature of the actual heated area and inputs it as a feedback signal to the controller 9. The coffee grounds soap-making machine based on the three-axis robotic arm 2 also includes a controller 9. The controller 9 is located inside the frame 1 and is electrically connected to the temperature detector 10, heating device 4, coffee grounds feeder 5, soap block feeder 6, stirrer 7, three-axis robotic arm 2, and soap maker 8, respectively, to obtain the feedback signal from the temperature detector 10 and to regulate the start and stop of the heating device 4, coffee grounds feeder 5, stirrer 7, three-axis robotic arm 2, and soap maker 8.

[0037] One embodiment of this application, such as Figure 4 As shown, the coffee grounds feeder 5 includes: a coffee grounds hopper 51, a discharge drive unit 52, and as shown in the figure. Figure 5 The extrusion unit 53 is shown; the discharge drive 52 is located outside the coffee grounds hopper 51, and the extrusion unit 53 is located inside the coffee grounds hopper 51. The drive shaft of the discharge drive 52 (such as a servo motor) passes through the coffee grounds hopper 51 and is connected to the extrusion unit 53 to drive the extrusion unit 53 to rotate and realize the discharge of coffee grounds material.

[0038] The top of the coffee grounds hopper 51 has an inlet for users to add coffee grounds; the bottom of the coffee grounds hopper 51 has an outlet 510; such as Figure 5 As shown, the extrusion unit 53 includes a rotating shaft 531 and a helical blade 532, the helical blade 532 being helically wound around the outer circumferential surface of the rotating shaft 531; one axial end of the rotating shaft 531 is connected to the drive shaft of the discharge drive unit 52, as shown. Figure 4 As shown, the other end of the rotating shaft 531 extends axially to the discharge port 510 and is rotatably connected to the coffee grounds hopper 51. When the discharge drive 52 is activated, the rotating shaft 531 rotates, and the rotation of the spiral blades 532 enables the coffee grounds to be discharged to the discharge port 510. It is understood that the diameter of the discharge port 510 is larger than the diameter of the rotating shaft 531 to ensure a discharge gap between the rotating shaft 531 and the discharge port 510.

[0039] In one embodiment of this application, the soap feeder 6 includes a soap hopper with a feeding port at the top and a discharge port at the bottom. The coffee grounds soap-making machine based on the three-axis robotic arm 2 also includes a start button electrically connected to the controller 9. When the start button is pressed, the controller 9 activates the three-axis robotic arm 2 and, through coordinated adjustment of the Z-axis and U-axis, drives the open container 3 to move directly below the discharge port of the soap hopper. At this point, the user can feed soap material using the soap feeder 6. It is understood that the total amount of soap material and coffee grounds material fed by the user needs to meet the capacity of the open container 3.

[0040] One embodiment of this application, such as Figure 6 As shown, the stirrer 7 includes a mounting base 71, a stirring drive 72 (such as a motor), a stirring rod 73, and multiple stirring blades 74. The mounting base 71 is detachably connected to the frame 1. The stirring drive 72 is mounted on the mounting base 71. The top end of the stirring rod 73 is connected to the drive shaft of the stirring drive 72 and is arranged vertically to rotate along the horizontal plane under the drive of the stirring drive 72. Multiple stirring blades 74 are located at the bottom end of the stirring rod 73 and are arranged sequentially along the circumference. When the stirring rod 73 rotates, it drives the stirring blades 74 to rotate, thereby achieving the stirring effect. Understandably, after the soap and coffee grounds are mixed, the open container 3 can be driven to descend along the Z-axis by the three-axis robotic arm 2 to avoid interference between the open container 3 and the stirrer 7; then the open container 3 can be driven to rotate along the U-axis by the three-axis robotic arm 2 to be directly below the stirrer 7, so that the opening of the open container 3 is facing the stirring rod 73; then the open container 3 can be driven to move upward along the Z-axis by the three-axis robotic arm 2 until the stirring blade 74 is inserted into the mixture, then the stirring drive 72 is activated to achieve stirring.

[0041] One embodiment of this application, such as Figure 7 As shown, the soap maker 8 includes: a mold 81, a fourth drive unit 82, and a fan; the mold 81 is used to receive liquid from the open container 3; the fourth drive unit 82 is disposed in the frame 1 and connected to the mold 81 to drive the mold 81 to reciprocate in a direction approaching and away from the open container 3; the fan is disposed in the frame 1; the mold 81 is located within the air outlet range of the fan.

[0042] Specifically, the inner cavity shape of mold 81 is adapted to the shape of the coffee soap to be made; mold 81 is used to receive the liquid material after it has been heated and stirred evenly in open container 3. The fourth drive unit 82 is used to drive mold 81 closer to open container 3 to receive the material, and after receiving the material, drives mold 81 to move away from open container 3 to get closer to the user. During the movement of mold 81, a fan blows air towards mold 81 to cool the material inside, facilitating subsequent demolding by the user.

[0043] The mold 81 moves linearly under the drive of the fourth drive unit 82; the three-axis robotic arm 2 is close to the rear of the frame 1, and the soap maker 8 is close to the front of the frame 1; the front of the frame 1 is hollow to facilitate interaction between the coffee grounds soap maker based on the three-axis robotic arm 2 and the user. The mold 81 moves back and forth, and when the mold 81 moves backward, it moves closer to the three-axis robotic arm 2. The three-axis robotic arm 2 first drives the open container 3 to move upward along the Z-axis to avoid interference between the open container 3 and the mold 81. Then, the three-axis robotic arm 2 drives the open container 3 to rotate along the U-axis to the position corresponding to the soap-making unit 8 (it can be understood that the fourth drive unit 82 can be started simultaneously with the three-axis robotic arm 2 and drive the mold 81 to move backward, or the fourth drive unit 82 can be started after the open container 3 has moved to the position corresponding to the soap-making unit 8). When the open container 3 and the mold 81 are in a vertically corresponding state, the three-axis robotic arm 2 drives the open container 3 to move downward along the Z-axis to approach the mold 81 and stops at an appropriate height. Then, it drives the open container 3 to rotate along the V-axis to pour the material into the mold 81. After the material is poured, the open container 3 moves upward to move away from the soap-making unit 8, and the three-axis robotic arm 2 adjusts the open container 3 to an upward-opening state. The fourth drive unit 82 drives the mold 81 to move forward to approach the user, making it easier for the user to demold and obtain the finished coffee soap.

[0044] like Figure 7 As shown, the fourth drive unit 82 includes: a fourth driver 821 (such as a stepper motor), a slide table 822, and a fourth lead screw 823; the slide table 822; the mold 81 is disposed on the slide table 822 and slidably connected to the slide table 822; the fourth lead screw 823 is disposed on the slide table 822 and arranged horizontally; the fourth lead screw 823 is threadedly connected to the mold 81 and connected to the fourth driver 821, so as to drive the mold 81 to reciprocate along the slide table 822 under the drive of the fourth driver 821.

[0045] Specifically, the fourth actuator 821 is mounted on the slide table 822, and the drive shaft of the fourth actuator 821 extends horizontally forward; the fourth lead screw 823 is mounted on the slide table 822 and located in front of the fourth actuator 821; the fourth lead screw 823 extends horizontally; one end of the fourth lead screw 823 is connected to the drive shaft of the fourth actuator 821, and the other end is rotatably connected to the slide table 822; the mold 81 is threadedly connected to the fourth lead screw 823, so when the fourth actuator 821 is started, the fourth lead screw 823 rotates and drives the mold 81 to move horizontally in the front-back direction.

[0046] The fourth drive unit 82 may also include multiple fourth guide rods 824, which are distributed on the left and right sides of the fourth lead screw 823. The mold 81 is sleeved on the fourth guide rod 824 and can slide back and forth along the fourth guide rod 824 to move in a straight line under the guidance and limiting action of the fourth guide rod 824 to avoid deviation.

[0047] Based on any of the above-described coffee grounds soap-making machines using a three-axis robotic arm 2, this application also provides a control method for the coffee grounds soap-making machine using a three-axis robotic arm 2, such as... Figure 9 As shown, the control method includes the following steps: S100. Turn on the heating device and perform preheating according to the preset fixed duty cycle. Specifically, the coffee grounds soap-making machine based on the three-axis robotic arm 2 also includes a heating start button, which is electrically connected to the controller 9. When the heating start button is activated, the controller 9 starts the heating device 4. Specifically, after the open container 3 has received soap material from the soap feeder 6, the user presses the heating start button to activate the heating device 4, which then heats the open container 3 to melt the soap.

[0048] Initially, the open container 3 is not heated and its temperature is low. In this state, when the heating device 4 is turned on, there is no need to use temperature feedback to adjust the output. Instead, it heats the open container 3 according to a fixed duty cycle to preheat it. After the heating device 4 is turned on, the controller 9 obtains the current temperature of the open container 3 through the temperature detector 10. As long as the current temperature meets the condition of being lower than the first preset threshold, the controller 9 controls the heating device 4 using a fixed duty cycle.

[0049] In this application, when the current temperature is below the first preset threshold, the output of the heating device 4 is completely fixed and unaffected by real-time temperature changes. The fixed duty cycle control method prevents the heating device 4 from operating at full power continuously, avoiding a rapid rise in heating temperature and preventing overheating of the bottom or local areas of the open container 3 due to prolonged heating; at the same time, the fixed duty cycle control cycle is more reasonable and the load is more uniform.

[0050] Step S100 specifically includes: S101. Turn on the heating device; S102. If the current temperature is lower than the first preset threshold, then within each fixed time window, the heating device is controlled to perform a preset first duration of power-on and a preset second duration of power-off; wherein, the sum of the preset first duration and the preset second duration is equal to the fixed time window.

[0051] Specifically, when the current temperature is below the first preset threshold, PID (proportional P, integral I, derivative D) calculation is not performed. Instead, the heating power is determined by a preset duty cycle (energizing time / total fixed time window). The fixed time window ensures that the heating method remains consistent in each cycle, thus stabilizing the output power of the heating device 4. At low temperatures, the material temperature is far below the target temperature. The fixed duty cycle control method avoids the overshoot risk caused by PID regulation, provides smooth heating, and creates stable conditions for subsequent PID regulation takeover.

[0052] In one embodiment of this application, the first preset threshold is 50°C, the fixed time window is 7 seconds, the preset first duration is 4 seconds, and the preset second duration is 3 seconds. Then, the heating device 4 maintains a 7-second cycle of 4 seconds of power-on and 3 seconds of power-off to achieve gentle heating and avoid high-temperature shock.

[0053] S200. Obtain the current temperature of the open container. When the current temperature is not less than a first preset threshold, perform PID regulation on the heating device based on the time window method, and determine whether the temperature is in a continuous rising state during the PID regulation process. Specifically, the first preset threshold is a segmented control cut-off point. In the low temperature zone (current temperature less than 50℃), a fixed duty cycle is used for control. After reaching the first preset threshold, the temperature changes more steadily in the range. At this time, PID regulation is used to precisely control the temperature, avoid overheating or underheating, and observe whether the temperature is continuously rising.

[0054] PID control can automatically adjust the heating power based on the relationship between the current temperature and the target temperature, maintaining a more stable temperature near the target temperature than a fixed duty cycle method. The judgment of whether the temperature is continuously rising is similar to "pre-braking"; if the temperature continues to rise when approaching the target value, the PID output needs to be limited to prevent the temperature from exceeding the target temperature, thus protecting the material safety. It is understood that a relay is installed between the controller 9 and the heating device 4, and the controller 9 controls the switching of the relay to start and stop the heating device 4. PID control based on the time window method allows the on / off time of the heating device 4 to be proportionally distributed, avoiding frequent switching and prolonged full-load operation, thereby extending the service life of the heating device 4 and the relay.

[0055] Therefore, this application combines the time window method with PID control to precisely control heating and make judgments based on temperature trends, ensuring that the temperature rises steadily to the target temperature without overshooting, while protecting the equipment and materials.

[0056] In step S200, the heating device is PID-regulated based on the time window method, specifically including: performing proportional, integral, and derivative calculations based on the deviation between the current temperature and the target temperature to obtain the heating control value; Specifically, the difference (deviation) between the current temperature and the target temperature is compared, and the heating control value is calculated through PID (proportional P, integral I, derivative D) control to adjust the operation of the heating device 4.

[0057] For proportional control (P), the output is directly proportional to the temperature deviation; the larger the deviation, the larger the output, and the faster the heating. Similarly, the smaller the deviation, the smaller the output, and the slower the heating. For integral control (I), it is used to compensate for long-term deviations, allowing the temperature to reach the target temperature more accurately. For derivative control (D), it is used to adjust the output according to the rate of temperature change, preventing overshoot caused by rapid temperature changes. PID control comprehensively considers the current deviation, historical error, and rate of change, allowing the temperature to smoothly approach the target temperature without causing large temperature fluctuations, thus preventing overshoot. When the temperature deviation is large, PID regulation will quickly increase the output to improve heating efficiency; when the temperature deviation is small or the temperature rises too quickly, PID regulation can automatically reduce the output to achieve stable temperature control.

[0058] Based on the heating control value and the fixed time window, calculate the first power-on duration and the first power-off duration of the heating device within the fixed time window; Based on the heating control value and the fixed time window, calculate the first power-on duration and the first power-off duration of the heating device within the fixed time window.

[0059] Specifically, the heating control value output by the PID controller is a percentage, representing the time that the heating device 4 needs to heat within the current fixed time window. The first power-on duration is the product of the heating control value and the fixed time window, and the first power-off duration is the difference between the fixed time window and the first power-on duration. The fixed time window can cycle periodically, and the relay switches on and off according to the calculated on / off time in each cycle, thus achieving continuous adjustment of the heating power through the switching of the relay.

[0060] Therefore, within a fixed time window, the relay is controlled to be in the energized state according to the first energized duration and in the de-energized state according to the first de-energized duration. That is, the heating device 4 can be started and stopped by switching the relay on and off, thereby realizing the adjustment of heating power. Under the premise of protecting each device, the temperature can be steadily raised to the target temperature.

[0061] In step S200, determining whether the temperature is in a continuously rising state during the PID control process specifically includes: Temperature is sampled at preset intervals during PID control; Specifically, during the PID control process, the controller 9 periodically acquires temperature data. For example, with a preset duration of 0.5 seconds, temperature samples are taken sequentially every 0.5 seconds to track the temperature change trend, rather than relying solely on a single temperature value. This allows for continuous monitoring of temperature changes, reduces misjudgments, and ensures that the PID control can respond to temperature changes in a timely manner.

[0062] Calculate the temperature slope based on the current sampled value and the previous sampled value; Specifically, the temperature slope can be calculated by dividing the difference between the current sample value and the previous sample value by the sampling interval (i.e., the preset duration); when the temperature slope is positive, the temperature is rising; when the temperature slope is negative, the temperature is falling.

[0063] If the number of consecutive positive temperature slopes reaches a preset value, the temperature is determined to be in a state of continuous rise.

[0064] Specifically, if the temperature slope is positive multiple times consecutively (i.e., the number of times equals the preset value, such as 3 times, meaning 3 consecutive times the temperature slope is positive), it indicates that the temperature is rising continuously in a short period of time. This application, by providing trend judgment, can predict whether the temperature will exceed the target value; combined with PID output, it can take limiting measures in advance to reduce overshoot, avoid temperature overshoot due to thermal inertia or environmental disturbances, and prevent misjudgment based solely on a single temperature change, thereby improving system safety and temperature control accuracy.

[0065] S300. If the current temperature is within a preset range and the temperature is in a continuously rising state during the PID adjustment process, then the preset PID limiting mechanism is executed to limit the adjustment of the heating device. Specifically, the preset range is used to measure the proximity of the current temperature to the target temperature. In one embodiment of this application, the target temperature is 65°C, and the preset range is 62°C to 65°C. If the current temperature is within the preset range, it is close to the target temperature, and the temperature is continuously rising, indicating that the system has an inertial heating trend. If normal PID output heating continues, it is easy to cause temperature overshoot due to heating inertia or delay. At this time, the preset PID limiting mechanism is executed to limit the maximum value of the PID output, that is, to limit the energizing time of the relay, which is equivalent to applying temperature brakes in advance, reducing the output of the heating device 4, effectively reducing the risk of temperature overshoot caused by temperature inertia, thereby ensuring that the temperature can steadily approach the target value and avoiding damage to the material from high temperature.

[0066] In step S300, a preset PID limiting mechanism is executed to limit the adjustment of the heating device, specifically including: Based on the preset limit value and the fixed time window, calculate the second power-on duration and the second power-off duration of the heating device within the fixed time window; The heating device is limited and adjusted according to the fixed time window, the second power-on duration, and the second power-off duration.

[0067] Specifically, the preset limit value is the upper limit of the PID output, while the time window method converts the PID output percentage into the relay's on / off duration. The second energizing duration equals the product of the fixed time window and the preset limit value, and the second de-energizing duration equals the difference between the fixed time window and the second energizing duration. Within the fixed time window period, the relay is energized and de-energized according to the second energizing and de-energizing durations, thus achieving the limiting adjustment of the heating device 4. In this way, even if the PID output is high, the heating device 4 can only operate according to the limited ratio, the output power is limited, and the temperature approaches the target temperature more gradually, reducing temperature fluctuations.

[0068] S400. If the current temperature is within the preset range and the temperature is not in the continuously rising state during the PID adjustment process, then continue to perform PID adjustment on the heating device based on the time window method. Specifically, if the current temperature is within the preset range, then the current temperature is close to the target temperature, and the system needs to enter the fine adjustment stage. The temperature change trend is judged by the temperature slope. If the temperature no longer continues to rise, it means there is no risk of overshoot. The PID output continues to control the start and stop time of the heating device 4 according to the normal heating control value based on the time window method, without limiting the output. This allows the system to make full use of the PID output power to maintain the temperature. In this way, the heating device 4 can stabilize the temperature with optimal power, while maintaining heating efficiency and accuracy, thereby ensuring that the temperature reaches the target temperature quickly and stably.

[0069] S500. If the current temperature reaches the target temperature, then the heating device is turned off.

[0070] Specifically, the target temperature is the upper limit set by the system. Once this temperature is reached, there is no need to continue heating. Therefore, when the current temperature reaches the target temperature, the heating device 4 is turned off to stop energy input and prevent the temperature from rising further.

[0071] In the description of this invention, it should be understood that the terms "center," "longitudinal," "lateral," "length," "width," "thickness," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," "clockwise," "counterclockwise," "axial," "radial," and "circumferential" indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are used only for the convenience of describing this invention and simplifying the description, 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 this invention.

[0072] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one of that feature. In the description of this invention, "a plurality of" means at least two, such as two, three, etc., unless otherwise explicitly specified.

[0073] In this invention, unless otherwise explicitly specified and limited, the terms "installation," "connection," "linking," and "fixing," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components, unless otherwise explicitly limited. Those skilled in the art can understand the specific meaning of the above terms in this invention according to the specific circumstances.

[0074] In this invention, unless otherwise explicitly specified and limited, "above" or "below" the second feature can mean that the first feature is in direct contact with the second feature, or that the first feature is in indirect contact with the second feature through an intermediate medium. Furthermore, "above," "over," and "on top" of the second feature can mean that the first feature is directly above or diagonally above the second feature, or simply that the first feature is at a higher horizontal level than the second feature. "Below," "below," and "under" the second feature can mean that the first feature is directly below or diagonally below the second feature, or simply that the first feature is at a lower horizontal level than the second feature.

[0075] It should be noted that when an element is referred to as being "fixed to" or "set on" another element, it can be directly on the other element or there may be an intervening element. When an element is considered to be "connected to" another element, it can be directly connected to the other element or there may be an intervening element. The terms "vertical," "horizontal," "upper," "lower," "left," "right," and similar expressions used herein are for illustrative purposes only and do not represent the only possible implementation.

[0076] Of course, the above description of the embodiments of the present invention is quite detailed, but it should not be construed as a limitation on the scope of protection of the present invention. The present invention may have many other implementations. Based on this implementation, other implementations obtained by those skilled in the art without any creative effort are all within the scope of protection of the present invention. The scope of protection of the present invention is determined by the appended claims.

Claims

1. A coffee grounds soap-making machine based on a three-axis robotic arm, characterized in that, It includes: frame; The frame is equipped with a coffee grounds feeder, a soap block feeder, a stirrer, and a soap maker. A three-axis robotic arm is mounted inside the frame; An open container is connected to the three-axis robotic arm to move and flip under the drive of the three-axis robotic arm; the coffee grounds feeder, the soap block feeder, the stirrer, and the soap maker are all located on the movement path of the open container; A heating device is disposed on the outer wall of the open container to heat the open container.

2. The coffee grounds soap-making machine based on a three-axis robotic arm according to claim 1, characterized in that, The three-axis robotic arm includes: The first drive unit is connected to the open container and drives the open container to rotate along the V-axis to flip the open container. The second drive unit is connected to the first drive unit to drive the open container to reciprocate along the Z-axis via the first drive unit; A third drive unit is mounted on the frame and connected to the second drive unit to drive the open container to move along the U-axis via the second drive unit.

3. The coffee grounds soap-making machine based on a three-axis robotic arm according to claim 2, characterized in that, The heating device includes: A heating element is arranged around the periphery of the open container and covers the outer wall of the open container; the heating element is connected to an external power source. A heat insulation layer is fitted around the heating core and is in contact with the heating core.

4. The coffee grounds soap-making machine based on a three-axis robotic arm according to claim 1, characterized in that, The soap-making apparatus includes: A mold for receiving liquid from the open container; The fourth drive unit is disposed within the frame and connected to the mold to drive the mold to reciprocate in a direction approaching and moving away from the open container; A fan is installed inside the frame; the mold is located within the air outlet range of the fan.

5. The coffee grounds soap-making machine based on a three-axis robotic arm according to claim 4, characterized in that, The fourth drive unit includes: Fourth drive; A slide table; the mold is disposed on the slide table and slidably connected to the slide table; A fourth lead screw is disposed on the slide table and arranged horizontally; the fourth lead screw is threadedly connected to the mold and connected to the fourth driver, so as to drive the mold to reciprocate along the slide table under the drive of the fourth driver.

6. A control method for a coffee grounds soap-making machine based on a three-axis robotic arm as described in any one of claims 1-5, characterized in that, The control method includes the following steps: Turn on the heating device and perform preheating according to the preset fixed duty cycle. The current temperature of the open container is obtained. When the current temperature is not less than a first preset threshold, the heating device is PID-regulated based on the time window method, and it is determined whether the temperature is in a continuous rising state during the PID regulation process. If the current temperature is within a preset range, and the temperature is in a continuously rising state during the PID adjustment process, then the preset PID limiting mechanism is executed to limit the adjustment of the heating device. If the current temperature is within the preset range, and the temperature is not in the continuously rising state during the PID adjustment process, then the heating device will continue to be PID adjusted based on the time window method. If the current temperature reaches the target temperature, the heating device is turned off.

7. The control method for the coffee grounds soap-making machine based on a three-axis robotic arm according to claim 6, characterized in that, The aforementioned activation of the heating device and preheating according to a preset fixed duty cycle specifically includes: Turn on the heating device; If the current temperature is lower than the first preset threshold, then within each fixed time window, the heating device is controlled to perform a preset first duration of power-on and a preset second duration of power-off; wherein, the sum of the preset first duration and the preset second duration is equal to the fixed time window.

8. The control method for the coffee grounds soap-making machine based on a three-axis robotic arm according to claim 7, characterized in that, The aforementioned PID regulation of the heating device based on the time window method specifically includes: Based on the deviation between the current temperature and the target temperature, proportional, integral, and derivative calculations are performed to obtain the heating control value; Based on the heating control value and the fixed time window, calculate the first power-on duration and the first power-off duration of the heating device within the fixed time window; The heating device is adjusted according to the fixed time window, the first power-on duration, and the first power-off duration.

9. The control method for the coffee grounds soap-making machine based on a three-axis robotic arm according to claim 7, characterized in that, The aforementioned execution of a preset PID limiting mechanism to limit the adjustment of the heating device specifically includes: Based on the preset limit value and the fixed time window, calculate the second power-on duration and the second power-off duration of the heating device within the fixed time window; The heating device is limited and adjusted according to the fixed time window, the second power-on duration, and the second power-off duration.

10. The control method for the coffee grounds soap-making machine based on a three-axis robotic arm according to claim 6, characterized in that, The method of determining whether the temperature is in a continuously rising state during PID regulation specifically includes: Temperature is sampled at preset intervals during PID control; Calculate the temperature slope based on the current sampled value and the previous sampled value; If the number of consecutive positive temperature slopes reaches a preset value, the temperature is determined to be in a state of continuous rise.

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