Coffee capsule size switching conveying structure and control system

Abstract

The invention provides a coffee capsule size switching conveying structure and a control system, and relates to the field of self-service coffee makers, the coffee capsule size switching conveying structure comprises two symmetrically-arranged moving components, each moving component comprises a mounting beam, a transmission assembly is arranged on one side of each mounting beam, and an adjusting assembly is arranged in front of the top end of each transmission assembly; and a sliding assembly is arranged on one side of the transmission assembly, a rotating assembly is arranged in the sliding assembly, a placing piece is arranged on the sliding assembly, and an ejection assembly is arranged at the bottom end of the mounting beam. According to the coffee capsule containing device, by arranging the two moving components, the two containing pieces with the different sizes are compatible with coffee capsules with the two different sizes, movement of the other containing piece is avoided through the rotating assembly, movement interference is avoided, meanwhile, the containing pieces with the corresponding sizes can be rapidly switched, and flexibility and compatibility are improved.

Description

Technical Field

[0001] This invention relates to the field of self-service coffee machines, and more specifically, to a coffee capsule size switching and conveying structure and control system. Background Technology

[0002] The capsule delivery structure inside a self-service coffee machine is the key part for moving coffee capsules. A common delivery structure usually consists of a placement box next to a delivery device that catches the capsule and moves it through the delivery device, thus completing the process from receiving the capsule to moving it to the extraction station.

[0003] However, this delivery structure is difficult to adapt when the coffee machine needs to be compatible with two coffee capsules of significantly different sizes, and motion interference will occur if two such delivery structures are set up.

[0004] Therefore, we have made improvements to this by proposing a coffee capsule size switching conveying structure and control system. Summary of the Invention

[0005] The purpose of this invention is to solve the problem that current delivery structures are difficult to accommodate two different sizes of coffee capsules.

[0006] To achieve the above-mentioned objectives, the present invention provides the following coffee capsule size switching conveying structure and control system to improve the aforementioned problems.

[0007] The application is as follows: A coffee capsule size switching conveying structure includes two symmetrically arranged moving components. Each moving component includes a mounting beam, a transmission component on one side of the mounting beam, an adjustment component at the front of the top of the transmission component, a sliding component on one side of the transmission component, a rotating component inside the sliding component, a placement component on the sliding component, and an ejection component at the bottom of the mounting beam.

[0008] As a preferred technical solution of this application, the sliding component includes a slide rail fixed to one side of the mounting beam, a mounting seat is provided on one side of the slide rail, a sliding groove is provided on the side of the mounting seat near the slide rail, the sliding groove is slidably connected to the slide rail, and a mounting plate is fixedly provided at the front end of the mounting seat; the placement component includes a placement box, the placement box is located at the front end of the mounting plate, and a communication port communicating with the interior of the placement box is provided on the side of the placement box near the mounting beam, and the placement boxes in the two moving components are of different sizes.

[0009] As a preferred technical solution of this application, the rotating assembly includes a mounting block rotatably connected to the front end of the mounting plate, a fixing plate is fixedly provided below one side of the mounting block, and the placement box is fixed to one side of the fixing plate.

[0010] As a preferred technical solution of this application, the ejection assembly includes a first support plate fixed to the side of the mounting beam away from the mounting seat, a second support plate fixedly provided at the bottom end of the first support plate, a third support plate fixedly provided at the end of the second support plate, and an elastic element provided at the end of the third support plate.

[0011] As a preferred technical solution of this application, the top of the mounting block and the side of the fixing plate near the mounting beam are both provided with connecting bolts. The connecting bolts are fixed to the front end of the mounting plate, and a buffer pad is fixed to the outside of the connecting bolts.

[0012] As a preferred technical solution of this application, the transmission assembly includes a first synchronous pulley and a second synchronous pulley disposed on one side of the mounting beam. The first synchronous pulley and the second synchronous pulley are connected by a synchronous belt. The adjustment assembly is located above the second synchronous pulley. Connecting seats are rotatably provided above and below the first synchronous pulley. The connecting seats are fixedly connected to the mounting beam. The mounting plate is fixedly connected to the synchronous belt.

[0013] As a preferred technical solution of this application, the adjusting component includes a slider. One side of the slider is provided with a connecting groove on the mounting beam, and the slider is slidably connected to the inside of the connecting groove. One side of the slider is provided with an elongated connecting hole, and a fixing bolt is provided inside the connecting hole. The end of the fixing bolt is provided with a fixing hole opened inside the connecting groove, and the fixing bolt is threadedly connected to the inside of the fixing hole. The front end of the slider is provided with a mounting hole, and a connecting plate fixed to the front end of the mounting beam is provided in front of the mounting hole. The front end of the connecting plate is provided with an adjusting bolt, and the end of the adjusting bolt passes through the connecting plate and is threadedly connected to the inside of the mounting hole. The top end of the second synchronous pulley is fixedly provided with a mounting shaft, and the top end of the mounting shaft passes through the slider and is rotatably connected to the slider.

[0014] A control system for a coffee capsule size switching and conveying structure includes: The task decision module is used to generate control sequences based on user commands and system status. The vehicle scheduling module is communicatively connected to the task decision module and is used to manage the attitude of the two vehicles according to the control sequence. The displacement and cleanup coordination module is communicatively connected to the task decision module and the vehicle scheduling module. It is used to control the movement of the vehicle and coordinate the vehicle's attitude to perform cleanup actions. The task decision module is configured to: during the process of controlling the carrier to return from the extraction station to the receiving area, first instruct the carrier scheduling module to flip the carrier to the cleaning position, and then instruct the displacement and cleaning coordination module to control the carrier to move in the cleaning position state to complete the cleaning of waste capsules.

[0015] As the preferred technical solution in this application: The task decision-making module includes an instruction parsing unit and a strategy planning unit; The instruction parsing unit is used to receive the capsule size selection signal input by the user and query the current attitude of the vehicle; The strategy planning unit is used to generate a control sequence that includes vehicle switching judgment and core process planning based on the selection signal and the current attitude. The vehicle scheduling module includes a pose control unit and a state holding unit; The pose control unit is used to execute the instructions of the strategy planning unit and drive the vehicle to flip between the working position and the cleaning position. The state-keeping unit is used to record and update the real-time attitude and position of the vehicle; The displacement and cleaning coordination module includes a conveying unit and a return cleaning unit; The conveying unit is used to control the carrier to move from the receiving area to the extraction station when the carrier is in the working position; The return cleaning unit is used to control the carrier to return from the extraction station to the receiving area after receiving the instruction from the strategy planning unit and confirming that the carrier is in the cleaning position.

[0016] As a preferred technical solution of this application, the return cleaning unit is further configured to: when controlling the carrier to return from the extraction station, adopt a control strategy of first moving at a lower initial speed and then restoring to the normal return speed, so that an elastic ejection mechanism can be smoothly introduced into the carrier.

[0017] Compared with the prior art, the beneficial effects of the present invention are as follows: In the scheme of this application: 1. By setting two moving components, it is possible to accommodate two different sizes of coffee capsules through two different sized placement pieces. The rotating component avoids the movement of the other placement piece, thus avoiding motion interference. At the same time, it can quickly switch the placement piece of the appropriate size, improving flexibility and compatibility, and solving the problem that the existing conveying structure is difficult to accommodate two different sizes of coffee capsules. 2. By setting up the ejection component and the rotation component, the rotation component can push out the waste capsules inside the placement component when it drives the placement component to rotate, thereby realizing the automatic disposal of coffee capsules, improving the degree of automation, and solving the problem that the existing conveying structure cannot achieve automatic disposal of coffee capsules; 3. By using the elastic element, the coffee capsule inside the placement component is ejected. The coffee capsule inside the placement component is automatically ejected when it passes the elastic element, and it can pass smoothly by utilizing the elasticity of the elastic element. There is no need to frequently start the rotating component to avoid the ejection component, which saves time and reduces the complexity of the operation sequence. At the same time, it reduces power consumption. This solves the problem in the prior art that it is necessary to frequently start the rotating component to avoid the placement component and ejection component on the other side, which leads to a more complicated operation sequence and consumes more time and power. 4. By setting up the adjustment component, the distance between the first and second synchronous pulleys can be finely adjusted to regulate the tension of the synchronous belt, ensuring the stability of the transmission and improving convenience. This solves the problem that the distance between the first and second synchronous pulleys cannot be adjusted in the existing technology. Attached Figure Description

[0018] Figure 1 A schematic diagram of the coffee capsule size switching and conveying structure provided in this application; Figure 2 A schematic diagram of the transmission component in the coffee capsule size switching and conveying structure provided in this application; Figure 3 A schematic diagram of the adjusting component in the coffee capsule size switching and conveying structure provided in this application; Figure 4 A schematic diagram showing the disassembled structure of the rotating component in the coffee capsule size switching and conveying structure provided in this application; Figure 5 A schematic diagram of the ejection component in the coffee capsule size switching conveying structure provided in this application; Figure 6 The system flowchart of the coffee capsule size switching control system provided in this application; Figure 7 A system flowchart for the task reception and vehicle switching stage in the coffee capsule size switching control system provided in this application; Figure 8 A system flowchart of the capsule delivery and extraction stages in the coffee capsule size switching control system provided in this application; Figure 9 The system flowchart for the return cleaning and reset stage in the coffee capsule size switching control system provided in this application.

[0019] The image shows: 1. Mounting beam; 2. Transmission assembly; 21. Synchronous pulley No. 1; 22. Synchronous pulley No. 2; 23. Synchronous belt; 24. Connecting seat; 25. Fixed seat; 26. Drive motor; 27. Receiving groove; 3. Adjusting assembly; 31. Connecting groove; 32. Slider; 33. Connecting hole; 34. Fixing bolt; 35. Fixing hole; 36. Connecting plate; 37. Adjusting bolt; 38. Mounting hole; 39. Mounting shaft; 4. Sliding assembly; 41. Mounting seat; 42. Slide rail; 43. Mounting plate; 5. Rotating assembly; 51. Mounting block; 52. Fixed plate; 53. Rotating motor; 61. Placement box; 71. Connecting bolt; 72. Buffer pad; 8. Ejection assembly; 81. Support plate No. 1; 82. Support plate No. 2; 83. Support plate No. 3; 84. Spring. Detailed Implementation

[0020] To enable those skilled in the art to better understand the present invention, the technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings of the embodiments of the present invention. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort should fall within the scope of protection of the present invention.

[0021] To enable those skilled in the art to better understand the present invention, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings.

[0022] It should be noted that, unless otherwise specified, the embodiments and features and technical solutions in the present invention can be combined with each other.

[0023] It should be noted that similar labels and letters in the following figures indicate similar items. Therefore, once an item is defined in one figure, it does not need to be further defined and explained in subsequent figures.

[0024] Example 1 Please refer to Figure 1 , Figure 2 , Figure 4 and Figure 5A coffee capsule size switching conveying structure includes two symmetrically arranged moving components. The moving components include a mounting beam 1, a transmission component 2 on one side of the mounting beam 1, the transmission component 2 being used to drive a sliding component 4, a rotating component 5, and a placement component to move, an adjustment component 3 being provided at the front of the top of the transmission component 2, the adjustment component 3 being used to increase the stability of the transmission component 2 during operation, a sliding component 4 being provided on one side of the transmission component 2, the sliding component 4 being used to ensure the stability of the movement process, a rotating component 5 being provided inside the sliding component 4, the rotating component 5 being used to drive the placement component to flip, and a push-out component 8 being used to push out the used waste coffee capsules inside the placement component, the sliding component 4 being provided with a placement component for placing coffee capsules, and a push-out component 8 being provided at the bottom end of the mounting beam 1.

[0025] Furthermore, such as Figure 1 , Figure 2 and Figure 4 As shown, the sliding component 4 includes a slide rail 42 fixed to one side of the mounting beam 1. The slide rail 42 is used to ensure the stability of the mounting seat 41 when it moves. A mounting seat 41 is provided on one side of the slide rail 42. A groove is opened on the side of the mounting seat 41 near the slide rail 42. The groove is slidably connected to the slide rail 42. When the mounting seat 41 moves, it slides on the slide rail 42 through the groove. A mounting plate 43 is fixedly provided at the front end of the mounting seat 41. The placement component includes a placement box 61. The placement box 61 is used to catch coffee capsules falling from above. The placement box 61 is located at the front end of the mounting plate 43. The side of the placement box 61 away from the mounting beam 1 is open. A communication port is opened on the side of the placement box 61 near the mounting beam 1, which communicates with the inside of the placement box 61. The ejection component 8 ejects the coffee capsule in the placement box 61 through the communication port. The placement boxes 61 in the two moving components are of different sizes to accommodate two different sizes of coffee capsules.

[0026] Furthermore, such as Figure 1 and Figure 4 As shown, the rotating assembly 5 includes a mounting block 51 rotatably connected to the front end of the mounting plate 43. When the mounting block 51 rotates, it drives the fixing plate 52 and the placement box 61 to rotate accordingly. The fixing plate 52 is fixedly provided on the lower side of one side of the mounting block 51, and the placement box 61 is fixed to one side of the fixing plate 52. The rear end of the mounting plate 43 is fixedly provided with a rotating motor 53. The output end of the rotating motor 53 passes through the mounting plate 43 and is fixedly connected to the mounting block 51. When the rotating motor 53 starts, it drives the fixing plate 52 to rotate.

[0027] Furthermore, such as Figure 1 , Figure 2 and Figure 5As shown, the ejection assembly 8 includes a first support plate 81 fixed to the side of the mounting beam 1 away from the mounting base 41. The first support plate 81, the second support plate 82, and the third support plate 83 are used to support the spring piece 84. The second support plate 82 is fixedly provided at the bottom end of the first support plate 81, and the third support plate 83 is fixedly provided at the end of the second support plate 82. The end of the third support plate 83 is provided with an elastic element, which ejects the used coffee capsule inside the placement box 61. The elastic element includes a spring piece 84 fixed to one side of the support plate 83. By cooperating with the downward rotation of the placement box 61, the spring piece 84 extends into the communication port on one side of the placement box 61 and enters the interior of the placement box 61, pushing out the coffee capsule inside the placement box 61, thereby automatically removing the capsules that need to be discarded after use from the placement box 61. After the spring 84 pushes the coffee capsule out of the placement box 61, while the fixed plate 52 is reset by rotating the motor 53, the transmission assembly 2 can be activated to drive the sliding assembly 4, the rotating assembly 5, and the placement box 61 to move backward. The connecting port on the placement box 61 will contact the spring 84, causing the spring 84 to bend. When the placement box 61 separates from the spring 84, the spring 84 will elastically return to its original position. There is no need to wait for the rotating assembly 5 to reset the placement box 61 before activating the transmission assembly 2. At the same time, when the placement box 61 is in front of the spring 84, the rotating assembly 5 can drive the placement box 61 to rotate downward in advance. When it passes the spring 84, At time 84, the spring 84 bends and stores force through its own elasticity, and then, in conjunction with the moving end of the spring 84 of the transmission component 2, it springs into the connecting port and the interior of the placement box 61, popping out the coffee capsule inside the placement box 61. Alternatively, to avoid the placement box 61 on the other side, the transmission component 2 can be directly activated to move backward without activating the rotating component 5 to reset the placement box 61. The elasticity of the spring 84 allows the placement box 61 to pass smoothly through the spring 84, thereby saving time and reducing the complexity of the running sequence, reducing the number of times the rotating motor 53 is started, thereby reducing power consumption, and realizing multiple ways to remove the coffee capsule inside the placement box 61. The spring clips 84 and the third support plate 83 on both sides have different lengths, which match the position of the connecting port on the same side of the placement box 61 to accommodate two different sized placement boxes 61. When the placement box 61 is flipped downwards, the spring clips 84 can be accurately aligned and inserted into the connecting port on the placement box 61, and smoothly push out the coffee capsule inside the placement box 61.

[0028] Furthermore, such as Figure 4As shown, the top of the mounting block 51 and the side of the fixing plate 52 near the mounting beam 1 are both provided with connecting bolts 71. When the mounting block 51 drives the fixing plate 52 to rotate upward by about ninety degrees, so that the placement box 61 is in a horizontal state, the fixing plate 52 will be blocked by the connecting bolts 71, thereby effectively calibrating the flip angle and preventing excessive rotation. When the fixing plate 52 rotates downward and is in a vertical state, it will be blocked by the connecting bolts 71 located below. The connecting bolts 71 are fixed to the front end of the mounting plate 43. A buffer pad 72 is fixed on the outside of the connecting bolts 71. The buffer pad 72 is not limited to being made of rubber. The buffer pad 72 contacts the fixing plate 52 when blocking it, thus playing a buffering role.

[0029] Example 2 The coffee capsule size switching and conveying structure provided in Example 1 has been further optimized, specifically, as follows: Figure 1 , Figure 2 and Figure 3 As shown, the transmission assembly 2 includes a first synchronous pulley 21 and a second synchronous pulley 22 located on one side of the mounting beam 1. The first synchronous pulley 21 is located behind the second synchronous pulley 22. The first synchronous pulley 21 and the second synchronous pulley 22 are connected by a synchronous belt 23. The synchronous belt 23 is located below the slide rail 42. A receiving groove 27 is provided below the slide rail 42. One side of the first synchronous pulley 21, the second synchronous pulley 22, and the synchronous belt 23 is located inside the receiving groove 27. The adjusting assembly 3 is located above the second synchronous pulley 22. When the first synchronous pulley 21 rotates, it drives the sliding assembly through the synchronous belt 23. 4. The first synchronous pulley 21 is equipped with a connecting seat 24 on both the upper and lower sides. The connecting seat 24 is fixedly connected to the mounting beam 1. The mounting plate 43 is located inside the synchronous belt 23. The side of the mounting plate 43 away from the mounting beam 1 is fixedly connected to the synchronous belt 23. The second synchronous pulley 22 is provided with a fixed seat 25 fixed to the bottom end of the mounting beam 1. The bottom end of the fixed seat 25 is fixedly equipped with a drive motor 26. The output end of the drive motor 26 passes through the fixed seat 25 and the connecting seat 24 located below and is fixedly connected to the first synchronous pulley 21. When the drive motor 26 is started, it drives the first synchronous pulley 21 to rotate.

[0030] Furthermore, such as Figure 1 , Figure 2 and Figure 3As shown, the adjusting assembly 3 includes a slider 32. One side of the slider 32 has a connecting groove 31 formed on one side of the mounting beam 1. The connecting groove 31 restricts the position of the slider 32, ensuring stable movement. The slider 32 is slidably connected to the inside of the connecting groove 31. Two elongated connecting holes 33 are formed on one side of the slider 32. These holes accommodate the movement of the slider 32, allowing the fixing bolt 34 to effectively fix the slider 32 through the fixing hole 35. The fixing bolt 34 is located inside the connecting hole 33. The end of the fixing bolt 34 has a fixing hole 35 formed inside the connecting groove 31. The fixing bolt 34 is threadedly connected to the fixing hole 35. Rotating the fixing bolt 34 fixes the slider 32 through the thread between it and the fixing hole 35. The front end of the slider 32 has two connecting holes 33. The mounting hole 38 between the three is provided with a connecting plate 36 fixed to the front end of the mounting beam 1. The front end of the connecting plate 36 is provided with an adjusting bolt 37. The adjusting bolt 37 is used to control the movement of the slider 32 and tighten the synchronous belt 23. The end of the adjusting bolt 37 passes through the connecting plate 36 and is threadedly connected to the inside of the mounting hole 38. By rotating the adjusting bolt 37, the slider 32 moves forward through the thread, causing the second synchronous wheel 22 to also move forward through the mounting shaft 39, thus tightening the synchronous belt 23 on the second synchronous wheel 22 and the first synchronous wheel 21, ensuring the stable transmission of the synchronous belt 23. The top end of the second synchronous wheel 22 is fixedly provided with the mounting shaft 39. When the slider 32 and the mounting shaft 39 move, the second synchronous wheel 22 also moves accordingly. The top end of the mounting shaft 39 passes through the slider 32 and is rotatably connected to the slider 32.

[0031] Example 3 The coffee capsule size switching and conveying structure provided in Example 1 or 2 is further optimized, specifically, as follows: Figure 6 As shown, a control system for a coffee capsule size switching and conveying structure includes: The task decision-making module is responsible for information processing, strategy formulation, and instruction distribution. Based on status feedback and preset logic, it ensures efficient and reliable operation. The vehicle scheduling module is responsible for accurately managing the physical attitude and status records of two vehicles. The vehicle scheduling module receives abstract instructions from the upstream module and transforms them into specific and reliable vehicle actions, while providing important status feedback for system decision-making. The displacement and cleaning coordination module is responsible for integrating the vehicle's movement and cleaning actions into a coherent operation. By controlling the movement timing and parameters, the displacement and cleaning coordination module can clean up the waste capsules while reducing the load on key components.

[0032] Furthermore, such as Figure 6 , Figure 7 , Figure 8 and Figure 9 As shown, the task decision module includes: The instruction parsing unit continuously monitors the user input interface. When it receives a valid capsule size selection signal (such as "size A" or "size B"), it immediately parses this signal into a specific task object. The core attributes of this task object include: target vehicle identifier (specifying the use of vehicle A or B) and task status (initialized to "pending execution"). Once a task object is created, the instruction parsing unit immediately passes it to the strategy planning unit and triggers the decision-making process. At the same time, the instruction parsing unit sends a query request to the status maintenance unit of the vehicle scheduling module to obtain the real-time attitude information of the two vehicles, providing key decision-making basis for strategy planning. Upon receiving the task object from the instruction parsing unit, the strategy planning unit, in conjunction with the real-time vehicle status fed back from the state maintenance unit, executes the following decision logic: Vehicle switching judgment: Compare whether the target vehicle is consistent with the vehicle currently in the working position; if they are inconsistent, generate a "vehicle switching sequence", which includes sending two instructions to the pose control unit of the vehicle scheduling module: first flip the current working vehicle to the cleanup position, and then flip the target vehicle to the working position; Core process planning: Regardless of whether a switch is required, it will generate a standard "task execution sequence": Step 1 (Transfer): Send instructions to the precision transfer unit of the displacement and cleaning coordination module to transfer the target carrier to the extraction station; Step 2 (Cleanup Preparation): After confirming that the extraction is complete, first send a command to the pose control unit to flip the target vehicle from the working position to the cleanup position; Step 3 (Clean-up while moving): Next, a command is sent to the return clean-up unit of the displacement and clean-up coordination module to control the vehicle to return in the clean-up position; Step 4 (Reset): After the carrier returns to the receiving area, it immediately sends a command to the posture control unit to reset it to the working position, ready to receive the next task.

[0033] Furthermore, such as Figure 6 , Figure 7 , Figure 8 and Figure 9 As shown, the vehicle scheduling module includes: The posture control unit maintains a vehicle posture instruction queue. When it receives an instruction (such as "switch vehicle A to the working position" or "switch vehicle B to the cleaning position") from the strategy planning unit of the task decision module, it first queries the status holding unit for the current status of the target vehicle to prevent redundant operations. After confirming that the operation needs to be executed, it drives the corresponding power source to control the vehicle to rotate along the predetermined axis. Its internal control logic ensures that the rotation angle is accurate: when it reaches the working position, the vehicle opening faces upward, ready to receive materials; when it reaches the cleaning position, the vehicle opening faces the path of the elastic ejection mechanism, preparing for the cleaning action. After the action is completed, the posture control unit immediately sends an update signal to the status holding unit to inform it of the new status of the vehicle, and feeds back a "action completed" signal to the strategy planning unit to trigger the next step of the process. The state-keeping unit maintains a dynamic state table, recording the "current attitude" (working position, cleaning position, or rotating) and position of each vehicle. Any event that causes a change in the vehicle's state (such as an action completed by the posture control unit or system initialization calibration) will automatically trigger an update to the state-keeping unit's records. The state-keeping unit operates in a passive response mode, continuously listening for state query requests from the instruction parsing unit in the task decision module. Once a request is received, the state-keeping unit will immediately return a snapshot of the current state table for strategic decision-making. Simultaneously, the state-keeping unit also listens for movement feedback from the displacement and cleaning coordination module, updating its position information when a vehicle leaves or arrives at a specific working position.

[0034] Furthermore, such as Figure 6 , Figure 8 and Figure 9 As shown, the displacement and cleanup coordination module includes: The conveying unit receives the "execute conveying" command from the task decision module - strategy planning unit. Before starting, the conveying unit will perform a status confirmation to verify that the target vehicle in the vehicle scheduling module - status holding unit is in the working position. After confirming that there is no error, the conveying unit drives the transmission mechanism. When the vehicle arrives at the extraction station and stabilizes, it sends a "conveying completed" signal to the strategy planning unit, and the system then enters the extraction stage. The return cleanup unit begins its operation by receiving the "Execute Return Cleanup" instruction from the strategy planning unit; the return cleanup unit follows a "preparation-execution" sequence: Preparation phase (waiting for cleaning position): After receiving the instruction, the return cleaning unit enters the waiting state; the key signal for waiting is the confirmation from the position control unit, that is, the target vehicle has been successfully flipped from the working position to the cleaning position, to ensure that the vehicle enters the cleaning process in the best posture (opening facing the ejection mechanism), avoiding the violent impact and large bending caused by forcibly ejecting in a horizontal posture. Execution Phase (Movement and Ejection): Once the position is confirmed, the return cleaning unit immediately initiates the return procedure. The return cleaning unit controls the carrier to start moving at a low initial speed to allow the end of the elastic ejection mechanism to be smoothly inserted into the carrier. Subsequently, the speed can be restored to the normal return speed. Throughout the movement, the ejection mechanism continues to operate, stably pushing out the capsule. When the carrier has completely returned to the receiving area, the return cleaning unit sends a "return cleaning complete" signal to the strategy planning unit.

[0035] The coffee capsule size switching conveying structure and control system provided by this invention are used as follows: When it is necessary to move the coffee capsule inside the placement box 61, the drive motor 26 is started to rotate the first synchronous pulley 21 above, causing the synchronous belt 23 to run through the second synchronous pulley 22, and driving the mounting base 41 to slide on the slide rail 42, so that the placement box 61 moves to the extraction station in front for extraction. After extraction, the mounting base 41 moves backward through the transmission assembly 2, and at the same time, the rotation motor 53 is started to drive the mounting block 51, the fixing plate 52 and the placement box 61 to flip downward, so that the placement box 61 is in front of the spring piece 84, cooperating with the sliding assembly 4. The backward movement of the placement box 61 contacts the spring 84, causing it to bend. Then, the end of the spring 84, in conjunction with the movement of the placement box 61, springs into the communication port of the placement box 61 and into the interior of the placement box 61, ejecting the used coffee capsules inside the placement box 61, thus achieving automatic coffee capsule disposal. Alternatively, when the sliding component 4 moves the placement box 61 above the spring 84, the transmission component 2 stops starting, and the rotating motor 53 is started to drive the placement box 61 to rotate downward, so that the spring 84 extends into the interior of the placement box 61 through the communication port to push out the coffee capsules. When it is necessary to switch to a different sized placement box 61, the unused placement box 61 is rotated downwards by starting the rotation motor 53, so that the fixing plate 52 is nearly vertical, and the placement box 61 is in the lower position. Figure 4 As shown; the required size of the placement box 61 is rotated upward by starting the rotating motor 53, so that the fixing plate 52 is blocked by the connecting bolt 71 and the buffer pad 72 located above. At this time, the rotating motor 53 is stopped, and the placement box 61 and the fixing plate 52 are in a horizontal state and are located above the other placement box 61, thereby completing the switching. When it is necessary to adjust the distance between the first synchronous pulley 21 and the second synchronous pulley 22 to tighten the synchronous belt 23, the receiving groove 27 is rotated to move the slider 32 forward through the thread between it and the mounting hole 38. The fixing bolt 34 then slides in the connecting hole 33, causing the mounting shaft 39 and the second synchronous pulley 22 to also move forward, tightening the synchronous belt 23. Then, the fixing bolt 34 is rotated to connect with the fixing hole 35 through the thread, thus fixing the slider 32 in place.

[0036] 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, an electrical connection, or a connection that allows communication between them; 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.

[0037] Obviously, the embodiments described above are merely some embodiments of the present invention, not all embodiments. The accompanying drawings show preferred embodiments of the present invention, but do not limit the patent scope of the present invention. The present invention can be implemented in many different forms; rather, these embodiments are provided to provide a more thorough and complete understanding of the disclosure of the present invention. Although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art can still modify the technical solutions described in the foregoing specific embodiments, or make equivalent substitutions for some of the technical features. Any equivalent structures made using the content of this specification and drawings, directly or indirectly applied to other related technical fields, are similarly within the patent protection scope of this invention.

Claims

1. A coffee capsule size switching and conveying structure, characterized in that, It includes two symmetrically arranged movable components. The movable components include a mounting beam (1), a transmission component (2) on one side of the mounting beam (1), an adjustment component (3) at the front of the top of the transmission component (2), a sliding component (4) on one side of the transmission component (2), a rotating component (5) inside the sliding component (4), a placement component on the sliding component (4), and an ejection component (8) at the bottom of the mounting beam (1).

2. The coffee capsule size switching and conveying structure according to claim 1, characterized in that, The sliding component (4) includes a slide rail (42) fixed to one side of the mounting beam (1). A mounting seat (41) is provided on one side of the slide rail (42). A groove is provided on the side of the mounting seat (41) near the slide rail (42). The groove is slidably connected to the slide rail (42). A mounting plate (43) is fixedly provided at the front end of the mounting seat (41). The placement component includes a placement box (61). The placement box (61) is located at the front end of the mounting plate (43). A communication port communicating with the interior of the placement box (61) is provided on the side of the placement box (61) near the mounting beam (1). The placement boxes (61) in the two moving components are of different sizes.

3. The coffee capsule size switching and conveying structure according to claim 2, characterized in that, The rotating assembly (5) includes a mounting block (51) rotatably connected to the front end of the mounting plate (43), a fixing plate (52) is fixedly provided on the lower side of one side of the mounting block (51), and the placement box (61) is fixed to one side of the fixing plate (52).

4. The coffee capsule size switching and conveying structure according to claim 3, characterized in that, The ejection assembly (8) includes a first support plate (81) fixed to the side of the mounting beam (1) away from the mounting seat (41), a second support plate (82) fixed at the bottom end of the first support plate (81), a third support plate (83) fixed at the end of the second support plate (82), and an elastic element at the end of the third support plate (83).

5. A coffee capsule size switching and conveying structure according to claim 3 or 4, characterized in that, The top of the mounting block (51) and the side of the fixing plate (52) near the mounting beam (1) are provided with connecting bolts (71). The connecting bolts (71) are fixed to the front end of the mounting plate (43), and buffer pads (72) are fixed to the outside of the connecting bolts (71).

6. A coffee capsule size switching and conveying structure according to claim 2 or 4, characterized in that, The transmission assembly (2) includes a first synchronous pulley (21) and a second synchronous pulley (22) located on one side of the mounting beam (1). The first synchronous pulley (21) and the second synchronous pulley (22) are connected by a synchronous belt (23). The adjustment assembly (3) is located above the second synchronous pulley (22). Connecting seats (24) are rotatably provided above and below the first synchronous pulley (21). The connecting seats (24) are fixedly connected to the mounting beam (1). The mounting plate (43) is fixedly connected to the synchronous belt (23).

7. The coffee capsule size switching and conveying structure according to claim 6, characterized in that, The adjusting assembly (3) includes a slider (32). One side of the slider (32) is provided with a connecting groove (31) opened on the mounting beam (1). The slider (32) is slidably connected to the inside of the connecting groove (31). One side of the slider (32) is provided with an elongated connecting hole (33). The inside of the connecting hole (33) is provided with a fixing bolt (34). The end of the fixing bolt (34) is provided with a fixing hole (35) opened inside the connecting groove (31). The fixing bolt (34) and the inside of the fixing hole (35) are connected. The slider (32) is threaded and has a mounting hole (38) at its front end. A connecting plate (36) fixed to the front end of the mounting beam (1) is provided in front of the mounting hole (38). An adjusting bolt (37) is provided at the front end of the connecting plate (36). The end of the adjusting bolt (37) passes through the connecting plate (36) and is threadedly connected to the inside of the mounting hole (38). The top end of the second synchronous wheel (22) is fixedly provided with a mounting shaft (39). The top end of the mounting shaft (39) passes through the slider (32) and is rotatably connected to the slider (32).

8. A control system for a coffee capsule size switching conveying structure, using the coffee capsule size switching conveying structure as described in claim 7, characterized in that, include: The task decision module is used to generate control sequences based on user commands and system status. The vehicle scheduling module is communicatively connected to the task decision module and is used to manage the attitude of the two vehicles according to the control sequence. The displacement and cleanup coordination module is communicatively connected to the task decision module and the vehicle scheduling module. It is used to control the movement of the vehicle and coordinate the vehicle's attitude to perform cleanup actions. The task decision module is configured to: during the process of controlling the carrier to return from the extraction station to the receiving area, first instruct the carrier scheduling module to flip the carrier to the cleaning position, and then instruct the displacement and cleaning coordination module to control the carrier to move in the cleaning position state to complete the cleaning of waste capsules.

9. The control system for a coffee capsule size switching and conveying structure according to claim 8, characterized in that: The task decision-making module includes an instruction parsing unit and a strategy planning unit; The instruction parsing unit is used to receive the capsule size selection signal input by the user and query the current attitude of the vehicle; The strategy planning unit is used to generate a control sequence that includes vehicle switching judgment and core process planning based on the selection signal and the current attitude. The vehicle scheduling module includes a pose control unit and a state holding unit; The pose control unit is used to execute the instructions of the strategy planning unit and drive the vehicle to flip between the working position and the cleaning position. The state-keeping unit is used to record and update the real-time attitude and position of the vehicle; The displacement and cleaning coordination module includes a conveying unit and a return cleaning unit; The conveying unit is used to control the carrier to move from the receiving area to the extraction station when the carrier is in the working position; The return cleaning unit is used to control the carrier to return from the extraction station to the receiving area after receiving the instruction from the strategy planning unit and confirming that the carrier is in the cleaning position.

10. The control system for a coffee capsule size switching and conveying structure according to claim 9, characterized in that, The return cleaning unit is further configured to employ a control strategy of moving at a lower initial speed and then restoring to the normal return speed when controlling the carrier to return from the extraction station, so that an elastic ejection mechanism can be smoothly introduced into the carrier.

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