Automatic wine pouring device

Abstract

The utility model discloses an automatic wine pouring device which comprises a machine frame, a height control mechanism, a horizontal displacement control mechanism, a mechanical arm, a steering module and a control system, the height control mechanism, the horizontal displacement control mechanism, the mechanical arm, the steering module and the control system are installed on the machine frame, and the steering module is used for driving the mechanical arm rotationally connected with the steering module to rotate around the horizontal axis. The height control mechanism comprises a first driving part and a vertical guide rail, the steering module is mounted on the vertical guide rail, and the first driving part is used for driving the steering module to move up and down along the vertical guide rail; the horizontal displacement control mechanism comprises a second driving part and a horizontal guide rail, the bottom end of the vertical guide rail is mounted on the horizontal guide rail, and the second driving part is used for driving the vertical guide rail to horizontally move along the horizontal guide rail; the control system is electrically connected with the steering module, the first driving piece and the second driving piece. The mechanical arm is controlled to move along the vertical guide rail, so that the wine pouring height is controlled; and the rotating angle and the rotating speed of the manipulator are controlled through the steering module, so that the wine pouring angle and the wine pouring speed are controlled.

Description

An automatic wine pouring device Technical Field

[0001] This utility model belongs to the technical field of wine pouring tools, specifically relating to an automatic wine pouring device. Background Technology

[0002] Currently, in beer tasting and experimentation, pouring beer is a crucial step, making the stability of its operation particularly important. However, in modern human operation, subtle changes in pouring speed, tilt angle, and height are like variables that are difficult to keep constant. These uncontrollable factors often affect the accuracy of experimental results and have a significant impact on the beer's foaming, taste, flavor, and appearance.

[0003] Therefore, a new technology is needed to solve the problem of uncontrollable pouring speed and height in existing technologies. Summary of the Invention

[0004] To address the aforementioned problems in the prior art, this utility model provides an automatic wine pouring device that facilitates control of pouring speed, tilt angle, and height.

[0005] The present invention adopts the following technical solution:

[0006] An automatic wine pouring device includes a frame and a height control mechanism, a horizontal displacement control mechanism, a manipulator, a steering module, and a control system mounted on the frame. The manipulator is rotatably connected to the steering module and the rotation axis is horizontally set. The output terminal of the control system is electrically connected to the steering module. When the steering module is started, it can control the rotation angle of the manipulator around the rotation axis.

[0007] The height control mechanism includes a first driving member and a vertically arranged vertical guide rail. The end of the steering module away from the robot arm is mounted on the vertical guide rail. The first driving member is used to drive the robot arm to move up and down along the vertical guide rail. The horizontal displacement control mechanism includes a second driving member and a horizontally arranged horizontal guide rail. The bottom end of the vertical guide rail is mounted on the horizontal guide rail. The second driving member is used to drive the vertical guide rail to move horizontally along the horizontal guide rail.

[0008] The output terminal of the control system is electrically connected to the first driving element and the second driving element and can control the start and stop of the first driving element and the second driving element.

[0009] As a further improvement to the technical solution of this utility model, the horizontal displacement control mechanism further includes a horizontal slider and a horizontally arranged horizontal lead screw. The lower part of the horizontal slider is fitted onto the horizontal lead screw and threadedly connected to the horizontal lead screw. The upper end of the horizontal slider is detachably fixedly connected to the vertical guide rail.

[0010] The horizontal guide rail includes two horizontally arranged horizontal guide rods, both of which are parallel to and spaced apart from the horizontal lead screw, and the horizontal slider is slidably connected to the two horizontal guide rods;

[0011] The frame includes a base, and the horizontal lead screw and two horizontal guide rods are all mounted on the upper end of the base; the second driving member can drive the horizontal lead screw to rotate.

[0012] As a further improvement to the technical solution of this utility model, the horizontal displacement control mechanism further includes two oppositely arranged mounting supports, which are mounted on the base. The two ends of the horizontal lead screw are rotatably connected to the two mounting supports respectively, and the two ends of the two horizontal guide rods are detachably fixedly connected to the two mounting supports respectively. The second driving member is mounted on one of the mounting supports and its output end is rotatably connected to one end of the horizontal lead screw.

[0013] As a further improvement to the technical solution of this utility model, the horizontal slider includes a first sliding plate, a first connecting plate, and a second sliding plate connected in sequence. The first sliding plate and the second sliding plate are parallel to each other and perpendicular to the horizontal guide rod. The two ends of the first connecting plate are fixedly connected to the upper ends of the first sliding plate and the second sliding plate, respectively. The first sliding plate and the second sliding plate can both allow the horizontal lead screw and the two horizontal guide rods to pass through horizontally. The first connecting plate is detachably fixedly connected to the bottom of the vertical guide rail.

[0014] As a further improvement to the technical solution of this utility model, the height control mechanism further includes a vertical slider and a vertically arranged vertical lead screw. One side of the vertical slider is fitted onto the vertical lead screw and threadedly connected to the vertical lead screw, and the opposite side of the vertical slider is detachably fixedly connected to the steering module.

[0015] The vertical guide rail includes two vertically arranged vertical guide rods. The vertical slider is slidably connected to the two vertical guide rods. The two vertical guide rods are parallel to and spaced apart from the vertical lead screw. The bottom ends of the vertical lead screw and the two vertical guide rods are detachably fixedly connected to the first connecting plate.

[0016] The first driving member is used to drive the vertical lead screw to rotate.

[0017] As a further improvement to the technical solution of this utility model, the height control mechanism further includes an end plate, which is installed on the upper end of the two vertical guide rods. The first driving member is installed on the end plate, and the upper end of the vertical lead screw passes through the end plate and is rotatably connected to the first driving member. The vertical slider is located between the end plate and the first connecting plate.

[0018] As a further improvement to the technical solution of this utility model, the vertical slider includes a third sliding plate, a second connecting plate, and a fourth sliding plate connected in a roughly U-shape. The third and fourth sliding plates are parallel to each other and perpendicular to the vertical guide rod. The second connecting plate is vertically arranged and one side is fixedly connected to the end of the third and fourth sliding plates. The third and fourth sliding plates can both allow the vertical lead screw and the two vertical guide rods to pass through vertically. The connection to the second connecting plate is detachably fixed.

[0019] The steering module is mounted on the second connecting plate.

[0020] As a further improvement to the technical solution of this utility model, the steering module further includes a servo motor and a gearbox. The gearbox is detachably fixed on the first connecting plate. The servo motor is mounted on the upper end of the gearbox and connected to the gearbox. The output end of the control system is electrically connected to the servo motor and can control the operation of the servo motor.

[0021] The gearbox has a horizontally mounted rotating shaft. One end of the rotating shaft extends out of the side of the gearbox away from the first connecting plate and is detachably fixedly connected to the robotic arm. When the servo motor is started, it can control the rotating shaft to rotate, and the robotic arm rotates synchronously with the rotating shaft.

[0022] As a further improvement to the technical solution of this utility model, the robotic arm includes a cylinder and two opposing grippers. One end of the cylinder is detachably fixedly connected to the rotating shaft, and the other end is hinged to the two grippers. The rotation axes of the two grippers are parallel to each other. The output end of the control system is electrically connected to the cylinder and can control the start and stop of the cylinder. When the cylinder is started, it can control the ends of the two grippers away from the cylinder to move closer or further apart.

[0023] As a further improvement to the technical solution of this utility model, it also includes an automatic identification system installed on the frame. The automatic identification system includes a photo-taking module and a signal processing module. The frame is provided with a gripping area and an inverted area. The photo-taking module is used to take pictures of the gripping area and the inverted area. The signal processing system is used to convert the container positions in the gripping area and the inverted area into electrical signals and transmit the signals to the control system.

[0024] Compared with the prior art, the beneficial effects of this utility model are as follows:

[0025] The automatic wine-pouring device in this solution uses a robotic arm to grasp the wine container. This solution controls the pouring height by controlling the position of the robotic arm and the container on the vertical guide rail; and controls the rotation angle and speed of the robotic arm and the container through a steering module, thereby controlling the pouring angle and speed. Attached Figure Description

[0026] The present invention will be further described in detail below with reference to the accompanying drawings and specific embodiments:

[0027] Figure 1 is a schematic diagram of the overall structure of this utility model;

[0028] Figure 2 is an enlarged view of part A in Figure 1;

[0029] Figure 3 is an enlarged view of part B in Figure 1.

[0030] Figure label:

[0031] 1-Frame; 11-Base; 12-Support column; 13-Top plate;

[0032] 2-Height control mechanism; 21-First driving component; 22-Vertical guide rail; 221-Vertical guide rod; 23-Vertical slider; 231-Third slide plate; 232-Second connecting plate; 233-Fourth slide plate; 24-Vertical lead screw; 25-End plate;

[0033] 3-Horizontal displacement control mechanism; 31-Second driving component; 32-Horizontal guide rail; 321-Horizontal guide rod; 33-Horizontal slider; 331-First sliding plate; 332-First connecting plate; 333-Second sliding plate; 34-Horizontal lead screw; 35-Mounting support;

[0034] 4-Steering module; 41-Servo motor; 42-Gearbox; 43-Shaft;

[0035] 5-Robot arm; 51-Gripper; 52-Cylinder;

[0036] 6-Control system; 61-Display screen;

[0037] 7-Photo module. Detailed Implementation

[0038] The following will provide a clear and complete description of the concept, specific structure, and technical effects of this utility model in conjunction with the embodiments and accompanying drawings, so as to fully understand the purpose, solution, and effects of this utility model. It should be noted that, unless otherwise specified, the embodiments and features described in this application can be combined with each other. The same reference numerals used throughout the drawings indicate the same or similar parts.

[0039] It should be noted that, unless otherwise specified, when a feature is referred to as "fixed" or "connected" to another feature, it can be directly fixed or connected to the other feature, or it can be indirectly fixed or connected to the other feature. Furthermore, the descriptions of "upper," "lower," "left," and "right" used in this utility model are only relative to the relative positional relationships of the various components of this utility model in the accompanying drawings.

[0040] Referring to Figures 1 to 3, an automatic wine pouring device includes a frame 1 and a height control mechanism 2, a horizontal displacement control mechanism 3, a robotic arm 5, a steering module 4, and a control system 6 mounted on the frame 1. The robotic arm 5 is rotatably connected to the steering module 4 and the rotation axis is set horizontally. The output end of the control system 6 is electrically connected to the steering module 4. When the steering module 4 is activated, it can control the rotation angle of the robotic arm 5 around the rotation axis.

[0041] The height control mechanism 2 includes a first drive member 21 and a vertically arranged vertical guide rail 22. The end of the steering module 4 away from the robot arm 5 is mounted on the vertical guide rail 22. The first drive member 21 is used to drive the robot arm 5 to move up and down along the vertical guide rail 22. The horizontal displacement control mechanism 3 includes a second drive member 31 and a horizontally arranged horizontal guide rail 32. The bottom end of the vertical guide rail 22 is mounted on the horizontal guide rail 32. The second drive member 31 is used to drive the vertical guide rail 22 to move horizontally along the horizontal guide rail 32. The output end of the control system 6 is electrically connected to the first drive member 21 and the second drive member 31 and can control the start and stop of the first drive member 21 and the second drive member 31. Both the first drive member 21 and the second drive member 31 can preferably be servo motors 41.

[0042] The control system 6 includes a controller and a display screen 61 mounted on the frame 1. The controller and display screen 61 are electrically connected. The controller can be installed in an electrical control box on the frame 1 and can use conventional chips and other circuit components. The display screen 61 can be set at an appropriate position on the frame 1 according to the actual situation for easy operation. The frame 1 has a gripping area and a tilting area along the horizontal guide rail 32. The specific position or size of the gripping area and tilting area can be set according to the actual situation. The tilting area is used to place glasses or other containers to be poured into, and the gripping area is used to place containers that can hold the liquid. The robotic arm 5 can grip the container, and the container can rotate synchronously with the robotic arm 5. After the robotic arm 5 grips the container, its relative rotation enables the pouring of the liquid. The pouring height can be controlled by setting the position of the robotic arm 5 on the vertical guide rail 22 via the display screen 61, the pouring angle can be controlled by setting the rotation angle of the robotic arm 5, and the pouring speed can be controlled by setting the rotation speed of the robotic arm 5. In use, the pouring height, angle, and speed are preset on the display screen 61. The control system 6 is then activated, controlling the vertical guide rail 22 to move along the horizontal guide rail 32. The robotic arm 5 moves synchronously to above the container in the grasping area, and then moves downwards to grasp the container. The position of the robotic arm 5 on the vertical guide rail 22 is then adjusted, and the vertical guide rail 22 moves along the horizontal guide rail 32 to a point near a wine glass, where the wine is poured into the glass. The initial position of the robotic arm 5 on the vertical guide rail 22 is higher than the height of the container in the grasping area to avoid hitting the container during horizontal movement along the horizontal guide rail 32.

[0043] Specifically, the automatic wine-pouring device of this solution also includes an automatic identification system installed on the frame 1. The automatic identification system includes a photographing module 7 and a signal processing module. The frame 1 is provided with a grasping area and a tilting area. The photographing module 7 is used to photograph the grasping area and the tilting area. The signal processing system is used to convert the container positions in the grasping area and the tilting area into electrical signals and transmit the signals to the control system 6. The programs and related circuit components involved in the control system 6 can be implemented using conventional technical means, such as conventional processors and corresponding chips. The photographing module 7 can be a conventional camera capable of taking pictures and transmitting signals, and the signal processing module can be set up using a conventional signal processor and corresponding chips.

[0044] Specifically, the upper end of the frame 1 is provided with a top plate 13, and several support columns 12 are vertically arranged between the top plate 13 and the base 11. The upper end of each support column 12 is connected to the top plate 13, and the lower end is connected to the base 11. The height control mechanism 2, the horizontal displacement control mechanism 3, the robot arm 5, the steering module 4 and the control system 6 are all installed between the top plate 13 and the base 11. The camera module 7 is installed below the top plate 13 and is detachably fixed to the top plate 13. The control system 6 or the controller can be installed on the top plate 13 and located above the top plate 13.

[0045] This automatic wine-pouring device eliminates the inconsistencies in foaming during manual pouring, ensuring accuracy and consistency. It also eliminates other experimental variables such as pouring speed, angle, and height, guaranteeing the principle of a single variable and achieving standardized experimental procedures. The device achieves intelligent automation through program control. This mechanical automation enables automatic wine pouring, improving experimental efficiency and reducing labor costs. It can operate continuously, unaffected by fatigue, mood, or health conditions, thus significantly improving experimental efficiency. Furthermore, mechanical equipment replacing manual operation reduces labor costs. The pouring height, angle, and speed can be flexibly adjusted according to different bottles to adapt to various experimental requirements.

[0046] Specifically, the horizontal displacement control mechanism 3 further includes a horizontal slider 33 and a horizontally arranged horizontal lead screw 34. The lower part of the horizontal slider 33 is fitted onto the horizontal lead screw 34 and threadedly connected to it. The upper end of the horizontal slider 33 is detachably fixedly connected to the vertical guide rail 22. The frame 1 includes a base 11, which partially bears the weight of the entire device. The horizontal lead screw 34 and the two horizontal guide rods 321 are both mounted on the upper end of the base 11. The second driving member 31 can drive the horizontal lead screw 34 to rotate. The horizontal guide rail 32 includes two horizontally arranged horizontal guide rods 321, which are parallel to and spaced apart from the horizontal lead screw 34. The horizontal slider 33 is slidably connected to the two horizontal guide rods 321.

[0047] Specifically, the horizontal displacement control mechanism 3 further includes two oppositely arranged mounting supports 35, which are mounted on the base 11. The two ends of the horizontal lead screw 34 are rotatably connected to the two mounting supports 35 respectively, and the two ends of the two horizontal guide rods 321 are detachably fixedly connected to the two mounting supports 35 respectively. The second driving member 31 is mounted on one of the mounting supports 35 and its output end is rotatably connected to one end of the horizontal lead screw 34.

[0048] Specifically, the horizontal slider 33 includes a first sliding plate 331, a first connecting plate 332, and a second sliding plate 333 connected in sequence in the horizontal direction. The first sliding plate 331 and the second sliding plate 333 are parallel to each other and perpendicular to the horizontal guide rod 321. The two ends of the first connecting plate 332 are fixedly connected to the upper ends of the first sliding plate 331 and the second sliding plate 333, respectively. The first sliding plate 331 and the second sliding plate 333 can both allow the horizontal lead screw 34 and the two horizontal guide rods 321 to pass through horizontally. The first connecting plate 332 is detachably fixedly connected to the bottom of the vertical guide rail 22.

[0049] Specifically, the height control mechanism 2 further includes a vertical slider 23 and a vertically arranged vertical lead screw 24. One side of the vertical slider 23 is fitted onto the vertical lead screw 24 and threadedly connected to it. The opposite side of the vertical slider 23 is detachably fixedly connected to the steering module 4. The vertical guide rail 22 includes two vertically arranged vertical guide rods 221. The vertical slider 23 is slidably connected to the two vertical guide rods 221. Both vertical guide rods 221 are parallel to and spaced apart from the vertical lead screw 24. The bottom ends of the vertical lead screw 24 and the two vertical guide rods 221 are detachably fixedly connected to the first connecting plate 332. The first driving member 21 is used to drive the vertical lead screw 24 to rotate.

[0050] Specifically, the height control mechanism 2 further includes an end plate 25, which is installed on the upper ends of the two vertical guide rods 221. The first driving member 21 is installed on the end plate 25. The upper end of the vertical lead screw 24 passes through the end plate 25 and is rotatably connected to the first driving member 21. The vertical slider 23 is located between the end plate 25 and the first connecting plate 332.

[0051] Specifically, the vertical slider 23 includes a third sliding plate 231, a second connecting plate 232, and a fourth sliding plate 233 connected in an approximately U-shape from top to bottom. The third sliding plate 231 and the fourth sliding plate 233 are parallel to each other and perpendicular to the vertical guide rod 221. The second connecting plate 232 is vertically arranged and one side is fixedly connected to the end of the third sliding plate 231 and the fourth sliding plate 233. The third sliding plate 231 and the fourth sliding plate 233 can both allow the vertical lead screw 24 and the two vertical guide rods 221 to pass through vertically. The steering module 4 is detachably fixedly connected to the second connecting plate 232 and is mounted on the second connecting plate 232.

[0052] Specifically, the steering module 4 further includes a servo motor 41 and a gearbox 42. The gearbox 42 is detachably fixed to the first connecting plate 332. The servo motor 41 is mounted on the upper end of the gearbox 42 and connected to it. The output end of the control system 6 is electrically connected to the servo motor 41 and can control its operation. A horizontally arranged rotating shaft 43 is provided inside the gearbox 42. One end of the rotating shaft 43 extends out from the side of the gearbox 42 away from the first connecting plate 332 and is detachably fixed to the robotic arm 5. When the servo motor 41 starts, it can control the rotation of the rotating shaft 43, and the robotic arm 5 rotates synchronously with the rotating shaft 43. The rotation angle and speed of the rotating shaft 43 are controlled by the servo motor 41 and the gearbox 42, which can be achieved using a conventional servo motor 41 and gearbox 42.

[0053] Specifically, the robotic arm 5 includes a cylinder 52 and two opposing grippers 51. One end of the cylinder 52 is detachably fixed to the rotating shaft 43, and the other end is hinged to the two grippers 51. The rotation axes of the two grippers 51 are parallel to each other. The output end of the control system 6 is electrically connected to the cylinder 52 and can control the start and stop of the cylinder 52. When the cylinder 52 is started, it can control the ends of the two grippers 51 away from the cylinder 52 to move closer or further apart. The grippers 51 are bolted to the cylinder, and the reciprocating linear motion of the cylinder 52 is converted into the swinging motion of the grippers 51, realizing the gripping and releasing action of the grippers 51. The robotic arm 5 can adopt a common mechanical finger structure to realize gripping and rotation, thereby realizing the gripping of containers and pouring of wine when rotating. The side of the two grippers 51 that moves closer to each other is concave, which can be adapted to the shape of containers such as wine glasses, so that the ends of the two grippers 51 that move away from the cylinder 52 can grip the container when they move closer together.

[0054] Because pouring speed significantly impacts beer tasting experiments, pouring too quickly causes the beer to rapidly impact the bottom of the glass, resulting in uneven flow. This uneven flow causes pressure variations at different points in the beer. According to Bernoulli's equation, the higher the speed, the lower the pressure. This leads to a decrease in the solubility of carbon dioxide in the beer, resulting in excessive foam. Furthermore, pouring too quickly can cause dissolved air and small solids (such as dust particles and fibers) in the beer to become vaporization nuclei, accelerating carbon dioxide release and further increasing foam production. Conversely, a slow pouring speed can reduce foam production, but it may also lead to prolonged contact between the beer and air, causing carbon dioxide to gradually escape, affecting the beer's taste and flavor. The automatic wine-pouring device of this solution can be equipped with a touch screen according to the actual situation. By operating the touch screen, various predetermined parameters can be set, such as the rotation speed, rotation angle, and pouring height of the rotating shaft 43. After setting the parameters, the corresponding program is started. For example, during the wine-pouring process, the control system 6 controls the motor to start and the gearbox 42 controls the rotation speed of the rotating shaft 43, thereby controlling the speed at which the wine container held by the robotic arm 5 pours out the wine at an appropriate speed.

[0055] Since the pouring angle has a significant impact on beer tasting experiments, for the same beer, different pouring angles affect the flow rate of the beer as it pours directly into the glass. A larger angle tends to create many small vortices, leading to a large amount of carbon dioxide bubbles. This is because the pressure varies at different locations within the beer; areas with higher speeds have lower pressure, thus reducing the solubility of carbon dioxide and generating more foam. The automatic beer pouring device of this application can set an appropriate rotation angle for the rotating shaft 43 via the control system 6. The control system 6 controls the operation of the motor and gearbox 42 to control the rotation angle of the rotating shaft 43, thereby controlling the beer container held by the robotic arm 5 to rotate at the set angle to pour the beer, ensuring consistent pouring angles across multiple pours.

[0056] During multiple pouring processes, parameters related to pouring height, speed, and angle can be set consistently via the touchscreen display to ensure uniformity across multiple pours; alternatively, the parameters can be changed during multiple pours to create a comparison.

[0057] Because the pouring height has a significant impact on beer tasting experiments, the height of the bottle above the glass affects the beer flow rate, leading to variations in foam production, which in turn affects the beer's aroma and taste, thus impacting the tasting experience. Furthermore, the pouring height also affects the pressure difference, causing different rates of carbon dioxide release, resulting in different tastes for the same beer poured at different heights. The automatic beer pouring device of this application uses a control system 6 to move the robotic arm 5 along the vertical guide rail 22 to a preset position, maintaining the robotic arm 5 at the same height during multiple pours, thereby ensuring consistent pouring heights.

[0058] Other aspects of the automatic wine-pouring device described in this utility model are found in the prior art and will not be repeated here.

[0059] The above description is merely a preferred embodiment of the present utility model and is not intended to limit the present utility model in any way. Therefore, any modifications, equivalent changes, and alterations made to the above embodiments based on the technical essence of the present utility model without departing from the technical solution of the present utility model shall still fall within the scope of the technical solution of the present utility model.

Claims

1. An automatic wine pouring device, characterized in that: The system includes a frame and, mounted on the frame, a height control mechanism, a horizontal displacement control mechanism, a robotic arm, a steering module, and a control system. The robotic arm is rotatably connected to the steering module with its rotation axis horizontally positioned. The output of the control system is electrically connected to the steering module. When the steering module is activated, it can control the rotation angle of the robotic arm around the rotation axis. The height control mechanism includes a first drive member and a vertically positioned vertical guide rail. The end of the steering module away from the robotic arm is mounted on the vertical guide rail. The first drive member drives the robotic arm to move up and down along the vertical guide rail. The horizontal displacement control mechanism includes a second drive member and a horizontally positioned horizontal guide rail. The bottom end of the vertical guide rail is mounted on the horizontal guide rail. The second drive member drives the vertical guide rail to move horizontally along the horizontal guide rail. The output of the control system is electrically connected to the first and second drive members and can control the start and stop of the first and second drive members.

2. The automatic wine pouring device according to claim 1, characterized in that: The horizontal displacement control mechanism further includes a horizontal slider and a horizontally arranged horizontal lead screw. The lower part of the horizontal slider is fitted onto the horizontal lead screw and threadedly connected to it. The upper end of the horizontal slider is detachably fixedly connected to the vertical guide rail. The horizontal guide rail includes two horizontally arranged horizontal guide rods, both of which are parallel to and spaced apart from the horizontal lead screw. The horizontal slider is slidably connected to the two horizontal guide rods. The frame includes a base, and the horizontal lead screw and the two horizontal guide rods are mounted on the upper end of the base. The second driving member can drive the horizontal lead screw to rotate.

3. The automatic wine pouring device according to claim 2, characterized in that: The horizontal displacement control mechanism further includes two oppositely arranged mounting supports, which are mounted on the base. The two ends of the horizontal lead screw are rotatably connected to the two mounting supports respectively, and the two ends of the two horizontal guide rods are detachably fixedly connected to the two mounting supports respectively. The second driving member is mounted on one of the mounting supports and its output end is rotatably connected to one end of the horizontal lead screw.

4. The automatic wine pouring device according to claim 2, characterized in that: The horizontal slider includes a first sliding plate, a first connecting plate, and a second sliding plate connected in sequence. The first sliding plate and the second sliding plate are parallel to each other and perpendicular to the horizontal guide rod. The two ends of the first connecting plate are fixedly connected to the upper ends of the first sliding plate and the second sliding plate, respectively. The first sliding plate and the second sliding plate can both allow the horizontal lead screw and the two horizontal guide rods to pass through horizontally. The first connecting plate is detachably fixedly connected to the bottom of the vertical guide rail.

5. The automatic wine pouring device according to claim 4, characterized in that: The height control mechanism further includes a vertical slider and a vertically arranged vertical lead screw. One side of the vertical slider is fitted onto the vertical lead screw and threadedly connected to it. The opposite side of the vertical slider is detachably fixedly connected to the steering module. The vertical guide rail includes two vertically arranged vertical guide rods. The vertical slider is slidably connected to the two vertical guide rods. Both vertical guide rods are parallel to and spaced apart from the vertical lead screw. The bottom ends of the vertical lead screw and the two vertical guide rods are detachably fixedly connected to the first connecting plate. The first driving member is used to drive the vertical lead screw to rotate.

6. The automatic wine pouring device according to claim 5, characterized in that: The height control mechanism further includes an end plate, which is installed on the upper ends of the two vertical guide rods. The first driving member is installed on the end plate. The upper end of the vertical lead screw passes through the end plate and is rotatably connected to the first driving member. The vertical slider is located between the end plate and the first connecting plate.

7. The automatic wine pouring device according to claim 6, characterized in that: The vertical slider includes a third sliding plate, a second connecting plate, and a fourth sliding plate connected in an approximately U-shape from top to bottom. The third and fourth sliding plates are parallel to each other and perpendicular to the vertical guide rod. The second connecting plate is vertically arranged and one side is fixedly connected to the end of the third and fourth sliding plates. The third and fourth sliding plates can both allow the vertical lead screw and the two vertical guide rods to pass through vertically. The slider is detachably fixedly connected to the second connecting plate. The steering module is mounted on the second connecting plate.

8. The automatic wine pouring device according to claim 7, characterized in that: The steering module also includes a servo motor and a gearbox. The gearbox is detachably fixed to the first connecting plate. The servo motor is mounted on the upper end of the gearbox and connected to the gearbox. The output end of the control system is electrically connected to the servo motor and can control the operation of the servo motor. A rotating shaft is horizontally provided inside the gearbox. One end of the rotating shaft extends out of the side of the gearbox away from the first connecting plate and is detachably fixed to the robotic arm. When the servo motor is started, it can control the rotating shaft to rotate. The robotic arm rotates synchronously with the rotating shaft.

9. The automatic wine pouring device according to claim 8, characterized in that: The robotic arm includes a cylinder and two opposing grippers. One end of the cylinder is detachably fixed to the rotating shaft, and the other end is hinged to the two grippers. The rotation axes of the two grippers are parallel to each other. The output end of the control system is electrically connected to the cylinder and can control the start and stop of the cylinder. When the cylinder is started, it can control the ends of the two grippers away from the cylinder to move closer or further apart.

10. The automatic wine pouring device according to claim 1, characterized in that: It also includes an automatic identification system installed on the rack. The automatic identification system includes an image-taking module and a signal processing module. The rack is provided with a gripping area and an inverted area. The image-taking module is used to take pictures of the gripping area and the inverted area. The signal processing module is used to convert the container positions in the gripping area and the inverted area into electrical signals and transmit the signals to the control system.

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