A latte art robot with a rotating base

Abstract

The utility model relates to coffee robot technical field discloses a kind of decorate robot with rotary base, including coffee machine, the upper surface of coffee machine is rotatably connected with shaft one, the upper surface of shaft one is fixedly connected with rotary support, the upper surface of rotary support is fixedly connected with body, the outer wall of body is symmetrically provided with mechanical arm left and right, the outer wall one side of rotary support is provided with push-out component, the push-out component includes push rod and placement plate, the outer wall one side of push rod is fixedly connected in the outer wall one side of rotary support.In the utility model, motor one drives gear two to rotate, gear one and shaft one are driven to make rotary support adjust orientation, decorate after rotation, push rod is pushed along sliding slot to push placement plate and push coffee cup to meal taking position, push rod moves out sliding slot spring and is reset, realize double-station switching and automatic push, reduce manual operation while improving circulation efficiency.

Description

Technical Field

[0001] This utility model relates to the field of coffee robot technology, and in particular to a latte art robot with a rotating base. Background Technology

[0002] With the rapid development of the freshly brewed coffee industry, consumers have placed higher demands on the taste and appearance of coffee. As a key link in enhancing product added value, the demand for automated production of latte art is becoming increasingly urgent. Traditional manual latte art is affected by factors such as the skill level and fatigue of operators, resulting in unstable latte art quality and low production efficiency, making it difficult to meet the large-scale and standardized production needs of chain coffee brands. Against this backdrop, latte art robots have gradually become an important piece of equipment for industry upgrading. This study researches a latte art robot with a rotating base, aiming to achieve flexible adjustment of workstations through the rotation function of the base, optimize the connection of latte art processes, and further improve the degree of automation.

[0003] In existing technologies, latte art robots mostly adopt a structure of fixed base combined with multi-axis robotic arms. Servo motors drive the end effector of the robotic arm to complete the actions of injecting coffee liquid and drawing milk foam. Some systems use visual positioning or trajectory planning algorithms to control the movement of the arm. Their transmission methods are often based on synchronous belts, linear modules or harmonic reducers to achieve precise positioning.

[0004] However, existing equipment requires waiting for the robotic arm to complete the latte art process. Afterward, the finished coffee cup needs to be transferred from the workstation to the serving station by manual operation or an additional transfer mechanism. This process not only increases operation time and labor costs, but also results in low overall equipment cycle efficiency due to the long gap between workstation switching and finished product transfer. It is difficult to meet the needs of the freshly made coffee industry for fast food preparation and efficient production during peak hours in the catering application scenarios. Utility Model Content

[0005] To overcome the above shortcomings, this utility model provides a latte art robot with a rotating base, which aims to improve the problem that existing equipment requires waiting for the robotic arm to complete the latte art action during the latte art process, and then needs to be manually operated or additionally configured transfer mechanism. This not only increases the operation time and labor costs, but also results in low overall equipment cycle efficiency due to the long connection gap between workstation switching and finished product transfer.

[0006] To achieve the above objectives, the present invention provides the following technical solution: a latte art robot with a rotating base, comprising a coffee machine, wherein a rotating shaft is rotatably connected to the upper surface of the coffee machine, a rotating support is fixedly connected to the upper surface of the rotating shaft, a body is fixedly connected to the upper surface of the rotating support, robotic arms are symmetrically arranged on the left and right sides of the outer wall of the body, and an ejection component is arranged on one side of the outer wall of the rotating support.

[0007] The ejection assembly includes a push rod and a placement plate. One side of the outer wall of the push rod is fixedly connected to one side of the outer wall of the rotating support. A groove is formed on one side of the outer wall of the placement plate. One end of the push rod is disposed on the inner wall of the groove. A slider is fixedly connected to the lower surface of the placement plate. A guide rod is slidably connected to the inner wall of the slider. Support shells are fixedly connected to both ends of the guide rod. A spring is sleeved on the outer wall of the guide rod. One end of the spring is fixedly connected to one side of the outer wall of the slider. The other end of the spring is fixedly connected to one side of the inner wall of the support shell. The lower surface of the support shell is fixedly connected to the upper surface of the coffee machine.

[0008] Furthermore, a gear is fixedly connected to the outer wall of the rotating shaft, a motor is fixedly connected to the upper surface of the coffee machine, a gear is fixedly connected to the output end of the motor, and the tooth ends of the gears mesh with the tooth ends of the gears.

[0009] Furthermore, a connecting block one is fixedly connected to one end of the robotic arm, a support rod is fixedly connected to the upper surface of the connecting block one, a connecting block two is fixedly connected to one end of the support rod, and an mounting block one is fixedly connected to the inner wall of the connecting block two.

[0010] Furthermore, a second rotating shaft is fixedly connected to the inner wall of the mounting block one, and a connecting rod is rotatably connected to the outer wall of the second rotating shaft.

[0011] Furthermore, one end of the connecting rod is rotatably connected to a rotating shaft three, and a clamping plate is fixedly connected to the outer wall of the rotating shaft three.

[0012] Furthermore, a second motor is fixedly connected to the upper surface of the first connecting block, and a threaded rod is fixedly connected to the output end of the second motor, with one end of the threaded rod fixedly connected to the lower surface of the mounting block.

[0013] Furthermore, the outer wall of the threaded rod is threadedly connected to a second mounting block, and the inner wall of the second mounting block is fixedly connected to a fourth rotating shaft.

[0014] Furthermore, a crank is rotatably connected to the outer wall of the fourth rotating shaft, and one end of the crank is rotatably connected to the outer wall of the third rotating shaft.

[0015] This utility model has the following beneficial effects:

[0016] 1. In this utility model, a motor drives a gear two, which meshes with the gear one to drive the rotating shaft one and the rotating support to rotate and adjust the position. After the latte art is completed, the push rod of the rotating support slides in the groove of the placement plate, pushing the placement plate to move along the guide rod through the slider and compress the spring, pushing the coffee cup to the serving position. Then the spring rebounds and the placement plate is reset. This structure realizes dual-station switching and finished product pushing, reduces manual operation and improves circulation efficiency, and enhances the practicality of the device.

[0017] 2. In this utility model, two robotic arms respectively clamp a coffee cup and a milk frother. Motor 2 drives a threaded rod to rotate, causing mounting block 2 to drive a crank rod to rotate around shaft 4. The crank rod pulls the clamping plate to open and close around shaft 2 of the connecting rod via shaft 3. By adjusting the rotation angle of motor 2, the opening and closing range of the clamping plate can be precisely controlled, adapting to cups of different diameters and clamping them stably, avoiding shaking during latte art and improving the applicability and stability of latte art quality of the device. Attached Figure Description

[0018] Figure 1 This is a three-dimensional structural diagram of a lace-making robot with a rotating base proposed in this utility model;

[0019] Figure 2 This is a schematic diagram of the rotating support part of a lace-making robot with a rotating base proposed in this utility model;

[0020] Figure 3 This is a schematic diagram of the push rod structure of a flower-making robot with a rotating base proposed in this utility model;

[0021] Figure 4 This is a schematic diagram of the placement plate structure of a lace-making robot with a rotating base proposed in this utility model;

[0022] Figure 5 This is a schematic diagram of the mechanical arm of a lace-making robot with a rotating base proposed in this utility model.

[0023] Figure 6 This is a schematic diagram of the clamping plate structure of a lace-making robot with a rotating base proposed in this utility model;

[0024] Figure 7 This is a schematic diagram of the two-part structure of the mounting block of a lace-making robot with a rotating base proposed in this utility model.

[0025] Legend:

[0026] 1. Coffee machine; 2. Shaft 1; 3. Gear 1; 4. Rotating support; 5. Motor 1; 6. Gear 2; 7. Push rod; 8. Support shell; 9. Guide rod; 10. Slider; 11. Placement plate; 12. Slide groove; 13. Spring; 14. Machine body; 15. Robotic arm; 16. Connecting block 1; 17. Support rod; 18. Connecting block 2; 19. Mounting block 1; 20. Shaft 2; 21. Connecting rod; 22. Shaft 3; 23. Clamping plate; 24. Motor 2; 25. Threaded rod; 26. Mounting block 2; 27. Shaft 4; 28. Crank rod. Detailed Implementation

[0027] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments. Obviously, the described embodiments are only some embodiments of the present utility model, and not all embodiments. Based on the embodiments of the present utility model, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the protection scope of the present utility model.

[0028] Reference Figure 1 - Figure 2 This utility model provides an embodiment of a latte art robot with a rotating base, including a coffee machine 1. The coffee machine 1 is used to prepare coffee and provides a base liquid and basic support for the robot equipment for latte art. A rotating shaft 2 is rotatably connected to the upper surface of the coffee machine 1. A gear 3 is fixedly connected to the outer wall of the rotating shaft 2. A motor 5 is fixedly connected to the upper surface of the coffee machine 1. A gear 6 is fixedly connected to the output end of the motor 5. The tooth end of the gear 6 meshes with the tooth end of the gear 3. A rotating support 4 for mounting and supporting the body 14 and the robotic arm 15 is fixedly connected to the upper surface of the rotating shaft 2. The body 14, which serves as the mounting frame for the robotic arm 15, is fixedly connected to the upper surface of the rotating support 4. The robotic arms 15 are symmetrically arranged on the left and right sides of the outer wall of the body 14. The robotic arms 15 are composed of six servo joints, a high-precision reducer, an embedded controller, and an end effector interface, etc., achieving the effect of simulating the free movement of a human arm. They are used to complete complex tasks such as picking up a cup, receiving liquid, and performing latte art. This is existing technology and will not be described in detail here. An ejection component is provided on one side of the outer wall of the rotating support 4.

[0029] Specifically, gear 3 meshes with gear 6 to transmit power from motor 5 to shaft 2, thus achieving smooth and precise rotation of shaft 2. Furthermore, shaft 2 drives the rotating support 4 to rotate, thereby driving the machine body 14 and robotic arm 15 to rotate as a whole, thus enabling workstation switching and adjustment of the drawing angle.

[0030] Reference Figure 2 - Figure 4The ejector assembly includes a push rod 7 and a placement plate 11. The push rod 7 rotates together with the rotating support 4 and converts the rotational motion into a linear thrust on the placement plate 11 through its end engaging with the slide groove 12. One side of the outer wall of the push rod 7 is fixedly connected to one side of the outer wall of the rotating support 4. The slide groove 12 is formed on one side of the outer wall of the placement plate 11, and one end of the push rod 7 is disposed on the inner wall of the slide groove 12. A slider 10 is fixedly connected to the lower surface of the placement plate 11, and the inner wall of the slider 10 is slidably connected to provide a precise guide for the movement of the slider 10. A guide rod 9 is provided with a straight guide. Both ends of the guide rod 9 are fixedly connected to a support shell 8 for fixing and supporting the guide rod 9 and the spring 13. The outer wall of the guide rod 9 is fitted with a spring 13. The spring 13 is compressed and stores energy when the push rod 7 pushes the placement plate 11, and releases energy after the push rod 7 is disengaged, driving the placement plate 11 to automatically reset. One end of the spring 13 is fixedly connected to one side of the outer wall of the slider 10, and the other end of the spring 13 is fixedly connected to one side of the inner wall of the support shell 8. The lower surface of the support shell 8 is fixedly connected to the upper surface of the coffee machine 1.

[0031] Specifically, push rod 7 slides in conjunction with the groove 12 on the placement plate 11, causing the rotating support 4 to rotate while pushing the slider 10 on the placement plate 11 to move linearly along the guide rod 9. The slider 10 moves linearly in conjunction with the guide rod 9, providing guidance and support for the movement of the placement plate 11, ensuring a smooth and stable pushing process. This allows the coffee cup with latte art to be pushed to the serving position. When push rod 7 pushes, slider 10 slides along the guide rod 9, compressing spring 13. Spring 13 provides a rebound force after push rod 7 disengages, thereby driving slider 10 and placement plate 11 to automatically return to the initial position, thus realizing the cycle of the pushing mechanism and improving work efficiency.

[0032] Reference Figure 5 - Figure 7One end of the robotic arm 15 is fixedly connected to a connecting block 16 for connecting the main body of the robotic arm 15 and the clamping actuator at the end of the robotic arm 15. A support rod 17 for connecting the connecting block 16 and a second connecting block 18 is fixedly connected to the upper surface of the connecting block 16. One end of the support rod 17 is fixedly connected to the second connecting block 18. An installation block 19 is fixedly connected to the inner wall of the second connecting block 18. A rotating shaft 20 for providing a stable rotation fulcrum for one end of the connecting rod 21 is fixedly connected to the inner wall of the mounting block 19. The connecting rod 21 is rotatably connected to the outer wall of the rotating shaft 20. A rotating shaft 22 is rotatably connected to one end of the connecting rod 21. A clamping plate 23 for directly clamping the cup is fixedly connected to the outer wall of the rotating shaft 22. The inner side of the clamping plate 23 is equipped with anti-slip rubber. A motor 24 is fixedly connected to the upper surface of connecting block 16. A threaded rod 25 is fixedly connected to the output end of motor 24. One end of the threaded rod 25 is fixedly connected to the lower surface of mounting block 19. Mounting block 26 is threadedly connected to the outer wall of the threaded rod 25. The inner wall of mounting block 26 is provided with an internal thread that mates with the threaded rod 25, so as to convert the rotational motion of the threaded rod 25 into the linear motion of mounting block 26 itself, and drive the crank rod 28 to move. A rotating shaft 4 27 is fixedly connected to the inner wall of mounting block 26, which serves as the rotation fulcrum for one end of the crank rod 28. A crank rod 28 for connecting mounting block 26 and clamping plate 23 is rotatably connected to the outer wall of rotating shaft 4 27. One end of the crank rod 28 is rotatably connected to the outer wall of rotating shaft 3 22.

[0033] Specifically, motor 24 drives threaded rod 25 to rotate. Threaded rod 25, in conjunction with mounting block 26, performs threaded transmission, thereby converting the rotational motion of threaded rod 25 into the linear motion of mounting block 26, providing power for the opening and closing of the gripper. Mounting block 26, in conjunction with crank rod 28, swings, converting the linear motion into the rotational motion of crank rod 28 around shaft 4 27. Furthermore, crank rod 28, in conjunction with shaft 3 22, performs linkage, ultimately converting the linear displacement of mounting block 26 into the opening and closing motion of clamping plate 23. Shafts 20, 32, and 4 27 provide rotational fulcrums for connecting rod 21 and crank rod 28, thus forming a multi-bar linkage gripping mechanism at the end of robotic arm 15, achieving stable and flexible gripping function.

[0034] Working principle: When performing latte art, two robotic arms 15 first pick up the coffee cup and milk frother respectively. The second motor 24 drives the threaded rod 25 to rotate. At this time, the mounting block 26 engages with the threaded rod 25, converting the rotational motion into the linear movement of the mounting block 26. This causes the mounting block 26 to drive the crank 28 to rotate around the fourth shaft 27. While the crank 28 is rotating, the third shaft 22 pulls the clamping plate 23 to open and close around the second shaft 20 of the connecting rod 21. By adjusting the rotation angle of the second motor 24, the opening and closing range of the clamping plate 23 can be precisely controlled, thus adapting to coffee cups and milk frothers of different diameters and clamping them stably, preventing the cups from shaking during the latte art process and affecting the latte art effect.

[0035] After the robotic arm 15 grips the coffee cup and the milk foam cup, the motor 15 drives the gear 2 6 to rotate. Through the meshing transmission between the gear 2 6 and the gear 1 3, the rotating shaft 1 2 and the rotating support 4 are rotated, thereby adjusting the position of the machine body 14 and the robotic arm 15. Then, the robotic arm 15 picks up the coffee and milk foam, and further aligns the milk foam cup with the starting position of the latte art on the coffee cup. Then, through the multi-degree-of-freedom movement of the robotic arm 15, combined with the rotation control of the rotating support 4, small-angle fine adjustments are made to complete the drawing of complex latte art patterns.

[0036] After the latte art is completed, motor 5 drives the rotating support 4 to rotate to change the work position. At this time, the push rod 7 on the outer wall of the rotating support 4 rotates together. The end of the push rod 7 slides in the groove 12 of the placement plate 11 and pushes the placement plate 11 to move outward. The slider 10 on the lower surface of the placement plate 11 slides smoothly along the guide rod 9, while the compressed spring 13 stores energy until the coffee cup with the latte art is pushed to the customer or the front desk. Then the robot does latte art on the other side. After the latte art on the other side is completed, the rotating support 4 rotates, and the push rod 7 is released from the pushing force on the placement plate 11. The spring 13 rebounds and releases energy, driving the slider 10 and the placement plate 11 to slide back to the initial position along the guide rod 9, thereby realizing the work position switching and latte art cycle.

[0037] Finally, it should be noted that the above description is only a preferred embodiment of the present utility model and is not intended to limit the present utility model. Although the present utility model 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 embodiments or make equivalent substitutions for some of the technical features. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present utility model should be included within the protection scope of the present utility model.

Claims

1. A latte art robot with a rotating base, comprising a coffee machine (1), characterized in that: The coffee machine (1) has a rotating shaft (2) rotatably connected to its upper surface. A rotating support (4) is fixedly connected to the upper surface of the rotating shaft (2). A machine body (14) is fixedly connected to the upper surface of the rotating support (4). Mechanical arms (15) are symmetrically arranged on the outer wall of the machine body (14). An ejection component is arranged on one side of the outer wall of the rotating support (4). The ejection assembly includes a push rod (7) and a placement plate (11). One side of the outer wall of the push rod (7) is fixedly connected to one side of the outer wall of the rotating support (4). A groove (12) is provided on one side of the outer wall of the placement plate (11). One end of the push rod (7) is set on the inner wall of the groove (12). A slider (10) is fixedly connected to the lower surface of the placement plate (11). A guide rod (9) is slidably connected to the inner wall of the slider (10). A support shell (8) is fixedly connected to both ends of the guide rod (9). A spring (13) is sleeved on the outer wall of the guide rod (9). One end of the spring (13) is fixedly connected to one side of the outer wall of the slider (10). The other end of the spring (13) is fixedly connected to one side of the inner wall of the support shell (8). The lower surface of the support shell (8) is fixedly connected to the upper surface of the coffee machine (1).

2. The latte art robot with a rotating base according to claim 1, characterized in that: Gear 1 (3) is fixedly connected to the outer wall of the rotating shaft 1 (2), and motor 1 (5) is fixedly connected to the upper surface of the coffee machine (1). Gear 2 (6) is fixedly connected to the output end of motor 1 (5), and the tooth end of gear 2 (6) meshes with the tooth end of gear 1 (3).

3. The latte art robot with a rotating base according to claim 1, characterized in that: One end of the robotic arm (15) is fixedly connected to a connecting block one (16), and a support rod (17) is fixedly connected to the upper surface of the connecting block one (16). One end of the support rod (17) is fixedly connected to a connecting block two (18), and an installation block one (19) is fixedly connected to the inner wall of the connecting block two (18).

4. A latte art robot with a rotating base according to claim 3, characterized in that: The inner wall of the mounting block 1 (19) is fixedly connected to the rotating shaft 2 (20), and the outer wall of the rotating shaft 2 (20) is rotatably connected to the connecting rod (21).

5. A latte art robot with a rotating base according to claim 4, characterized in that: One end of the connecting rod (21) is rotatably connected to a rotating shaft three (22), and a clamping plate (23) is fixedly connected to the outer wall of the rotating shaft three (22).

6. A latte art robot with a rotating base according to claim 3, characterized in that: A motor (24) is fixedly connected to the upper surface of the first connecting block (16), and a threaded rod (25) is fixedly connected to the output end of the second motor (24). One end of the threaded rod (25) is fixedly connected to the lower surface of the first mounting block (19).

7. A latte art robot with a rotating base according to claim 6, characterized in that: The outer wall of the threaded rod (25) is threadedly connected to the mounting block two (26), and the inner wall of the mounting block two (26) is fixedly connected to the rotating shaft four (27).

8. A latte art robot with a rotating base according to claim 7, characterized in that: A crank rod (28) is rotatably connected to the outer wall of the fourth rotating shaft (27), and one end of the crank rod (28) is rotatably connected to the outer wall of the third rotating shaft (22).

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