CN113735044B - Robot on-site blending and filling production system for bottled milk tea beverage - Google Patents
Robot on-site blending and filling production system for bottled milk tea beverage Download PDFInfo
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- CN113735044B CN113735044B CN202111053829.4A CN202111053829A CN113735044B CN 113735044 B CN113735044 B CN 113735044B CN 202111053829 A CN202111053829 A CN 202111053829A CN 113735044 B CN113735044 B CN 113735044B
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- driving mechanism
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- 235000013616 tea Nutrition 0.000 title claims abstract description 34
- 235000013336 milk Nutrition 0.000 title claims abstract description 32
- 239000008267 milk Substances 0.000 title claims abstract description 32
- 210000004080 milk Anatomy 0.000 title claims abstract description 32
- 238000002156 mixing Methods 0.000 title claims abstract description 19
- 238000004519 manufacturing process Methods 0.000 title claims abstract description 15
- 235000013361 beverage Nutrition 0.000 claims abstract description 40
- 235000011194 food seasoning agent Nutrition 0.000 claims abstract description 30
- 238000002360 preparation method Methods 0.000 claims abstract description 24
- 239000000796 flavoring agent Substances 0.000 claims abstract description 7
- 235000019634 flavors Nutrition 0.000 claims abstract description 4
- 210000000078 claw Anatomy 0.000 claims description 23
- 230000005540 biological transmission Effects 0.000 claims description 9
- 230000000149 penetrating effect Effects 0.000 claims description 6
- 238000005303 weighing Methods 0.000 claims description 3
- 238000011065 in-situ storage Methods 0.000 claims description 2
- 238000000034 method Methods 0.000 claims description 2
- 241001122767 Theaceae Species 0.000 abstract description 12
- 238000010586 diagram Methods 0.000 description 3
- 238000003491 array Methods 0.000 description 2
- 230000007547 defect Effects 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 235000013305 food Nutrition 0.000 description 1
- 210000001503 joint Anatomy 0.000 description 1
- 235000016709 nutrition Nutrition 0.000 description 1
- 230000035764 nutrition Effects 0.000 description 1
- 238000004806 packaging method and process Methods 0.000 description 1
Images
Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B67—OPENING, CLOSING OR CLEANING BOTTLES, JARS OR SIMILAR CONTAINERS; LIQUID HANDLING
- B67C—CLEANING, FILLING WITH LIQUIDS OR SEMILIQUIDS, OR EMPTYING, OF BOTTLES, JARS, CANS, CASKS, BARRELS, OR SIMILAR CONTAINERS, NOT OTHERWISE PROVIDED FOR; FUNNELS
- B67C3/00—Bottling liquids or semiliquids; Filling jars or cans with liquids or semiliquids using bottling or like apparatus; Filling casks or barrels with liquids or semiliquids
- B67C3/02—Bottling liquids or semiliquids; Filling jars or cans with liquids or semiliquids using bottling or like apparatus
- B67C3/22—Details
- B67C3/24—Devices for supporting or handling bottles
-
- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47J—KITCHEN EQUIPMENT; COFFEE MILLS; SPICE MILLS; APPARATUS FOR MAKING BEVERAGES
- A47J31/00—Apparatus for making beverages
-
- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47J—KITCHEN EQUIPMENT; COFFEE MILLS; SPICE MILLS; APPARATUS FOR MAKING BEVERAGES
- A47J31/00—Apparatus for making beverages
- A47J31/44—Parts or details or accessories of beverage-making apparatus
- A47J31/4403—Constructional details
-
- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47J—KITCHEN EQUIPMENT; COFFEE MILLS; SPICE MILLS; APPARATUS FOR MAKING BEVERAGES
- A47J31/00—Apparatus for making beverages
- A47J31/44—Parts or details or accessories of beverage-making apparatus
- A47J31/4403—Constructional details
- A47J31/441—Warming devices or supports for beverage containers
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B67—OPENING, CLOSING OR CLEANING BOTTLES, JARS OR SIMILAR CONTAINERS; LIQUID HANDLING
- B67B—APPLYING CLOSURE MEMBERS TO BOTTLES JARS, OR SIMILAR CONTAINERS; OPENING CLOSED CONTAINERS
- B67B3/00—Closing bottles, jars or similar containers by applying caps
- B67B3/20—Closing bottles, jars or similar containers by applying caps by applying and rotating preformed threaded caps
- B67B3/204—Linear-type capping machines
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B67—OPENING, CLOSING OR CLEANING BOTTLES, JARS OR SIMILAR CONTAINERS; LIQUID HANDLING
- B67C—CLEANING, FILLING WITH LIQUIDS OR SEMILIQUIDS, OR EMPTYING, OF BOTTLES, JARS, CANS, CASKS, BARRELS, OR SIMILAR CONTAINERS, NOT OTHERWISE PROVIDED FOR; FUNNELS
- B67C3/00—Bottling liquids or semiliquids; Filling jars or cans with liquids or semiliquids using bottling or like apparatus; Filling casks or barrels with liquids or semiliquids
- B67C3/02—Bottling liquids or semiliquids; Filling jars or cans with liquids or semiliquids using bottling or like apparatus
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B67—OPENING, CLOSING OR CLEANING BOTTLES, JARS OR SIMILAR CONTAINERS; LIQUID HANDLING
- B67C—CLEANING, FILLING WITH LIQUIDS OR SEMILIQUIDS, OR EMPTYING, OF BOTTLES, JARS, CANS, CASKS, BARRELS, OR SIMILAR CONTAINERS, NOT OTHERWISE PROVIDED FOR; FUNNELS
- B67C3/00—Bottling liquids or semiliquids; Filling jars or cans with liquids or semiliquids using bottling or like apparatus; Filling casks or barrels with liquids or semiliquids
- B67C3/02—Bottling liquids or semiliquids; Filling jars or cans with liquids or semiliquids using bottling or like apparatus
- B67C3/22—Details
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B67—OPENING, CLOSING OR CLEANING BOTTLES, JARS OR SIMILAR CONTAINERS; LIQUID HANDLING
- B67C—CLEANING, FILLING WITH LIQUIDS OR SEMILIQUIDS, OR EMPTYING, OF BOTTLES, JARS, CANS, CASKS, BARRELS, OR SIMILAR CONTAINERS, NOT OTHERWISE PROVIDED FOR; FUNNELS
- B67C7/00—Concurrent cleaning, filling, and closing of bottles; Processes or devices for at least two of these operations
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01G—WEIGHING
- G01G17/00—Apparatus for or methods of weighing material of special form or property
- G01G17/04—Apparatus for or methods of weighing material of special form or property for weighing fluids, e.g. gases, pastes
- G01G17/06—Apparatus for or methods of weighing material of special form or property for weighing fluids, e.g. gases, pastes having means for controlling the supply or discharge
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02W—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO WASTEWATER TREATMENT OR WASTE MANAGEMENT
- Y02W90/00—Enabling technologies or technologies with a potential or indirect contribution to greenhouse gas [GHG] emissions mitigation
- Y02W90/10—Bio-packaging, e.g. packing containers made from renewable resources or bio-plastics
Landscapes
- Engineering & Computer Science (AREA)
- Food Science & Technology (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Thermal Sciences (AREA)
- Mechanical Engineering (AREA)
- Filling Of Jars Or Cans And Processes For Cleaning And Sealing Jars (AREA)
Abstract
The invention discloses a bottled milk tea beverage robot on-site mixing and filling production system, which comprises a rack, wherein the rack comprises a beverage mixing platform, a placing rack for placing multiple flavor seasoning bottles and a positioning structure for positioning and placing multiple bottle bodies and multiple bottle caps, the beverage mixing platform is provided with a to-be-placed area and an industrial robot, and the industrial robot is provided with a pneumatic clamping jaw; the bottle cap screwing device comprises a support frame fixed on the beverage preparation platform, a first lifting driving mechanism, a rotary driving mechanism and a bottle cap grabbing paw, wherein a lifting block is slidably arranged on the support frame; the first lifting driving mechanism is fixed at the top end of the support frame, and the end part of the telescopic rod of the first lifting driving mechanism is fixedly connected with the lifting block; the rotary driving mechanism is arranged on the lifting block, and the bottle cap grabbing paw is arranged on the rotary driving mechanism; the labor cost of the milky tea shop business is reduced, and the preparing and filling efficiency of the milky tea is higher.
Description
Technical Field
The invention relates to the technical field of automatic beverage blending, in particular to a robot on-site blending and filling production system for bottled milk tea beverages.
Background
The milk tea has double nutrition of milk and tea, is one of family food and popular in the world. However, at present, after the variety, taste and sugar content of milk tea beverage to be drunk are selected in a milk tea shop, the milk tea beverage is manually prepared and filled to obtain corresponding milk tea for sale, however, the manual preparation and filling efficiency is low, and more professional preparation workers are required to be applied, so that the operation cost of the milk tea shop is improved.
Disclosure of Invention
The invention aims to solve the defects of the technology, and discloses a robot on-site blending and filling production system for bottled milk tea beverages, which has the following specific structure.
The invention relates to a robot on-site mixing and filling production system for bottled milk tea beverages, which comprises a beverage preparation device and a bottle cap screwing device;
the beverage preparation device comprises a frame, wherein the frame comprises a beverage preparation platform, a placing rack for placing a plurality of flavor seasoning bottles and a positioning structure for positioning and placing a plurality of bottle bodies and a plurality of bottle caps, the beverage preparation platform is provided with a to-be-placed area and an industrial robot, and the industrial robot is provided with a pneumatic clamping jaw;
the bottle cap screwing device comprises a support frame fixed on the beverage preparation platform, a first lifting driving mechanism, a rotary driving mechanism and a bottle cap grabbing paw, wherein a lifting block is slidably arranged on the support frame; the first lifting driving mechanism is fixed at the top end of the support frame, and the end part of the telescopic rod of the first lifting driving mechanism is fixedly connected with the lifting block; the rotary driving mechanism is arranged on the lifting block, and the bottle cap grabbing paw is arranged on the rotary driving mechanism;
the industrial robot drives the pneumatic clamping jaw to move, so that the pneumatic clamping jaw grabs the bottle body and then conveys the bottle body to a to-be-thrown area, and the pneumatic clamping jaw releases the bottle body;
according to a preset multi-flavor seasoning bottle grabbing program, the industrial robot enables the pneumatic clamping jaw to act, each seasoning bottle on the placing rack is grabbed and placed in a cup body of a to-be-placed area in sequence, and after the placing is finished, the seasoning bottles are placed in situ;
the bottle cap is grabbed and conveyed to the bottle cap grabbing claws by the aid of pneumatic clamping claws of the industrial robot, the bottle cap grabbing claws clamp the bottle cap, and the bottle cap is released by the aid of the pneumatic clamping claws;
the pneumatic clamping jaw of the industrial robot acts to grab the bottle body of the milk tea beverage filled and prepared, the bottle mouth of the bottle body is abutted to the bottle cap, then the rotary driving device drives the bottle cap grabbing paw to rotate, and meanwhile, the first lifting mechanism drives the lifting block to descend, so that the bottle cap descends and rotates at the same time, and the bottle cap is screwed and fixed on the bottle mouth of the bottle body.
Preferably, a hollow shaft is rotatably arranged on the lifting block in a penetrating manner, a second lifting driving mechanism is arranged on the hollow shaft through a bracket at the position of the hollow shaft, a pushing shaft is movably arranged in the hollow shaft in a penetrating manner, a rotary joint is fixed at the bottom end of a telescopic rod of the second lifting driving mechanism, a rotary sleeve is fixed on the rotary joint, a first bearing is fixed in an inner hole of the rotary sleeve, and the upper end of the pushing shaft is fixedly connected with the inner ring of the first bearing;
the rotary driving mechanism comprises a gear transmission group and a servo driving motor fixed on the lifting block, a driven gear of the gear transmission group is arranged on the hollow shaft, and a driving gear of the gear transmission group is sleeved and fixed on a rotating shaft of the servo driving motor;
the bottle cap grabbing paw comprises a paw shell fixed at the lower end of a hollow shaft, a connecting disc and at least three annular arrays of jaws, wherein the three jaws comprise connecting parts and grabbing parts positioned at the lower ends of the connecting parts, the paw shell is provided with three annular arrays of elongated holes, the lower end of the paw shell is fixedly provided with a positioning plate, the positioning plate comprises three concave holes and positioning center posts which correspond to the elongated holes respectively, the connecting parts of the three jaws are respectively arranged in the three elongated holes, the middle parts of the connecting parts are rotationally connected with the inner walls of the elongated holes through rotating shafts, the lower ends of the connecting parts sink into the concave holes, connecting rods are obliquely fixed at the upper ends of the connecting parts of the three jaws, the lower ends of pushing shafts penetrate through the upper ends of the paw shell and then extend into the inner cavities of the paw shell, the lower ends of pushing shafts in the inner cavities are fixedly connected with the connecting discs, the ends of the connecting rods are hinged with the connecting shafts, and the grabbing parts are arranged around the positioning center posts.
Preferably, an electronic scale is arranged on the to-be-dispensed area, and the electronic scale is used for weighing the prepared beverage.
Preferably, the inner wall of the support frame is fixed with a vertical linear guide rail, a lifting slide block is fixed on a slide block of the vertical linear guide rail, a cylinder is fixed at the lower end of a telescopic rod of the first lifting driving mechanism, and the lower end of the cylinder is fixedly connected with the lifting slide block.
Preferably, the lifting block further comprises a second bearing, a through hole is formed in the lifting block, the outer ring of the second bearing is fixed on the inner wall of the through hole, and the hollow shaft is fixed in the inner ring of the second bearing.
Preferably, the top surface of the lifting block is fixed with a mounting frame, one end face of the servo driving motor with a rotating shaft is fixed on the mounting frame, and the upper end of the pushing shaft penetrates through the mounting frame and then is fixedly connected with the inner ring of the first bearing.
Preferably, the positioning structure comprises a positioning plate, the positioning plate is fixed in a fixing groove of the beverage preparation platform, the positioning plate comprises a bottle body placing area and a bottle cap placing area, the bottle body placing area comprises a plurality of bottle body positioning grooves, the bottle cap placing area comprises a plurality of bottle cap positioning grooves, and the fixing groove of the beverage preparation platform is located beside the industrial robot.
Preferably, the rack comprises a first step and a second step for placing the seasoning bottles, a plurality of grooves which are arranged in a straight line are formed in the second step and the second step, and the grooves are matched with the seasoning bottles.
Preferably, the top of the frame is fixed with a display screen through a connecting frame.
The robot for on-site blending and filling production of the bottled milk tea beverage, which is designed by the invention, utilizes automatic blending and filling to obtain bottled milk tea beverage, so that the labor cost of business of a milk tea store is reduced, meanwhile, corresponding beverage can be obtained according to the flavoring quantity value set by correspondingly pushing out the sold beverage, the equipment can be placed in places such as a market for sale, and meanwhile, the operating cost of the milk tea store is reduced; and the preparation and filling efficiency of the milk tea is higher.
Drawings
FIG. 1 is a schematic diagram of an overall system architecture (one);
FIG. 2 is a schematic diagram of the overall system architecture (II);
FIG. 3 is a schematic diagram of the overall system architecture (III);
FIG. 4 is an enlarged view at A;
FIG. 5 is a schematic view (I) of the structure of the bottle cap grabbing paw;
fig. 6 is a schematic view (II) of the structure of the bottle cap grabbing paw.
Detailed Description
The following description of the embodiments of the present invention will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present invention, but not all embodiments. All other embodiments, which are derived by a person skilled in the art based on the embodiments of the invention, fall within the scope of protection of the invention.
Examples:
as shown in the drawing, the on-site blending and filling production system of the bottled milk tea beverage robot described in the embodiment comprises a beverage preparation device 6, a bottle cap screwing device 3 and a PLC controller, wherein the beverage preparation device 6 and the bottle cap screwing device 3 are respectively connected with and controlled by the PLC controller.
The beverage preparation device 6 comprises a frame 1, wherein the frame 1 comprises a beverage preparation platform 11, a placing frame 2 for placing a plurality of flavor seasoning bottles 400 and a positioning structure 5 for positioning and placing a plurality of bottle bodies 100 and a plurality of bottle caps 200, the beverage preparation platform 11 is provided with a to-be-placed area 300 and an industrial robot 4, and the industrial robot 4 is provided with a pneumatic clamping jaw 8; the industrial robot 4 is connected to and controlled by a PLC controller.
The bottle cap screwing device 3 comprises a support frame 31 fixed on the beverage preparation platform 11, a first lifting driving mechanism 32, a rotary driving mechanism 33 and a bottle cap grabbing claw 34, wherein a lifting block 35 is slidably arranged on the support frame 31; the first lifting driving mechanism 32 is fixed at the top end of the supporting frame 31, and the end part of the telescopic rod is fixedly connected with the lifting block 35; the rotary driving mechanism 33 is arranged on the lifting block 35, and the bottle cap grabbing claws 34 are arranged on the rotary driving mechanism 33; the rotary driving mechanism 33 and the bottle cap grabbing gripper 34 are respectively connected with and controlled by the PLC controller, the first lifting driving mechanism 32 adopts a first lifting cylinder, and the first lifting cylinder is connected with and controlled by the PLC controller through an air pump.
The working principle is that the industrial robot 4 drives the pneumatic clamping jaw 8 to move, so that the pneumatic clamping jaw 8 grabs the bottle body and then conveys the bottle body to the to-be-thrown area 300, and the pneumatic clamping jaw 8 releases the bottle body 100; next, the industrial robot 4 makes the pneumatic clamping jaw 8 act according to a preset grabbing program of the multi-flavor seasoning bottles 400, grabs and puts each seasoning bottle 400 on the placing frame 2 into the cup body 100 of the to-be-put-in area 300 in sequence, and places the seasoning bottles 400 in place after putting in; then, the pneumatic clamping jaw 8 of the industrial robot 4 acts to clamp and convey the bottle cap 200 onto the bottle cap clamping claw 34, the bottle cap 200 is clamped by the bottle cap clamping claw 34, and the bottle cap 200 is released by the pneumatic clamping jaw 8; finally, the pneumatic clamping jaw 8 of the industrial robot 4 acts to grab the bottle body 100 filled with the prepared milk tea beverage, the bottle mouth of the bottle body 100 is abutted to the bottle cap 200, then the rotary driving device drives the bottle cap grabbing claw 34 to rotate, and meanwhile, the first lifting mechanism drives the lifting block 35 to descend, so that the bottle cap 200 descends and rotates, and the bottle cap 200 is screwed and fixed on the bottle mouth of the bottle body 100.
In the embodiment, a hollow shaft 45 is rotatably arranged on the lifting block 35 in a penetrating manner, a second lifting driving mechanism 37 is arranged on the lifting block 35 at the position with the hollow shaft 45 through a bracket, a pushing shaft 36 is movably arranged in the hollow shaft 45 in a penetrating manner, a rotary joint 38 is fixed at the bottom end of a telescopic rod of the second lifting driving mechanism 37, a rotary sleeve 39 is fixed on the rotary joint 38, a first bearing 43 is fixed in an inner hole of the rotary sleeve 39, and the upper end of the pushing shaft 36 is fixedly connected with an inner ring of the first bearing 43; the second lifting driving mechanism 37 adopts a second lifting air cylinder 37, and the second lifting air cylinder 37 is connected with the PLC controller through an air pump and is controlled by the PLC controller.
Further, the rotation driving mechanism 33 comprises a gear transmission group and a servo driving motor 331 fixed on the lifting block 35, a driven gear 333 of the gear transmission group is arranged on the hollow shaft 45, and a driving gear 332 of the gear transmission group is sleeved and fixed on a rotating shaft of the servo driving motor 331; the servo driving motor 331 is connected to and controlled by the PLC controller.
Preferably, the bottle cap grabbing gripper 34 comprises a gripper housing 341 fixed at the lower end of the hollow shaft 45, a connecting disc 348 and at least three annular array arranged jaws 340, wherein each jaw 340 comprises a connecting part 342 and a grabbing part 343 positioned at the lower end of the connecting part 342, three annular array arranged elongated holes 347 are formed in the gripper housing 341, a positioning plate 345 is fixed at the lower end of the gripper housing 341, the positioning plate 345 comprises three concave recesses 350 and positioning center posts 346 respectively corresponding to the positions of the elongated holes 347, the connecting parts 342 of the three jaws 340 are respectively arranged in the three elongated holes 347, the middle parts of the connecting parts 342 are rotatably connected with the inner walls of the elongated holes 347 through rotating shafts 349, the lower ends of the connecting parts 342 sink into the concave recesses 350, connecting rods 344 are obliquely fixed at the upper ends of the connecting parts 342 of the three jaws 340, the lower ends of the pushing shafts 36 penetrate through the upper ends of the gripper housing 341 and then extend into the inner cavities of the gripper housing 341, the lower ends of the pushing shafts 36 in the inner cavities are fixedly provided with the connecting discs 348, the connecting rods 346 are hinged with pin shafts 348, and the grabbing parts are arranged around the positioning center posts 343.
In the above, when three claws 340 in the bottle cap grabbing claws 34 do not grab the bottle cap 200, the telescopic rod of the second lifting cylinder 37 descends to drive the connecting disc 348 to descend, so that the connecting rod 344 and the claws 340 simultaneously rotate upwards with the pin hinge part of the connecting rod 344 as a rotation point, and the grabbing parts 343 of the three claws 340 are separated; when the pneumatic clamping jaw 8 of the industrial robot 4 acts to clamp and convey the bottle cap 200 between the three grabbing parts 343 in the bottle cap grabbing claws 34, the bottle cap 200 is in abutting positioning with the lower end of the positioning center column 346, then the telescopic rod of the second lifting cylinder 37 is lifted to drive the connecting disc 348 to lift, so that the connecting rod 344 and the clamping jaw 340 simultaneously rotate downwards by taking the pin shaft hinging part of the connecting rod 344 as a rotating point, the grabbing parts 343 of the three clamping jaws 340 are closed, and the bottle cap 200 is clamped and positioned; when the cap 200 is placed on the positioning structure 5 with the opening facing upwards, the industrial robot grips the cap 200 with the opening facing upwards by using the pneumatic gripping jaw 8 and then rotates, so that the opening facing downwards is transferred between the three gripping portions 343.
After the bottle cap 200 with the downward screwing mouth is grasped, the pneumatic clamping jaw 8 of the industrial robot 4 acts to grasp the bottle body 100 filled with the milk tea beverage after being prepared, the bottle mouth of the bottle body 100 is in butt joint with the screwing mouth of the bottle cap 200, then the servo driving motor 331 drives the driving gear 332 to rotate, the driven gear 333 is driven to rotate, the hollow shaft 45 is driven to rotate, the claw shell 341 is driven to rotate by the rotation of the hollow shaft 45, the grasped bottle cap 200 is rotated, at the moment, the first lifting cylinder drives the lifting block 35 to descend, the bottle cap 200 is rotated while descending, and the bottle cap 200 is screwed and fixed on the bottle mouth of the bottle body 100.
Finally, after the bottled milk tea is filled on the bottle body, the technical effect of automatic packaging is achieved, the working efficiency is improved, and the operation cost of a milk tea store is reduced.
In this embodiment, the to-be-dispensed area 300 is provided with an electronic scale 7, and the electronic scale 7 is used for weighing the prepared beverage. The pneumatic clamping jaw 8 of the industrial robot 4 acts to grab and convey the bottle 100 to be filled onto the electronic scale 77, then the weight of the bottle after the beverage is filled is weighed while the beverage is filled, the real-time filling weight information is transmitted to the PLC controller and then is compared with a preset range value, and when the weighed value reaches the set range, the PLC controller controls the industrial robot to stop filling the seasoning bottles.
Wherein, the method further comprises the steps of setting the downward time of the bottle mouth of the seasoning bottle 400 and the pouring angle of the seasoning bottle 400 by the industrial robot 4, determining the quantity of the seasoning applied to the beverage cup 100, setting the quantity of the seasoning applied to the beverage cup 100 accurately, thereby reliably controlling the taste of the beverage, setting the downward time of the bottle mouth and the pouring angle of the seasoning bottle 400 by a program in a PLC controller, and controlling the industrial robot 4 to finish the operation.
In this embodiment, a vertical linear guide 41 is fixed on the inner wall of the supporting frame 31, a lifting slide 42 is fixed on a slide block of the vertical linear guide 41, a column 40 is fixed at the lower end of a telescopic rod of the first lifting driving mechanism 32, and the lower end of the column 40 is fixedly connected with the lifting slide 42. The lifting action of the lifting block 35 is more stable and reliable due to the structural arrangement.
In the present embodiment, the second bearing 44 is further included, the lifting block 35 is provided with a through hole 351, the outer ring of the second bearing 44 is fixed on the inner wall of the through hole 351, and the hollow shaft 45 is fixed in the inner ring of the second bearing 44. The structure is compact, and the rotation of the hollow shaft 45 is stable and reliable.
In this embodiment, the top surface of the lifting block 35 is fixed with a mounting frame 46, an end surface of the servo driving motor 331 with a rotating shaft is fixed on the mounting frame 46, and the upper end of the pushing shaft 36 penetrates through the mounting frame 46 and is fixedly connected with the inner ring of the first bearing 43. The structure design is reasonable, and the service performance is improved.
In this embodiment, the positioning structure 5 includes a positioning plate 345, the positioning plate 345 is fixed in the fixing groove 111 of the beverage dispensing platform 11, the positioning plate 345 includes a bottle placement area and a bottle cap placement area, the bottle placement area includes a plurality of bottle positioning grooves 51, the bottle cap placement area includes a plurality of bottle cap positioning grooves 52, and the fixing groove 111 of the beverage dispensing platform 11 is located beside the industrial robot 4. Its structure sets up and is convenient for bottle and bottle lid 200 to fix a position and place, promotes performance.
In this embodiment, a display screen 9 is fixed on the top of the frame 1 through a connecting frame 10, and the display screen 9 is connected with and controlled by a PLC controller, which can display the type of taste of the beverage being produced at present.
In this embodiment, the placement frame 2 includes a first step 21 and a second step 22 for placing the seasoning bottle 400, and a plurality of grooves 23 arranged in a line are disposed on each of the second step 22 and the second step 22, and the grooves 23 are matched with the seasoning bottle 400. The arrangement increases the number of the bottles 400 to be placed, and the bottles 400 are placed in the grooves 23 while being grasped by the pneumatic clamping jaws 8, so that the bottles 400 are reliably positioned.
Finally, the fixing can be fixed by bolts or welded according to practical conditions.
The present invention is not limited to the above-described preferred embodiments, and any person who can obtain other various products under the teaching of the present invention, however, any change in shape or structure of the product is within the scope of the present invention, and all the products having the same or similar technical solutions as the present application are included.
Claims (7)
1. The robot on-site mixing and filling production system for the bottled milk tea beverage is characterized by comprising a beverage preparation device (6) and a bottle cap screwing device (3);
the beverage preparation device (6) comprises a frame (1), wherein the frame (1) comprises a beverage preparation platform (11), a placing frame (2) for placing a plurality of flavor seasoning bottles (400) and a positioning structure (5) for positioning and placing a plurality of bottle bodies and a plurality of bottle caps (200), a to-be-placed area (300) and an industrial robot (4) are arranged on the beverage preparation platform (11), and a pneumatic clamping jaw (8) is arranged on the industrial robot (4);
the bottle cap screwing device (3) comprises a support frame (31) fixed on the beverage preparation platform (11), a first lifting driving mechanism (32), a rotary driving mechanism (33) and a bottle cap grabbing paw (34), wherein a lifting block (35) is arranged on the support frame (31) in a sliding manner; the first lifting driving mechanism (32) is fixed at the top end of the supporting frame (31), and the end part of the telescopic rod of the first lifting driving mechanism is fixedly connected with the lifting block (35); the rotary driving mechanism (33) is arranged on the lifting block (35), and the bottle cap grabbing paw (34) is arranged on the rotary driving mechanism (33);
the industrial robot (4) drives the pneumatic clamping jaw (8) to move, so that the pneumatic clamping jaw (8) grabs the bottle body and then conveys the bottle body to a to-be-thrown area (300), and the pneumatic clamping jaw (8) releases the bottle body;
according to a preset grabbing program of the multiple-flavor seasoning bottles (400), the industrial robot (4) enables the pneumatic clamping jaw (8) to act, each seasoning bottle (400) on the placing frame (2) is grabbed and placed into the bottle body (100) of the to-be-placed area (300) in sequence, and after the placing is finished, the seasoning bottles (400) are placed in situ;
the method also comprises the steps of setting the downward time of the bottle mouth of the seasoning bottle and the pouring angle of the seasoning bottle controlled by the industrial robot, determining the quantity of the seasoning applied to the beverage cup, setting the quantity of the seasoning applied to the beverage cup accurately, and controlling the taste of the beverage reliably, wherein the downward time of the bottle mouth and the pouring angle of the seasoning bottle are set by a program in a PLC controller, and controlling the industrial robot to finish the operation;
the pneumatic clamping jaw (8) of the industrial robot (4) acts to clamp and convey the bottle cap (200) to the bottle cap clamping claw (34), the bottle cap clamping claw (34) clamps the bottle cap (200), and the pneumatic clamping jaw (8) releases the bottle cap (200);
the bottle body (100) of the milk tea beverage filled and modulated is grabbed by the action of the pneumatic clamping jaw (8) of the industrial robot (4), the bottle mouth of the bottle body (100) is abutted with the bottle cap (200), then the bottle cap grabbing claw (34) is driven by the rotary driving device to rotate, meanwhile, the lifting block (35) is driven by the first lifting mechanism to descend, so that the bottle cap (200) rotates while descending, and the bottle cap (200) is screwed and fixed on the bottle mouth of the bottle body (100);
a hollow shaft (45) is arranged on the lifting block (35) in a penetrating manner, a second lifting driving mechanism (37) is arranged on the lifting block (35) at the position with the hollow shaft (45) through a bracket, a pushing shaft (36) is movably arranged in the hollow shaft (45) in a penetrating manner, a rotary joint (38) is fixed at the bottom end of a telescopic rod of the second lifting driving mechanism (37), a rotary sleeve (39) is fixed on the rotary joint (38), a first bearing (43) is fixed in an inner hole of the rotary sleeve (39), and the upper end of the pushing shaft (36) is fixedly connected with the inner ring of the first bearing (43);
the rotary driving mechanism (33) comprises a gear transmission group and a servo driving motor (331) fixed on the lifting block (35), a driven gear (333) of the gear transmission group is arranged on the hollow shaft (45), and a driving gear (332) of the gear transmission group is sleeved and fixed on a rotating shaft of the servo driving motor (331);
the bottle cap grabbing gripper (34) comprises a gripper shell (341) fixed at the lower end of a hollow shaft (45), a connecting disc (348) and at least three annular array-arranged clamping jaws (340), wherein the three clamping jaws (340) comprise a connecting part (342) and grabbing parts (343) positioned at the lower end of the connecting part (342), the gripper shell (341) is provided with three annular array-arranged long holes (347), the lower end of the gripper shell (341) is fixedly provided with a positioning plate (345), the positioning plate (345) comprises three concave recesses (350) and positioning center posts (346) which correspond to the positions of the long holes (347), the connecting parts (342) of the three clamping jaws (340) are respectively arranged in the three long holes (347), the middle parts of the connecting parts (342) are rotationally connected with the inner walls of the long holes (347) through rotating shafts (344), the lower ends of the connecting parts (342) are sunk into the concave recesses (350), the upper ends of the connecting parts (342) of the three clamping jaws (340) are obliquely fixed with connecting rods (344), the lower ends of the pushing shafts (36) penetrate through the upper ends of the shells of the long holes (341) and the connecting shafts (348) to be fixedly hinged with the connecting shafts (348), the grabbing part (343) is arranged around the positioning center column (346);
when three claws in the bottle cap grabbing claws do not grab the bottle cap, the telescopic rods of the second lifting cylinders descend to drive the connecting discs to descend, so that the connecting rods and the claws simultaneously rotate upwards by taking the pin shaft hinging parts of the connecting rods as rotating points, and the grabbing parts of the three claws are separated;
when the pneumatic clamping jaw of the industrial robot acts to grab and convey the bottle cap between three grabbing parts in the bottle cap grabbing claws, the bottle cap is in conflict positioning with the lower end of the positioning center column, then the telescopic rod of the second lifting cylinder ascends to drive the connecting disc to ascend, so that the connecting rod and the clamping jaw simultaneously rotate downwards by taking the pin shaft hinge part of the connecting rod as a rotating point, the grabbing parts of the three clamping jaws are closed, and the bottle cap is grabbed and positioned;
when the bottle cap screwed opening is upwards placed on the positioning structure, the industrial robot grabs the bottle cap with the screwed opening by using the pneumatic clamping jaw and then rotates the bottle cap, so that the screwed opening of the bottle cap is downwards conveyed among the three grabbing parts;
the locating structure (5) comprises a locating plate (345), the locating plate (345) is fixed in a fixing groove (111) of the beverage preparation platform (11), the locating plate (345) comprises a bottle body placing area and a bottle cover placing area, the bottle body placing area comprises a plurality of bottle body locating grooves (51), the bottle cover placing area comprises a plurality of bottle cover locating grooves (52), and the fixing groove (111) of the beverage preparation platform (11) is located beside the industrial robot (4).
2. The on-site blending and filling production system of bottled milk tea beverage according to claim 1, wherein an electronic scale (7) is arranged on the to-be-put-in area (300), and the electronic scale (7) is used for weighing the blended beverage.
3. The on-site blending and filling production system of bottled milk tea beverage robot according to claim 1, wherein a vertical linear guide rail (41) is fixed on the inner wall of the supporting frame (31), a lifting slide block (42) is fixed on a slide block of the vertical linear guide rail (41), a column body (40) is fixed at the lower end of a telescopic rod of the first lifting driving mechanism (32), and the lower end of the column body (40) is fixedly connected with the lifting slide block (42).
4. The on-site blending and filling production system of bottled milk tea beverage robot according to claim 2, further comprising a second bearing (44), wherein a through hole (351) is arranged on the lifting block (35), an outer ring of the second bearing (44) is fixed on the inner wall of the through hole (351), and a hollow shaft (45) is fixed in an inner ring of the second bearing (44).
5. The on-site blending and filling production system of bottled milk tea beverage robot according to claim 2, wherein the top surface of the lifting block (35) is fixed with a mounting frame (46), one end surface with a rotating shaft on the servo driving motor (331) is fixed on the mounting frame (46), and the upper end of the pushing shaft (36) penetrates through the mounting frame (46) and is fixedly connected with the inner ring of the first bearing (43).
6. The on-site blending and filling production system of bottled milk tea beverage robot according to claim 1, wherein the placing rack (2) comprises a first step (21) and a second step (22) for placing a seasoning bottle (400), a plurality of grooves (23) arranged in a straight line are formed in the second step (22) and the second step (22), and the grooves (23) are matched with the seasoning bottle (400).
7. The on-site blending and filling production system of bottled milk tea beverage robot according to claim 1, wherein a display screen (9) is fixed on the top of the frame (1) through a connecting frame.
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| Application Number | Priority Date | Filing Date | Title |
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| CN202111053829.4A CN113735044B (en) | 2021-08-27 | 2021-08-27 | Robot on-site blending and filling production system for bottled milk tea beverage |
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| CN202111053829.4A CN113735044B (en) | 2021-08-27 | 2021-08-27 | Robot on-site blending and filling production system for bottled milk tea beverage |
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| CN113735044A CN113735044A (en) | 2021-12-03 |
| CN113735044B true CN113735044B (en) | 2023-06-20 |
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| CA3120038A1 (en) * | 2021-05-28 | 2022-11-28 | Groupe Ethical Factory Inc. | Micro factory system for on-demand dispensing of beverages |
| CN115417012B (en) * | 2022-09-29 | 2024-06-14 | 潘韬锐 | Petroleum storage and transportation container |
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|---|---|---|---|---|
| US20060043111A1 (en) * | 2004-08-23 | 2006-03-02 | Craig Jennings | Robotic beverage server |
| CN203998880U (en) * | 2014-08-25 | 2014-12-10 | 温州中环机械设备有限公司 | Servo three-jaw cap rotating mechanism |
| US11116352B2 (en) * | 2016-09-13 | 2021-09-14 | Kerry Luxembourg S.à.r.l. | Beverage preparation system |
| US20190358522A1 (en) * | 2018-05-25 | 2019-11-28 | Yi-Ho Lin | Gripper |
| CN108983654A (en) * | 2018-06-22 | 2018-12-11 | 深圳市智能机器人研究院 | Rectification robot automation control system and its implementation |
| CN111493659B (en) * | 2019-01-31 | 2022-04-15 | 香港生产力促进局 | Intelligent robot for making Hongkong-style milk tea |
| CN110025218B (en) * | 2019-03-26 | 2024-06-18 | 北京华晟智造科技有限公司 | Industrial robot coffee modulation workstation |
| CN210163092U (en) * | 2019-04-30 | 2020-03-20 | 苏州科先包装机械有限公司 | Multi-station linear servo cap screwing device |
| CN110680189A (en) * | 2019-11-13 | 2020-01-14 | 比率机器人科技(北京)有限公司 | Automatic catering device and method thereof |
| CN110889931A (en) * | 2019-11-28 | 2020-03-17 | 广东水利电力职业技术学院（广东省水利电力技工学校） | Cup-pouring type multi-variety beverage supply robot and using method thereof |
| CN212015309U (en) * | 2020-02-17 | 2020-11-27 | 广东智源机器人科技有限公司 | Beverage supply equipment |
| CN112758868A (en) * | 2021-02-04 | 2021-05-07 | 风晓梅 | Bottle supporting type cap screwing device for beverage filling |
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