阅读说明：本技术 全自动奶茶制作设备 (Full-automatic milk tea making equipment ) 是由 张良安 范剑伟 刘俊 纪明亮 洪胜祥 商子泉 徐冉 林军防 任静文 张守明 丁成 于 2021-09-01 设计创作，主要内容包括：本发明公开了一种全自动奶茶制作设备,属于奶茶自动化设备技术领域,包括关节机器人,低温箱、珍珠供料筒、供糖机、热水机、制冰机、常温供水机、茶桶、出杯机构和封杯机布置在关节机器人的四周且位于主机架的内部,珍珠供料筒、牛奶供料筒均放置在低温箱内,多个出料水龙头均用于对奶茶杯供应液体原料,多个出料水龙头的底部通过进水管依次连接热水机、茶桶、常温供水机和牛奶供料筒,固液分离机构用于从珍珠供料筒中取出珍珠和糖水的混合液并将糖水沥去,然后将珍珠颗粒放入关节机器人夹持的奶茶杯。该设备能够实现奶茶自动化制作,替代人工,适应于全自动化无人售卖。(The invention discloses full-automatic milk tea manufacturing equipment, which belongs to the technical field of milk tea automation equipment and comprises a joint robot, a low-temperature box, a pearl feeding cylinder, a sugar supply machine, a hot water machine, an ice machine, a normal-temperature water supply machine, a tea bucket, a cup discharging mechanism and a cup sealing machine, wherein the pearl feeding cylinder and the milk feeding cylinder are arranged around the joint robot and are positioned in a main frame, the pearl feeding cylinder and the milk feeding cylinder are arranged in the low-temperature box, a plurality of discharging water taps are used for supplying liquid raw materials to milk tea cups, the bottoms of the discharging water taps are sequentially connected with the hot water machine, the tea bucket, the normal-temperature water supply machine and the milk feeding cylinder through water inlet pipes, and a solid-liquid separation mechanism is used for taking mixed liquid of pearl and sweet water out of the pearl feeding cylinder and draining the sweet water and then putting pearl particles into the milk tea cups clamped by the joint robot. The automatic preparation of milk tea can be realized to this equipment, replaces artifically, is adapted to the unmanned sale of full automatization.)

1. The full-automatic milk tea making equipment is characterized by comprising a low-temperature box (11), a joint robot (10), a pearl feeding cylinder (12), a sugar supply machine (3), a water heater, an ice maker (4), a normal-temperature water supply machine, a tea bucket (5), a cup discharging mechanism, a cup sealing machine (8) and a plurality of discharging water taps, wherein the low-temperature box (11), the pearl feeding cylinder (12), the sugar supply machine (3), the water heater, the ice maker (4), the normal-temperature water supply machine, the tea bucket (5), the cup discharging mechanism and the cup sealing machine (8) are arranged around the joint robot (10) and are positioned inside the main frame (1), the pearl feeding cylinder (12) and the milk feeding cylinder (14) are arranged in the low-temperature box (11), the discharging water taps are used for supplying liquid raw materials to milk tea cups, and the bottoms of the discharging water taps are sequentially connected with the water heater through water inlet pipes, The milk tea cup comprises a tea barrel (5), a normal-temperature water supply machine and a milk supply cylinder (14), wherein a solid-liquid separation mechanism (7) is used for taking out mixed liquid of pearls and sugar water from a pearl supply cylinder (12), draining the sugar water, and then putting pearl particles into the milk tea cup clamped by the joint robot (10).

2. The full-automatic milk tea making equipment according to claim 1, wherein the top of the pearl supply cylinder (12) is open, the top of the low-temperature box (11) facing the pearl supply cylinder (12) and the coconut supply cylinder (13) is provided with a window (1101), the window (1101) in the low-temperature box (11) is provided with a material taking opening and closing mechanism, the material taking opening and closing mechanism is used for opening or closing the window (1101) in the low-temperature box (11) so as to separate the interior of the low-temperature box (11) from the exterior of the low-temperature box, the solid-liquid separation mechanism (7) is arranged above the low-temperature box (11), the solid-liquid separation mechanism (7) comprises an installation bottom plate (709) and an installation vertical plate (710), the installation bottom plate (709) is horizontally arranged on the upper end surface of the low-temperature box (11), the installation vertical plate (710) is vertically fixed on the upper end surface of the installation bottom plate (709), and the vertical moving mechanism (706) is arranged on the side surface of the installation vertical plate (710) far away from the window (1101), the vertical setting of mechanism (706) moves vertically, strainer cylinder mounting panel links firmly with the output that mechanism (706) moved vertically, strainer cylinder mounting panel sets up respectively at the relative both sides face of installation riser (710) with mechanism (706) moves vertically, the vertical installation of finger cylinder is on cylinder connecting plate (705), two colanders (701) symmetry set up between two outputs of finger cylinder, spoon handle (7011) upper portion of two colanders (701) links firmly the output at the finger cylinder, spoon head (7013) of two colanders (701) set up relatively, finger cylinder drives two colanders (701) and is close to each other or keep away from, colander (701) are opened there is the small opening that is used for driping liquid, the adjacent side contact of spoon head (7013) of two colanders (701) constitutes the cavity that holds of pearl or coconut palm.

3. The full-automatic milk tea making equipment according to claim 2, wherein the vertical moving mechanism (706) is driven by a rodless cylinder, and the output end of the rodless cylinder is fixedly connected with the strainer cylinder mounting plate through a cylinder connecting plate (705).

4. The full-automatic milk tea making equipment according to claim 2, further comprising a strainer guide portion (703), wherein the strainer guide portion (703) comprises a guide slide rail and a guide slide rail, the guide slide rail is vertically installed on the side surface of the installation vertical plate (710) close to the window (1101) in the low-temperature box (11), the guide slide block is nested on the guide slide rail, the guide slide block slides along the guide slide rail, the guide slide block is fixedly connected with a strainer cylinder installation plate, and the finger cylinder is installed on one side of the strainer cylinder installation plate away from the guide slide rail.

5. The full-automatic milk tea manufacturing equipment according to claim 2, wherein the material taking port opening and closing mechanism comprises a cover plate pushing cylinder (707), the cover plate pushing cylinder (707) is arranged on an installation bottom plate (709), a cylinder rod facing the cover plate pushing cylinder (707) is fixedly connected with a window cover plate (708), the area of the top view projection of the window cover plate (708) is larger than the area of the top view projection of a window (1101) in the low-temperature box (11), the window cover plate (708) is positioned above the window (1101) in the low-temperature box (11), and the window cover plate (708) is used for covering the window (1101) in the low-temperature box (11).

6. The full-automatic milk tea making equipment according to claim 2, wherein the strainer (701) comprises a strainer handle (7011) and a strainer head (7013), the upper portion of the strainer handle (7011) is fixed to the inner side of the finger cylinder, the lower portion of the strainer handle (7011) is fixedly connected with the outer side face of the strainer head (7013), the central axis of the strainer head (7013) is horizontally arranged, the central axis of the strainer head (7013) is perpendicular to the straight line of the strainer handle (7011), a plurality of radial through holes (7014) are formed in the surface of the strainer head (7013) along the direction of the central axis of the surface of the strainer head, a bottom through hole (7012) is formed in the lower portion of the strainer head (7013), the bottom through hole (7012) is formed in the tangential direction of the curved surface of the strainer head (7013), and the hole diameter of the bottom through hole (7012) is not large enough for solid particles to permeate through in the feeding cylinder.

7. The full-automatic milk tea making equipment according to claim 1, wherein the cup discharging mechanism comprises an automatic cup discharging device (201) and a milk tea cup spare part warehouse (202), the automatic cup discharging device (201) is in telecommunication connection with the joint robot (10), the milk tea cup spare part warehouse (202) is arranged on one side of the automatic cup discharging device (201), the automatic cup discharging device (201) is located above the side of the milk tea cup spare part warehouse (202), the automatic cup discharging device (201) is arranged at the output end of the cup discharging lifting cylinder (204), the cup discharging lifting cylinder (204) is vertically arranged, the bottom of the cup discharging lifting cylinder (204) is arranged on the main frame (1), and the cup discharging lifting cylinder (204) drives the automatic cup discharging device (201) to vertically move.

8. The full-automatic milk tea making apparatus according to claim 1, further comprising a coconut supply cylinder (13) and a solid-liquid separation mechanism (7) for separating coconut and sugar water, wherein the coconut supply cylinder (13) is disposed at one side of the pearl supply cylinder (12), the solid-liquid separation mechanism (7) takes out a mixed liquid of coconut and sugar water from the coconut supply cylinder (13) and drains the sugar water therefrom, and then puts the pearl particles into a milk tea cup held by the joint robot (10).

9. The full-automatic milk tea making equipment according to claim 1, further comprising a plurality of solid feeding mechanisms (6), wherein the plurality of solid feeding mechanisms (6) are used for feeding biscuits, nut granules and dried fruit granules to the milk tea clamped by the joint robot (10).

10. The automatic milk tea making apparatus according to claim 9, wherein the cup discharging mechanism, the solid feeding area, the liquid feeding area, the cup sealing machine (8) are arranged in sequence along the circumferential direction of the articulated robot (10), the solid feeding area comprises the sugar supply machine (3), the ice outlet machine, the solid feeding mechanism (6) and the pearl feeding cylinder (12); the liquid loading zone includes a plurality of discharge taps.

11. The automatic milk tea making equipment according to claim 1, wherein the joint robot (10) comprises a joint robot body (1001) and a flange connecting plate (1002), the flange connecting plate (1002) is installed on an output flange of the joint robot body (1001), a gravity sensor (1003) is installed on a lower end face of the flange connecting plate (1002), a clamping cylinder installing plate (1006) is fixed on the lower end face of the gravity sensor (1003), a paper cup clamping cylinder (1004) is installed on the lower end face of the clamping cylinder installing plate (1006), the paper cup clamping cylinder (1004) is horizontally arranged, two paper cup clamping jaws (1005) are symmetrically installed on an output end of the paper cup clamping cylinder (1004), and the circular arc diameters of opposite side faces of the two paper cup clamping jaws (1005) are smaller than the upper caliber of the milk tea cup.

12. The automatic milk tea making equipment according to claim 1, wherein sealing plates are arranged on each side surface, upper end surface and lower end surface of the main machine frame (1), the sealing plates are used for isolating the inside of the main machine frame (1) from the external environment, a milk tea finished product placing position (9) and a straw taking position are arranged in the main machine frame (1) close to the sealing plates, the milk tea finished product placing position (9) is used for placing made milk tea and the straw taking position is arranged on one side of the milk tea finished product placing position (9), corresponding cup taking windows (17) and straw windows (18) are arranged at the sealing plates adjacent to the milk tea finished product placing position (9) and the straw taking position, the cup taking window opening and closing mechanisms (16) and the straw window (18) are respectively arranged on one sides of the cup taking window (17) and the straw window (18), and the cup taking window opening and closing mechanisms (16) are arranged on the other sides of the cup taking window opening and closing mechanisms (16), The suction pipe window (18) opening and closing mechanism is arranged inside the main frame (1), and the cup taking window opening and closing mechanism (16) and the suction pipe window (18) opening and closing mechanism are used for opening or closing the cup taking window (17) and the suction pipe window (18).

Technical Field

The invention belongs to the technical field of milk tea automation equipment, and particularly relates to full-automatic milk tea manufacturing equipment adopting a joint robot.

Background

With the upgrading of the consumption of the milk tea industry, the prices of the milk tea are increasing from the instant milk tea added with the non-dairy creamer to the instant milk tea prepared by milk in a core commercial area. The proportion of labor cost and investment of rent in stores to the operation cost of the milk tea store is gradually increased compared with the investment of equipment purchase, and the fact that the unit price of the instant milk tea is higher and higher is better explained. The demand for automatic equipment capable of imitating the milk tea on site is also increasing.

The milk tea automatic equipment published at present on site, for example, chinese patent CN201910404603.0 discloses a full-automatic milk tea production device and method, in the equipment, transfer equipment (a linear module and a mechanical arm for taking cups) and shake-up snow cups are more, and the function of the single equipment is single, so that the whole floor area of the equipment is larger, and compared with the existing automatic coffee machine, instant milk tea machine and fresh fruit juice extractor which are well popularized, the equipment has no good market popularization prospect. On the other hand, the existing automatic coffee machine, instant coffee machine, coffee milk tea all-in-one machine, fresh fruit juice extractor and the like have single raw materials, and cannot adapt to the existing preparation of milk tea, and the storage life of the raw materials in the equipment, such as coffee powder, milk tea powder or unpeeled fruits, is longer than that of raw materials (including but not limited to cooked pearls, coconut fruit grains, milk, biscuits, fructose and the like) required for preparing milk tea on site.

The special raw materials of the existing field modulation milk tea, namely cooked pearl or coconut fruit particles, are stored in a fresh-keeping environment of 2-6 degrees for the convenience of storing the raw materials, and the coconut fruit particles or pearl (made of tapioca starch) are placed in high-concentration sugar water, so that on one hand, the coconut fruit particles or pearl can be soaked for corrosion prevention, and on the other hand, the coconut fruit particles or pearl can be soaked for increasing the rich taste. In the case of pearls, excessive adhesion can be prevented, and the straw can be blocked during drinking.

The existing spiral propelling type feeding mode, gear rotating propelling type feeding mode, swinging material digging type or pump sucking type feeding mode can not adapt to quantitative feeding of coconut particles or pearl particles into the milk tea cup, and materials with a certain volume can be taken out from the pearl supply cylinder or the coconut supply cylinder, because the coexistence of solid and liquid can not ensure the uniform proportion of the solid and the liquid, the quality control of the milk tea is greatly influenced.

Disclosure of Invention

Aiming at the technical problem, the full-automatic milk tea making equipment is provided, can realize automatic milk tea making, replaces manpower, and is suitable for full-automatic unmanned selling.

The technical scheme adopted by the invention is as follows: a full-automatic milk tea making device comprises a low-temperature box, a joint robot, a pearl feeding cylinder, a sugar supply machine, a hot water machine, an ice maker, a normal-temperature water supply machine, a tea bucket, a cup discharging mechanism, a cup sealing machine, a plurality of discharging taps and the low-temperature box, the pearl feeding cylinder, the sugar supply machine, the hot water machine, the ice machine, the normal atmospheric temperature water supply machine, the tea bucket, go out the cup mechanism and seal the cup machine and arrange around articulated robot and be located the inside of main frame, the pearl feeding cylinder, the milk feeding cylinder is all placed in the low-temperature cabinet, a plurality of ejection of compact taps all are used for supplying liquid raw materials to milk tea cup, the bottom of a plurality of ejection of compact taps connects gradually the hot water machine through the inlet tube, the tea bucket, normal atmospheric temperature water supply machine and milk feeding cylinder, solid-liquid separation mechanism is used for taking out the mixed liquid of pearl and sweet water and driping the sweet water from the pearl feeding cylinder, then put into the milk tea cup of articulated robot centre gripping with pearl granule.

Furthermore, the top of the pearl feeding cylinder is opened, the top of the low-temperature box, which is opposite to the top of the pearl feeding cylinder and the coconut feeding cylinder, is provided with a window, the window of the low-temperature box is provided with a material taking opening and closing mechanism, the material taking opening and closing mechanism is used for opening or closing the window in the low-temperature box so as to separate the interior of the low-temperature box from the exterior of the low-temperature box, the solid-liquid separation mechanism is arranged above the low-temperature box and comprises a mounting bottom plate and a mounting vertical plate, the mounting bottom plate is horizontally arranged on the upper end surface of the low-temperature box, the mounting vertical plate is vertically fixed on the upper end surface of the mounting bottom plate, the vertical moving mechanism is arranged on the side surface of the mounting vertical plate, which is far away from the window, the vertical moving mechanism is vertically arranged, the colander cylinder mounting plate is fixedly connected with the output end of the vertical moving mechanism, the colander cylinder mounting plate and the vertical moving mechanism are respectively arranged on the two side surfaces of the mounting vertical moving mechanism, and the finger cylinders are arranged on the connecting plate of the cylinder, two strainer symmetries set up between two outputs of pointing the cylinder, and the spoon handle upper portion of two strainers links firmly the output at pointing the cylinder, and the spoon head of two strainers sets up relatively, and it drives two strainers and is close to each other or keep away from to point the cylinder, and the strainers is opened has the small opening that is used for driping liquid, and the adjacent side contact of the spoon head of two strainers constitutes the cavity that holds of pearl or coconut palm.

Further, the vertical moving mechanism is driven by a rodless cylinder, and the output end of the rodless cylinder is fixedly connected with the strainer cylinder mounting plate through a cylinder connecting plate.

Further, the guide device further comprises a colander guide part, the colander guide part comprises a guide slide rail and a guide slide rail, the guide slide rail is vertically arranged on the side face, close to the window in the low-temperature box, of the installation vertical plate, the guide slide block is nested on the guide slide rail and slides along the guide slide rail, the guide slide block is fixedly connected with the colander cylinder installation plate, and the finger cylinder is arranged on one side, far away from the guide slide rail, of the colander cylinder installation plate.

Furthermore, get material mouth closing mechanism and include apron propelling movement cylinder, apron propelling movement cylinder sets up on mounting plate, and the jar pole of apron propelling movement cylinder orientation links firmly with the window apron, and the area of overlooking the projection of window apron is greater than the area of overlooking the projection of window in the low box, and the window apron is located the top of window in the low box, and the window apron is used for covering and closes the window in the low box.

Further, the strainer includes spoon handle and spoon head, and the inboard at the finger cylinder is fixed on the upper portion of spoon handle, and the lower part of spoon handle links firmly with the lateral surface of spoon head, and the central axis level of spoon head sets up, and the central axis of spoon head and the straight line mutually perpendicular of spoon handle place, and it has a plurality of radial small openings to open along its central axis's direction on spoon head surface, and open the lower part of spoon head has the bottom small opening, and the bottom small opening is along the trompil of spoon head curved surface tangential direction, and the aperture of bottom small opening is not enough that solid particle sees through in the feed section of thick bamboo.

Furthermore, go out the cup mechanism including automatic go out a cupule and milk tea cup spare parts storehouse, go out the cupule automatically and articulate robot telecommunication connection, milk tea cup spare parts storehouse sets up in the side top that automatic one side of going out the cupule and automatic go out the cupule and lie in milk tea cup spare parts storehouse, and automatic go out the cupule and install the output at a cup lift cylinder, go out the vertical setting of cup lift cylinder, the bottom of going out cup lift cylinder is installed on the main frame, goes out cup lift cylinder and drives automatic play cupule vertical motion.

Furthermore, still include coconut feeding section of thick bamboo and be used for the solid-liquid separation mechanism with coconut and sweet water separation, coconut feeding section of thick bamboo is arranged in one side of pearl feeding section of thick bamboo, and solid-liquid separation mechanism takes out the mixed liquid of coconut and sweet water and drips the sweet water from it from coconut feeding section of thick bamboo, then puts into the milk tea cup of joint robot centre gripping with pearl granule.

Furthermore, the milk tea maker further comprises a plurality of solid feeding mechanisms, and the solid feeding mechanisms are used for feeding biscuits, nut particles and dried fruit particles into milk tea clamped by the joint robot.

Furthermore, the cup discharging mechanism, the solid feeding area, the liquid feeding area and the cup sealing machine are sequentially arranged along the circumferential direction of the joint robot, and the solid feeding area comprises a sugar supply machine, an ice discharging machine, a solid feeding mechanism and a pearl feeding cylinder; the liquid loading zone includes a plurality of discharge taps.

Further, the joint robot comprises a joint robot body and a flange connecting plate, the flange connecting plate is installed on an output flange of the joint robot body, the gravity sensor is installed on the lower end face of the flange connecting plate, the clamping cylinder installing plate is fixed on the lower end face of the gravity sensor, the paper cup clamping cylinder is installed on the lower end face of the clamping cylinder installing plate, the paper cup clamping cylinder is horizontally arranged, the two paper cup clamping jaws are symmetrically installed at the output end of the paper cup clamping cylinder, and the circular arc diameters of the opposite side faces of the two paper cup clamping jaws are smaller than the caliber of the upper portion of the milk tea cup.

Further, every side of main frame, the up end, the lower terminal surface sets up the shrouding, the shrouding is used for keeping apart the inside and the external environment of main frame, the inside shrouding department that is close to of main frame sets up milk tea finished product and places the position and the straw material level of getting, milk tea finished product is placed the position and is used for placing the milk tea of completion, the straw is got and is located one side of milk tea finished product and places the position, milk tea finished product is placed the position and is got the adjacent shrouding department of material level and is opened and have corresponding cup window and straw window of getting, one side of getting cup window and straw window sets up respectively gets cup window opening and shutting mechanism, straw window opening and shutting mechanism, get cup window opening and shutting mechanism, straw window opening and shutting mechanism sets up the inside at the main frame, get cup window opening and shutting mechanism, straw window opening and shutting mechanism is used for opening or closing and getting cup window, straw window.

The beneficial effect of this scheme: (1) the device adopts a joint robot to replace the manual work, and is matched with a plurality of milk tea raw material feeding mechanisms, so that the automatic manufacture of milk tea is realized; (2) the special solid-liquid separation mechanism for the raw materials for making the fresh-keeping milk tea needing to be placed in sugar water or liquid ensures the accurate adding amount of the materials and the uniformity of the taste of the milk tea; (3) the milk tea box is provided with the low-temperature box, and milk tea raw materials which are not easy to store at normal temperature are placed, so that the replacement frequency of corresponding raw materials is reduced, and manual participation is reduced; (4) the method comprises the following steps that a gravity sensor is arranged at the tail end of the joint robot, the gravity sensor is used for detecting whether a cup falling device falls into a clamping jaw at the tail end of the joint robot or not, before the start, the value of the gravity sensor at the tail end is set to be zero, the value is compared with the value after the cup falling, if the gravity sensor does not change within the execution time of a cup falling instruction, the cup falling instruction is executed again until the cup falls correctly; in addition, the precision of the amount of the added materials is fed back, if the gravity sensor value is recorded first when ice is taken, the system can control the ice maker to drop the materials once, the gravity sensor value is read and stored after the command is executed, the value stored before is subtracted from the value at the moment, and if the absolute difference value is less than or equal to the ice amount to be calculated by the system, other materials are continuously taken; and if the absolute difference value is equal to the system allowable error, controlling the ice maker to discharge ice again, stopping discharging the ice until the ice meets the system requirement, and if the ice discharge amount still cannot meet the system requirement after the ice discharge command is continuously executed for three times, executing refund operation and simultaneously executing a fault alarm command to inform system maintenance personnel of timely processing.

Drawings

Fig. 1 is a perspective view of the overall structure of the device of the present invention.

FIG. 2 is a schematic perspective view of a solid-liquid separation mechanism in the apparatus of the present invention.

FIG. 3 is a schematic view of the internal structure of the low temperature box in the apparatus of the present invention.

Fig. 4 is a schematic perspective view of a strainer in the device of the present invention.

FIG. 5 is a schematic plan view of another view of the strainer of the present invention.

Fig. 6 is a partial structural schematic diagram of a cup discharging mechanism in the device of the invention.

Fig. 7 is a schematic perspective view of a joint robot in the device of the present invention.

Fig. 8 is a partial structure schematic diagram of a milk tea product placement position in the device of the present invention.

Fig. 9 is an external perspective view of the overall structure of the device of the present invention.

In the figure: 1. a main frame; 201. an automatic cup discharging device; 202. a milk tea cup spare part warehouse; 203. a cup dispenser mounting base plate; 204. a cup discharging lifting cylinder; 205. mounting a support; 3. a sugar supply machine; 4. an ice maker; 5. a tea barrel; 6. a solid feed mechanism; 7. a solid-liquid separation mechanism; 701. a strainer; 7011. a spoon handle; 7012. a bottom leak; 7013. a spoon head; 7014. a radial leak hole; 702. the strainer clamps the cylinder; 703. a strainer guide part; 705. a cylinder connecting plate; 706. a vertical movement mechanism; 707. a cover plate pushing cylinder; 708. a window cover plate; 709. mounting a bottom plate; 710. installing a vertical plate; 8. a cup sealing machine; 9. placing the milk tea finished product; 10. an articulated robot; 1001. a joint robot body; 1002. a flange connecting plate; 1003. a gravity sensor; 1004. a paper cup clamping cylinder; 1005. a paper cup clamping jaw; 1006. clamping the cylinder mounting plate; 11. a low temperature chamber; 1101. a window; 12. a pearl feeding cylinder; 13. a coconut feeding cylinder; 14. a milk supply cylinder; 15. a safety grating; 16. the cup taking window opening and closing mechanism; 17. a cup taking window 17; 18. a straw window; 19. and (5) an interactive display screen.

Detailed Description

As shown in fig. 1-9, a full-automatic milk tea making device comprises a low-temperature box 11, a joint robot 10, a pearl feed cylinder 12, a sugar supply machine 3, a hot water machine, an ice maker 4, a normal-temperature water supply machine, a tea bucket 5, a cup discharging mechanism, a cup sealing machine 8 and a plurality of discharging taps, wherein the low-temperature box 11, the pearl feed cylinder 12, the sugar supply machine 3, the hot water machine, the ice maker 4, the normal-temperature water supply machine, the tea bucket 5, the cup discharging mechanism and the cup sealing machine 8 are arranged around the joint robot 10 and inside a main frame 1, the pearl feed cylinder 12 and a milk feed cylinder 14 are both arranged in the low-temperature box 11, the discharging taps are used for supplying liquid raw materials to milk tea cups, the bottoms of the hot water discharging taps are sequentially connected with the tea bucket 5, the normal-temperature water supply machine and the milk feed cylinder 14 through water inlet pipes, a solid-liquid separating mechanism 7 is used for taking out a mixed liquid of pearl and sweet water from the pearl feed cylinder 12 and draining the sweet water, then the pearl particles are put into a milk tea cup clamped by the joint robot 10.

Other milk tea brewing raw materials which are easy to deteriorate or influence the taste at normal temperature, such as condensed milk, fruit milk or light milk oil and the like, can also be placed in the low-temperature box 11.

The top of the pearl feeding cylinder 12 is open, the top of the cryobox 11, which faces the top of the pearl feeding cylinder 12 and the coconut feeding cylinder 13, is provided with a window 1101, the window 1101 in the cryobox 11 is provided with a material taking opening and closing mechanism, the material taking opening and closing mechanism is used for opening or closing the window 1101 in the cryobox 11 so as to separate the interior of the cryobox 11 from the exterior thereof, the solid-liquid separation mechanism 7 is arranged above the cryobox 11, the solid-liquid separation mechanism 7 comprises a mounting bottom plate 709 and a mounting vertical plate 710, the mounting bottom plate 709 is horizontally arranged on the upper end surface of the cryobox 11, the mounting vertical plate 710 is vertically fixed on the upper end surface of the mounting bottom plate 709, the vertical moving mechanism 706 is arranged on the side surface of the mounting vertical plate 710 far away from the window 1101, the vertical moving mechanism 706 is vertically arranged, the mounting plate of the strainer cylinder is fixedly connected with the output end of the vertical moving mechanism 706, the mounting plate of the strainer cylinder and the vertical moving mechanism 706 are respectively arranged on the two opposite sides of the mounting vertical moving mechanism 710, the vertical installation of strainer centre gripping cylinder 702 is on cylinder connecting plate 705, two colanders 701 symmetry sets up between two outputs of strainer centre gripping cylinder 702, spoon handle 7011 upper portion of two colanders 701 links firmly the output at strainer centre gripping cylinder 702, the spoon head 7013 of two colanders 701 sets up relatively, strainer centre gripping cylinder 702 drives two colanders 701 and is close to each other or keeps away from, strainer 701 opens has the small opening that is used for driping liquid, the adjacent side contact of spoon head 7013 of two colanders 701 constitutes the cavity that holds of pearl or coconut.

In order to save the space occupied by the equipment and reduce the noise, the vertical moving mechanism 706 is driven by a rodless cylinder, and the output end of the rodless cylinder is fixedly connected with the mounting plate of the strainer cylinder through a cylinder connecting plate 705. For the stability of motion, still include strainer guide portion 703, strainer guide portion 703 includes direction slide rail and direction slide rail, and the direction slide rail is vertical to be installed and is close to the side of window 1101 in low temperature box 11 at installation riser 710, and the direction slider nestification is on the direction slide rail, and the direction slider slides along the direction slide rail, and the direction slider links firmly with strainer cylinder mounting panel, and strainer centre gripping cylinder 702 is installed in the one side that the direction slide rail was kept away from at strainer cylinder mounting panel.

As shown in fig. 2, the opening and closing mechanism of the material taking port includes a cover plate pushing cylinder 707, the cover plate pushing cylinder 707 is disposed on an installation bottom plate 709, a cylinder rod of the cover plate pushing cylinder 707 is fixedly connected to a window cover plate 708, an area of a top view projection of the window cover plate 708 is larger than an area of a top view projection of a window 1101 in the low temperature box 11, the window cover plate 708 is located above the window 1101 in the low temperature box 11, and the window cover plate 708 is used for covering the window 1101 in the low temperature box 11.

As shown in fig. 2, a cover pushing cylinder 707 is provided on one side of a window 1101 in the low temperature compartment 11, a cover guide mechanism for guiding the movement of the cover and a cover pushing cylinder 707 are provided on opposite sides of the window 1101 in the low temperature compartment 11, respectively, and the cover guide mechanism is provided between the upper end surface of the low temperature compartment 11 and the window cover 708. When corresponding materials need to be taken out from the pearl feeding cylinder 12 or the coconut feeding cylinder 13, the cover plate pushing cylinder 707 drives the window cover plate 708 to move towards the direction far away from the window 1101 in the low-temperature box 11 so as to open the window 1101, the vertically moving mechanism 706 drives the strainer cylinder mounting plate and the upper part thereof to move downwards, the lower strainer head 7013 of the strainer 701 penetrates through the window 1101 in the low-temperature box 11 and extends into the pearl feeding cylinder 12 or the coconut feeding cylinder 13, and the number of the solid-liquid separation mechanisms 7 in the automatic milk tea manufacturing equipment is set in multiple groups.

The milk tea making raw materials generally also include coconut, the coconut is put and is kept fresh in the syrup that adds the food additive, correspondingly, still include coconut feed section of thick bamboo 13, the coconut mixed liquid is put in coconut feed section of thick bamboo 13, still include coconut feed section of thick bamboo 13 and be used for the solid-liquid separation mechanism 7 with coconut and syrup separation, coconut feed section of thick bamboo 13 is arranged in one side of pearl feed section of thick bamboo 12, solid-liquid separation mechanism 7 takes out the mixed liquid of coconut and syrup from coconut feed section of thick bamboo 13 and drips the syrup from it, then puts the pearl granule into the milk teacup of joint robot 10 centre gripping.

The milk tea is made of other solid raw materials which need to be preserved in liquid, and a corresponding number of solid-liquid separation mechanisms 7 are added.

The milk tea is set according to the types of raw materials needing solid separation in milk tea ingredients, pearl and/or coconut are necessary in the preparation of common milk tea, and the number of the solid-liquid separation equipment is two groups.

The strainer 701 comprises a strainer handle 7011 and a strainer head 7013, the upper part of the strainer handle 7011 is fixed on the inner side of a strainer clamping cylinder 702, the lower part of the strainer handle 7011 is fixedly connected with the outer side surface of a strainer head 7013, the central axis of the strainer head 7013 is horizontally arranged, the central axis of the strainer head 7013 is perpendicular to the straight line of the strainer handle 7011, a plurality of radial leak holes 7014 are formed in the surface of the strainer head 7013 along the direction of the central axis of the surface of the strainer head 7013, a bottom leak hole 7012 is formed in the lower part of the strainer head 7013, the bottom leak hole 7012 is formed in the tangential direction of the curved surface of the strainer head 7013, and the hole diameter of the bottom leak hole 7012 is not large enough for solid particles in a feeding cylinder to penetrate through.

As shown in fig. 7, the joint robot 10 includes a joint robot body 1001 and a flange connection plate 1002, the flange connection plate 1002 is mounted on an output flange of the joint robot body 1001, a base of a gravity sensor 1003 is mounted on a lower end surface of the flange connection plate 1002, a clamping cylinder mounting plate 1006 is fixed on a lower end surface of a gravity sensor 1003, a cup clamping cylinder 1004 is mounted on a lower end surface of the clamping cylinder mounting plate 1006, a sensing surface of the gravity sensor 1003 is located on the lower end surface, the gravity sensor 1003 senses a vertical acting force, the gravity sensor 1003 senses the clamping cylinder mounting plate 1006 and the gravity mounted on the clamping cylinder mounting plate 1006, when a cup is not dropped, a value of the gravity sensor is set to zero, and compared with a value after the cup is dropped, if the gravity sensor does not change within a cup dropping execution time, a cup dropping command is executed again until the cup is dropped correctly; on the other hand, the gravity sensor is used for feeding back the accuracy of the amount of the added materials, if the gravity sensor records the value of the gravity sensor firstly when ice is taken, the system can control the ice maker to drop the material once, the value of the gravity sensor is read and stored after the command is executed, the value stored before is subtracted from the value at the moment, and if the absolute difference value is less than or equal to the value of the ice amount to be solved by the system, other materials are continuously taken; and if the absolute difference is greater than the system allowable error, controlling the ice maker to discharge ice again, stopping discharging the ice until the system requirement is met, and if the ice discharge amount still cannot meet the system requirement after the ice discharge command is continuously executed for three times, executing refund operation and simultaneously executing a fault alarm command to inform system maintenance personnel of timely processing. The paper cup clamping cylinder 1004 is horizontally arranged, the two paper cup clamping jaws 1005 are symmetrically arranged at the output end of the paper cup clamping cylinder 1004, and the circular arc diameter of the opposite side surfaces of the two paper cup clamping jaws 1005 is smaller than the caliber of the upper part of the milk tea cup. The bellied diameter of paper cup rim of a cup outer lane is greater than the circular arc diameter of two paper cup clamping jaw 1005 facies laterally, the bellied lower terminal surface of paper cup rim of a cup outer lane and the contact of paper cup clamping jaw 1005 up end, paper cup clamping jaw 1005 medial surface and the contact of the lateral surface that the paper cup is close to the rim of a cup, under this kind of centre gripping mode, the paper cup receives the frictional force that paper cup clamping jaw 1005 ascending holding power and side clamping force lead to and the gravity of vertical direction balanced mutually, compare in the single clamping-force of paper cup outside curved surface and the frictional force that produces can prevent that the clamping force is too big and the paper cup body that leads to warp.

With the addition of the raw materials in the milk tea cup, particularly the liquid raw materials, the force of the milk tea cup which is vertically upwards gathered needs to be increased so as to maintain the stress balance of the milk tea cup.

The joint robot body 1001 has four or more degrees of freedom, and the shutdown joint robot body 1001 can drive the flange connecting plate 1002 and the upper part thereof to move along the X axis, the Y axis and the Z axis and rotate around the Z axis.

As shown in fig. 6, the cup discharging mechanism includes an automatic cup discharging device 201 and a milk tea cup spare part warehouse 202, the automatic cup discharging device 201 is in telecommunication connection with the joint robot 10, the milk tea cup spare part warehouse 202 is arranged on one side of the automatic cup discharging device 201, the automatic cup discharging device 201 is located above the side of the milk tea cup spare part warehouse 202, a vertical through hole is formed in a cup discharging device mounting substrate 203, the automatic cup discharging device 201 is vertically installed in the vertical through hole of the automatic cup discharging device 201, and milk tea cups are neatly stacked and placed in the automatic cup discharging device 201. The other end of the cup discharging device mounting substrate 203 is mounted at the output end of the cup discharging lifting cylinder 204, the cup discharging lifting cylinder 204 is vertically arranged, the bottom of the cup discharging lifting cylinder 204 is fixed on the main frame 1 through a mounting support 205, and the cup discharging lifting cylinder 204 drives the automatic cup discharging device 201 to vertically move.

Go out cup lift cylinder 204 and drive automatic play cupule 201 and go upward, when automatic play cupule 201 is located the high-order, joint robot body 1001 drives paper cup clamping jaw 1005 and moves to automatic play cupule 201 under, and a paper cup of automatic play cupule 201 single whereabouts of control system control, paper cup centre gripping cylinder 1004 drive both sides paper cup clamping jaw 1005 keep away from each other then the return with the paper cup centre gripping between two paper cup clamping jaws 1005.

When the single-stack paper cup in the automatic paper cup discharging device 201 is used up, the paper cup discharging lifting cylinder 204 drives the paper cup discharging device mounting base plate 203 and the upper part thereof to move downwards, and the joint robot body 1001 grabs the outer side surface of the lower part of the single-stack paper cup from the milk tea cup spare part library 202 and places the single-stack paper cup in the automatic paper cup discharging device 201. After the joint robot 10 finishes cup feeding on the automatic cup discharging device 201, the cup discharging lifting cylinder 204 drives the automatic cup discharging device 201 to move upwards to a high position, and the automatic cup discharging is finished after the joint robot 10 is in place.

In order to adapt to diversified milk tea preparation, the automatic milk tea preparation equipment further comprises a plurality of solid feeding mechanisms 6, the solid feeding mechanisms 6 are used for feeding biscuits, nut particles and dried fruit particles into milk tea clamped by the joint robot 10, and the solid feeding mechanisms 6 can adopt the existing gear propelling type, spiral propelling type or swinging type to dig the milk tea.

The cup discharging mechanism, the solid feeding area, the liquid feeding area and the cup sealing machine 8 are sequentially arranged along the circumferential direction of the joint robot 10, and the solid feeding area comprises a sugar supply machine 3, an ice discharging machine, a solid feeding mechanism 6 and a pearl feeding cylinder 12; the liquid loading zone includes a plurality of discharge taps. The joint robot 10 grabs the milk tea cup from the cup discharging mechanism and drives the milk tea cup to sequentially pass through the solid feeding area and the liquid feeding area, and the milk tea cup is fed into the cup sealing machine 8 to be automatically sealed after feeding is completed. According to the charging sequence of solid particles and liquid particles, the liquid splashing when the large solid particles are put into the liquid particles can be avoided, the preparation process of the product is cleaner and more sanitary, and the component proportion of the milk tea is more accurate. Preferably, the sugar feeder 3, the ice dispenser, the solid feeding mechanism 6 and the pearl feeding cylinder 12 in the solid feeding area are sequentially arranged along the axial direction of the joint robot 10, solid materials are filled according to the size of solid particles or the degree of splashing easily, the cup feeding mechanism, the solid feeding area, the liquid feeding area and the cup sealing machine 8 are sequentially arranged along the circumferential direction of the joint robot 10, the movement stroke of the joint robot body 1001 can be reduced, and the feeding sequence is more reasonable.

In order to make the automatic milk tea making equipment more sanitary and safer, sealing plates are arranged on each side surface, the upper end surface and the lower end surface of the main frame 1 and used for isolating the inside of the main frame 1 from the external environment, so that dust and the like are prevented from entering the inside of the main frame 1. The milk tea machine is characterized in that a milk tea finished product placing position 9 and a straw material taking position are arranged in the main frame 1 close to a sealing plate, the milk tea finished product placing position 9 is used for placing milk tea which is finished in manufacturing, the straw material taking position is located on one side of the milk tea finished product placing position 9, a corresponding cup taking window 17 and a corresponding straw window 18 are arranged in the sealing plate adjacent to the straw material taking position 9, one side of the cup taking window 17 and one side of the straw window 18 are respectively provided with a cup taking window opening and closing mechanism 16, a straw window opening and closing mechanism 18, the cup taking window opening and closing mechanism 16, the straw window opening and closing mechanism 18 is arranged in the main frame 1, the cup taking window opening and closing mechanism 16, the straw window opening and closing mechanism 18 is used for opening or closing the cup taking window 17, and the straw window 18. After the single-cup milk tea is manufactured, the joint robot 10 places the milk tea sealed in the cup into the milk tea finished product placing position 9, the cup taking window 17 and the straw window 18 are opened, and a customer takes out the milk tea in the milk tea finished product placing position 9 from the cup taking window 17 and takes out the straw from the straw window 18.

The straw material taking position of the automatic milk tea making equipment adopts common straw storage equipment in the market, and the straw material taking position is convenient to take.

In order to ensure the safety of taking materials by customers, safety gratings 15 are arranged on two sides of the milk tea finished product placing position 9 close to the sealing plate, the safety gratings 15 are used for detecting whether the customers stretch into milk tea to take milk tea, and the cup taking window opening and closing mechanism 16 controls the opening or closing of the cup taking window 17 according to the detection result of the safety gratings 15.

The automatic milk tea making equipment further comprises an interactive display screen 19, wherein the interactive display screen 19 is used for displaying optional milk tea types and flavors, and a payment program, an ordering program and an order processing program are integrated in the interactive display screen 19.

The automatic milk tea preparation process of the automatic milk tea preparation equipment is characterized by comprising the following steps of: step 1: converting the order information into order information that can be recognized by the joint robot 10 according to the processing result of the order processing program; step 2: the joint robot 10 acquires a new order, starts to move to a corresponding cup taking point from an initial position in a joint mode, the automatic cup dropping device starts to drop the cup, and the joint robot 10 clamps the paper cup; and step 3: after the articulated robot 10 clamps the cup, judging the raw materials to be added according to the details of the order, and sequentially moving the raw materials to the corresponding solid raw material supply mechanisms to wait for blanking; and 4, step 4: the joint robot 10 moves to a liquid feeding area, and corresponding liquid is filled into the milk tea cup; and 5: after the milk tea is prepared, the milk tea is placed in the milk tea finished product placing position 9, the interactive display screen 19 displays that the preparation is completed and informs a customer to take away the milk tea, and meanwhile, the joint robot 10 moves to return to the starting point.

The invention and its embodiments have been described above schematically, without limitation, and the illustrations shown in the drawings are only one embodiment of the invention, and the actual construction may be varied in many ways. Without departing from the spirit of the invention, the invention also falls into the protection scope of the invention without creatively designing the similar structural mode and implementation example to the technical proposal.