阅读说明：本技术 一种用于全自动奶茶机的奶茶加工方法 (Milk tea processing method for full-automatic milk tea machine ) 是由 陈卫华 于 2020-08-05 设计创作，主要内容包括：本发明公开了一种用于全自动奶茶机的奶茶加工方法,首先,取料系统将奶茶原料送至接料容器中；取杯系统将奶茶杯逐个放置在第一搬运装置中；接着,接料装置带动接料容器运动到与摇匀系统对接的位置处,摇匀系统对接料容器内的奶茶原料进行摇匀；随后,接料装置将接料容器输送到装杯工位处；接着,第一搬运装置将奶茶杯搬运到装杯工位处,倒料系统将奶茶倒入到奶茶杯中；第一搬运装置将奶茶杯交接给第二搬运装置,所述第二搬运装置将该奶茶杯搬运到封盖系统中进行封盖；最后,所述第二搬运装置将奶茶杯搬运到第三搬运装置处,由第三搬运装置将奶茶杯搬运到成品输送装置中。本发明的奶茶加工方法可以实现奶茶的自动制作,且效率更高。(The invention discloses a milk tea processing method for a full-automatic milk tea machine, which comprises the following steps of firstly, feeding milk tea raw materials into a material receiving container by a material taking system; the milk tea cups are placed in a first conveying device one by the milk tea cup taking system; then, the material receiving device drives the material receiving container to move to a position where the material receiving container is in butt joint with the shaking system, and the shaking system shakes milk tea raw materials in the material receiving container evenly; then, the material receiving device conveys the material receiving container to a cup loading station; then, the milk tea cups are conveyed to a cup loading station by the first conveying device, and milk tea is poured into the milk tea cups by the milk tea pouring system; the first conveying device transfers the milk tea cups to the second conveying device, and the second conveying device conveys the milk tea cups to the capping system for capping; finally, the second conveying device conveys the milk tea cups to a third conveying device, and the third conveying device conveys the milk tea cups to a finished product conveying device. The milk tea processing method can realize automatic milk tea making and has higher efficiency.)

1. A milk tea processing method for a full-automatic milk tea machine is characterized by comprising the following steps:

(1) the material taking system takes out the raw materials for making the milk tea according to the set weight parts and sends the raw materials into a material receiving container according to the difference of the milk tea to be made; meanwhile, after the milk tea cups are sent out by the cup sending device, the milk tea cups sent out by the cup sending device are taken out one by the cup taking device and are placed in the first conveying device;

(2) the material receiving device drives the material receiving container to move to a position where the material receiving container is in butt joint with the shaking system, and a shaking driving mechanism in the shaking system drives the shaking manipulator to move so as to shake milk tea raw materials in the material receiving container uniformly; then, the shaking driving mechanism drives the shaking manipulator to place the material receiving container back into the material receiving device, and the material receiving device conveys the material receiving container to a cup loading station;

(3) the first carrying device carries the milk tea cups to the cup loading stations, and the material pouring driving mechanism drives the material pouring rotating plate to rotate, so that the material receiving container is poured, and milk tea is poured into the milk tea cups positioned at the cup loading stations; the first conveying device drives the milk tea cups filled with milk tea to move to a cup taking station connected with the second conveying device, and the second conveying device conveys the milk tea cups to the cover sealing system;

(4) the cover sealing system is used for sealing the milk tea cup filled with milk tea; after the cover is closed, the milk tea cup is taken out of the cover closing system by the second conveying device, the milk tea cup is conveyed to a third conveying device, and the milk tea cup is conveyed to a finished product conveying device by the third conveying device;

(5) and the finished product conveying device conveys the processed milk tea cups out, so that the whole process of making milk tea is completed.

2. The milk tea processing method for the full-automatic milk tea machine according to claim 1, wherein in the step (1), the material taking system takes out raw materials for making milk tea according to the set amount and sends the raw materials to a material receiving container according to different milk tea to be made:

(1-11) driving the feeding boxes to reach the lower ends of the corresponding solid raw material storage boxes by the third transverse driving mechanism, opening feeding ports at the lower ends of the solid raw material storage boxes, and enabling the solid raw materials stored in the solid raw material storage boxes to flow out of the feeding ports and fall into accommodating grooves of the feeding boxes; when the weighing module below the feeding box detects that the solid raw material received in the feeding box reaches the set weight, the feeding port of the solid raw material storage box is closed;

(1-12) driving the feeding box to move to the discharging station by the third transverse driving mechanism, and driving the feeding box to rotate around a second rotating shaft by the second rotary driving mechanism, so that a discharging port of the feeding box vertically and downwards faces to a material receiving container at the discharging station, and solid raw materials in the feeding box are poured into the material receiving container;

(1-13) the liquid raw materials in the liquid raw material storage mechanism are conveyed to a material receiving container of a material discharging station by a conveying pump through a conveying pipe, so that the material taking work for making the milk tea is completed.

3. The milk tea processing method for the full-automatic milk tea machine according to claim 1, wherein in the step (1), after the milk tea cups are delivered by the cup delivery device, the milk tea cups delivered by the cup delivery device are taken out one by the cup taking device and placed in the first transporting device, and the steps are as follows:

(1-21) the milk tea cups stacked in the storage cavity of the storage box are driven by the cup feeding driving mechanism to move towards the outlet of the storage box, and the moving distance is the distance between two adjacent milk tea cups;

(1-22), when the milk tea cup positioned at the outlet of the storage box extends out of the outlet of the storage box, the limiting driving mechanism drives the first clamping jaw and the second clamping jaw to be clamped at a gap between the first milk tea cup and the second milk tea cup positioned at the outlet of the storage box;

(1-23) the milk tea cups positioned at the outlet of the storage box are taken out one by a cup taking manipulator and are placed at a first carrying device.

4. The milk tea processing method for the full-automatic milk tea machine according to the claim 3, characterized in that in the step (1-23), the cup taking driving mechanism drives the cup taking mechanical hand to move towards the direction of the storage box, in the process, the cup taking mechanical hand drives the suction rod to vertically rotate to the horizontal position, and the suction head of the suction rod faces towards the storage box; the cup taking driving mechanism continues to drive the cup taking manipulator to move, so that a suction rod on the cup taking manipulator enters the milk tea cup and sucks the inner bottom surface of the milk tea cup; then, the milk tea cup taking driving mechanism drives the milk tea cup taking manipulator to move reversely to take out the milk tea cup; and finally, the cup taking driving mechanism drives the cup taking mechanical arm to move towards the appointed station, and meanwhile, the cup taking mechanical arm drives the milk tea cup to rotate to a vertical state and place the milk tea cup at a bearing table of the appointed station.

5. The milk tea processing method for the full-automatic milk tea machine according to claim 4, characterized in that a transfer system is arranged between the first handling device and the cup taking device, and the transfer system transfers the milk tea cups placed at the designated stations by the cup taking device to milk tea cup jackets in the first handling device.

6. The milk tea processing method for the full-automatic milk tea machine according to claim 1, characterized in that in the step (2), the shaking manipulator is provided with a shaking locking portion which is matched with the container opening of the material receiving container, and when the shaking manipulator grabs the material receiving container, the shaking locking portion is matched with the container opening of the material receiving container and blocks the container opening of the material receiving container.

7. The milk tea processing method for the fully automatic milk tea machine according to claim 1, wherein in the step (3), the first carrying means is carried out in the following steps;

(3-1) the milk tea cup conveying motor drives a first screw rod to rotate, so that a first screw rod nut, a conveying seat connected with the first screw rod nut and a milk tea cup jacket on the conveying seat are driven to move to a cup placing station connected with a cup taking device, the cup taking device takes out a milk tea cup from a cup conveying device, and the milk tea cup is placed in the milk tea cup jacket;

(3-2) the milk tea cup conveying mechanism drives a milk tea cup clamping sleeve and a milk tea cup placed at the milk tea cup clamping sleeve to move to a cup loading station along the length direction of the first machine frame, in the process, a clamping gear at the lower end of the milk tea cup clamping sleeve is matched with a clamping rack arranged on the first machine frame, and under the driving of the milk tea cup conveying mechanism, the clamping gear moves upwards while rotating, the milk tea cup clamping sleeve is tightened, and the milk tea cup is clamped in a self-adaptive mode;

(3-3) after the milk tea cup conveying mechanism drives the milk tea cup to move to the cup loading station, the material pouring system pours the prepared milk tea into the milk tea cup;

and (3-4) the milk tea cup conveying mechanism conveys milk tea cups containing milk tea to a cup taking station connected with the second conveying device, the second conveying device conveys the milk tea cups to a cover sealing system, and the cover sealing system realizes cover sealing of the milk tea cups.

8. The milk tea processing method for the fully automatic milk tea machine according to claim 1, wherein in the step (4), the conveying step of the second conveying device is:

(4-11) driving a second screw rod to rotate by a first transverse driving motor so as to drive a second screw rod nut and a carrying manipulator connected with the second screw rod nut to transversely move;

(4-12) when the carrying manipulator moves to the position above the cup taking station, the first vertical driving mechanism drives the first clamping mechanism to move downwards, and the first clamping driving mechanism in the first clamping mechanism drives the two clamping jaws to clamp the milk tea cup; the first vertical driving mechanism drives the milk tea cup to move upwards;

(4-13) the first transverse driving mechanism drives the carrying manipulator to move to the cover sealing system, and the milk tea cup is placed on a conveying piece of the cover sealing system; the conveying driving mechanism drives the conveying piece and the milk tea cup on the conveying piece to move to a capping station, and the milk tea cup is capped on the milk tea cup by a capping machine of the capping system;

(4-14) the conveying driving mechanism drives the conveying piece to move so as to convey the covered milk tea cup to a position where the covered milk tea cup is connected with the second conveying device, the first vertical driving mechanism drives the first clamping mechanism to vertically move to a position below the cup edge of the milk tea cup, and the first clamping driving mechanism drives the clamping parts of the two clamping jaws to penetrate through the groove in the conveying piece and to be in contact with the outer wall of the milk tea cup;

(4-15) driving the first clamping mechanism to move upwards by the first vertical driving mechanism, and hooking two clamping jaws of the first clamping mechanism below the brim of the milk teacup so as to take the milk teacup out of the cover sealing system;

and (4-16) driving the carrying manipulator to move by the first transverse driving mechanism, and delivering the milk tea cups to a third carrying device.

9. The milk tea processing method for the fully automatic milk tea machine according to claim 1, wherein in the step (4), the step of transferring the milk tea cup after the cover sealing by the second conveying device to the third conveying device comprises:

(4-21) the second transverse driving mechanism drives the carrying module to move, and when the second transverse driving mechanism drives the carrying module to reach a position where the second transverse driving mechanism is connected with the second carrying device, the bearing driving mechanism drives the bearing plate to rotate to a horizontal state;

(4-22) the milk tea cup is placed on a bearing plate below the two second clamping mechanisms of the third conveying device by the second conveying device, and then the second clamping cylinders of the two second clamping driving mechanisms respectively drive the two clamping pieces to move oppositely to clamp the milk tea cup;

(4-23) when the second transverse driving mechanism drives the carrying module to reach the upper part of the finished product conveying device, the second vertical motor drives the fourth screw rod to rotate, so that the fourth screw rod nut and the clamping seat connected with the fourth screw rod nut are driven to move downwards, and the distance between the bottom of the milk tea cup and the finished product conveying device is ensured to be larger than the length of the supporting plate;

(4-24), the bearing driving motors on the two sides of the bearing plate drive the rollers to rotate, and the bearing plate is driven by the connecting rod to vertically turn over and keep in a vertical state, so that the bearing plate is separated from the bottom of the milk tea cup;

(4-25) the second vertical driving mechanism continues to drive the clamping seat to move downwards until the bottom of the milk tea cup is contacted with the conveying plane of the finished product conveying device; the second clamping cylinders of the two second clamping driving mechanisms respectively drive the two clamping pieces to move reversely to loosen the milk tea cups, so that the milk tea cups are placed on the finished product conveying device;

(4-26), a second vertical driving mechanism and a third vertical driving mechanism respectively drive the clamping seat and the bearing seat to return to the initial positions, and the second transverse driving mechanism drives the carrying module to carry repeatedly.

Technical Field

The invention relates to a milky tea machine, in particular to a milky tea processing method for a full-automatic milky tea machine.

Background

The milk and the tea are fused to produce the milk tea with milk flavor and tea aroma. The milk tea has the fragrance of milk tea in China, India, England, Singapore, Malaysia and other places in the world, has various tastes, and is favored by different people. Such as indian milk tea, known as special flavors with mosalas; hong Kong milky tea is known as silk stocking milky tea; the pearl milk tea in Taiwan is unique. The milk tea has double nutrition of milk and tea, is one of the common food, and is popular in the world.

The existing milk tea making method is generally a site making mode for milk tea shop workers, the existing milk tea making steps mainly comprise the steps of adding a water agent, adding powder, adding sauce, stirring, adding a milk cover, discharging from a cup and the like, the series of steps are completed by depending on the milk tea shop workers, and the repeated mechanical work books can be solved by a robot. In addition, raw material addition errors and uneven stirring are easy to occur manually in the manufacturing process, and even the problems of insanitation in the processing process of store personnel and the like can occur.

Therefore, many automatic milk tea machines are available in the market, for example, the invention patent application with the application number of 201911276201.3 discloses an "automatic milk tea robot", and the invention patent application with the application publication number of CN110638331A discloses an "automatic milk tea machine"; the automatic milk tea robot and the automatic milk tea machine can realize automatic processing of milk tea, so that the efficiency and the quality of milk tea making are improved.

However, the efficiency of making milk tea by the existing automatic milk tea machine is still not high, and improvement is still needed.

Disclosure of Invention

The invention aims to overcome the defects of the prior art and provides the milk tea processing method for the full-automatic milk tea machine, the milk tea processing method can automatically realize the manufacture of milk tea, and the efficiency is higher.

The technical scheme for solving the technical problems is as follows:

a milk tea processing method for a full-automatic milk tea machine comprises the following steps:

(1) the material taking system takes out the raw materials for making the milk tea according to the set weight parts and sends the raw materials into a material receiving container according to the difference of the milk tea to be made; meanwhile, after the milk tea cups are sent out by the cup sending device, the milk tea cups sent out by the cup sending device are taken out one by the cup taking device and are placed in the first conveying device;

(2) the material receiving device drives the material receiving container to move to a position where the material receiving container is in butt joint with the shaking system, and a shaking driving mechanism in the shaking system drives the shaking manipulator to move so as to shake milk tea raw materials in the material receiving container uniformly; then, the shaking driving mechanism drives the shaking manipulator to place the material receiving container back into the material receiving device, and the material receiving device conveys the material receiving container to a cup loading station;

(3) the first carrying device carries the milk tea cups to the cup loading stations, and the material pouring driving mechanism drives the material pouring rotating plate to rotate, so that the material receiving container is poured, and milk tea is poured into the milk tea cups positioned at the cup loading stations; the first conveying device drives the milk tea cups filled with milk tea to move to a cup taking station connected with the second conveying device, and the second conveying device conveys the milk tea cups to the cover sealing system;

(4) the cover sealing system is used for sealing the milk tea cup filled with milk tea; after the cover is closed, the milk tea cup is taken out of the cover closing system by the second conveying device, the milk tea cup is conveyed to a third conveying device, and the milk tea cup is conveyed to a finished product conveying device by the third conveying device;

(5) and the finished product conveying device conveys the processed milk tea cups out, so that the whole process of making milk tea is completed.

Preferably, in the step (1), the taking system takes out the raw materials for making the milk tea according to the set amount and sends the raw materials to the material receiving container according to the difference of the milk tea to be made:

(1-11) driving the feeding boxes to reach the lower ends of the corresponding solid raw material storage boxes by the third transverse driving mechanism, opening feeding ports at the lower ends of the solid raw material storage boxes, and enabling the solid raw materials stored in the solid raw material storage boxes to flow out of the feeding ports and fall into accommodating grooves of the feeding boxes; when the weighing module below the feeding box detects that the solid raw material received in the feeding box reaches the set weight, the feeding port of the solid raw material storage box is closed;

(1-12) driving the feeding box to move to the discharging station by the third transverse driving mechanism, and driving the feeding box to rotate around a second rotating shaft by the second rotary driving mechanism, so that a discharging port of the feeding box vertically and downwards faces to a material receiving container at the discharging station, and solid raw materials in the feeding box are poured into the material receiving container;

(1-13) the liquid raw materials in the liquid raw material storage mechanism are conveyed to a material receiving container of a material discharging station by a conveying pump through a conveying pipe, so that the material taking work for making the milk tea is completed.

Preferably, in the step (1), after the milk tea cups are delivered by the cup delivery device, the milk tea cups delivered by the cup delivery device are taken out one by the cup taking device and placed in the first conveying device, and the steps are as follows:

(1-21) the milk tea cups stacked in the storage cavity of the storage box are driven by the cup feeding driving mechanism to move towards the outlet of the storage box, and the moving distance is the distance between two adjacent milk tea cups;

(1-22), when the milk tea cup positioned at the outlet of the storage box extends out of the outlet of the storage box, the limiting driving mechanism drives the first clamping jaw and the second clamping jaw to be clamped at a gap between the first milk tea cup and the second milk tea cup positioned at the outlet of the storage box;

(1-23) the milk tea cups positioned at the outlet of the storage box are taken out one by a cup taking manipulator and are placed at a first carrying device.

Preferably, in the step (1-23), the cup taking driving mechanism drives the cup taking manipulator to move towards the direction of the storage box, in the process, the cup taking manipulator drives the suction rod to vertically rotate to a horizontal position, and the suction head of the suction rod faces towards the storage box; the cup taking driving mechanism continues to drive the cup taking manipulator to move, so that a suction rod on the cup taking manipulator enters the milk tea cup and sucks the inner bottom surface of the milk tea cup; then, the milk tea cup taking driving mechanism drives the milk tea cup taking manipulator to move reversely to take out the milk tea cup; and finally, the cup taking driving mechanism drives the cup taking mechanical arm to move towards the appointed station, and meanwhile, the cup taking mechanical arm drives the milk tea cup to rotate to a vertical state and place the milk tea cup at a bearing table of the appointed station.

Preferably, a transfer system is arranged between the first conveying device and the cup taking device, and the transfer system is used for transferring milk tea cups placed at the designated stations by the cup taking device to milk tea cup jackets in the first conveying device.

Preferably, in the step (2), a shaking locking portion matched with the container opening of the material receiving container is arranged on the shaking manipulator, and when the shaking manipulator grabs the material receiving container, the shaking locking portion is matched with the container opening of the material receiving container and blocks the container opening of the material receiving container.

Preferably, in the step (3), the conveying step of the first conveying device is;

(3-1) the milk tea cup conveying motor drives a first screw rod to rotate, so that a first screw rod nut, a conveying seat connected with the first screw rod nut and a milk tea cup jacket on the conveying seat are driven to move to a cup placing station connected with a cup taking device, the cup taking device takes out a milk tea cup from a cup conveying device, and the milk tea cup is placed in the milk tea cup jacket;

(3-2) the milk tea cup conveying mechanism drives a milk tea cup clamping sleeve and a milk tea cup placed at the milk tea cup clamping sleeve to move to a cup loading station along the length direction of the first machine frame, in the process, a clamping gear at the lower end of the milk tea cup clamping sleeve is matched with a clamping rack arranged on the first machine frame, and under the driving of the milk tea cup conveying mechanism, the clamping gear moves upwards while rotating, the milk tea cup clamping sleeve is tightened, and the milk tea cup is clamped in a self-adaptive mode;

(3-3) after the milk tea cup conveying mechanism drives the milk tea cup to move to the cup loading station, the material pouring system pours the prepared milk tea into the milk tea cup;

and (3-4) the milk tea cup conveying mechanism conveys milk tea cups containing milk tea to a cup taking station connected with the second conveying device, the second conveying device conveys the milk tea cups to a cover sealing system, and the cover sealing system realizes cover sealing of the milk tea cups.

Preferably, in the step (4), the second conveying device comprises:

(4-11) driving a second screw rod to rotate by a first transverse driving motor so as to drive a second screw rod nut and a carrying manipulator connected with the second screw rod nut to transversely move;

(4-12) when the carrying manipulator moves to the position above the cup taking station, the first vertical driving mechanism drives the first clamping mechanism to move downwards, and the first clamping driving mechanism in the first clamping mechanism drives the two clamping jaws to clamp the milk tea cup; the first vertical driving mechanism drives the milk tea cup to move upwards;

(4-13) the first transverse driving mechanism drives the carrying manipulator to move to the cover sealing system, and the milk tea cup is placed on a conveying piece of the cover sealing system; the conveying driving mechanism drives the conveying piece and the milk tea cup on the conveying piece to move to a capping station, and the milk tea cup is capped on the milk tea cup by a capping machine of the capping system;

(4-14) the conveying driving mechanism drives the conveying piece to move so as to convey the covered milk tea cup to a position where the covered milk tea cup is connected with the second conveying device, the first vertical driving mechanism drives the first clamping mechanism to vertically move to a position below the cup edge of the milk tea cup, and the first clamping driving mechanism drives the clamping parts of the two clamping jaws to penetrate through the groove in the conveying piece and to be in contact with the outer wall of the milk tea cup;

(4-15) driving the first clamping mechanism to move upwards by the first vertical driving mechanism, and hooking two clamping jaws of the first clamping mechanism below the brim of the milk teacup so as to take the milk teacup out of the cover sealing system;

and (4-16) driving the carrying manipulator to move by the first transverse driving mechanism, and delivering the milk tea cups to a third carrying device.

Preferably, in the step (4), the second conveying device transfers the covered milky tea cup to a third conveying device, and the step of transferring the covered milky tea cup to the third conveying device includes:

(4-21) the second transverse driving mechanism drives the carrying module to move, and when the second transverse driving mechanism drives the carrying module to reach a position where the second transverse driving mechanism is connected with the second carrying device, the bearing driving mechanism drives the bearing plate to rotate to a horizontal state;

(4-22) the milk tea cup is placed on a bearing plate below the two second clamping mechanisms of the third conveying device by the second conveying device, and then the second clamping cylinders of the two second clamping driving mechanisms respectively drive the two clamping pieces to move oppositely to clamp the milk tea cup;

(4-23) when the second transverse driving mechanism drives the carrying module to reach the upper part of the finished product conveying device, the second vertical motor drives the fourth screw rod to rotate, so that the fourth screw rod nut and the clamping seat connected with the fourth screw rod nut are driven to move downwards, and the distance between the bottom of the milk tea cup and the finished product conveying device is ensured to be larger than the length of the supporting plate;

(4-24), the bearing driving motors on the two sides of the bearing plate drive the rollers to rotate, and the bearing plate is driven by the connecting rod to vertically turn over and keep in a vertical state, so that the bearing plate is separated from the bottom of the milk tea cup;

(4-25) the second vertical driving mechanism continues to drive the clamping seat to move downwards until the bottom of the milk tea cup is contacted with the conveying plane of the finished product conveying device; the second clamping cylinders of the two second clamping driving mechanisms respectively drive the two clamping pieces to move reversely to loosen the milk tea cups, so that the milk tea cups are placed on the finished product conveying device;

(4-26), a second vertical driving mechanism and a third vertical driving mechanism respectively drive the clamping seat and the bearing seat to return to the initial positions, and the second transverse driving mechanism drives the carrying module to carry repeatedly.

Compared with the prior art, the invention has the following beneficial effects:

1. the milk tea processing method for the full-automatic milk tea machine can automatically realize the whole processing process of the milk tea, does not need manual operation, and has higher production efficiency and lower cost.

2. The milk tea processing method for the full-automatic milk tea machine can automatically select the raw materials with corresponding parts according to different milk teas to be prepared, so that the error can be reduced, and the quality of the prepared milk tea is ensured.

3. The milk tea processing method for the full-automatic milk tea machine can form the flow line operation of milk tea, thereby improving the yield of the milk tea and having good market prospect.

Drawings

Fig. 1 to 2 are schematic structural views of a first embodiment of a full-automatic milk tea machine to which a milk tea processing method of the present invention is applied, wherein fig. 1 is a schematic perspective structural view, and fig. 2 is a top view.

Fig. 3-4 are schematic structural views of the cup taking system in the present invention, wherein fig. 3 is a schematic perspective structural view, and fig. 4 is a side view.

Fig. 5 and 6 are schematic perspective views of two different viewing angles of the cup feeding device.

Fig. 7-9 are schematic perspective views of three different viewing angles of the cup taking device.

Fig. 10 is a schematic perspective view of the cup feeding module.

Fig. 11 and 12 are schematic perspective views of the cup feeding module at two different viewing angles (the first bracket is removed).

Fig. 13 is a schematic perspective view of the limiting mechanism.

Fig. 14 is a schematic perspective view of the limiting mechanism (the first bracket is removed).

Fig. 15 is a schematic perspective view of the cup feeding mechanism (with the first bracket removed).

Fig. 16 is a schematic perspective view of a material taking system and a shaking system in the present invention.

Fig. 17-18 are schematic perspective views of the material pouring system from two different viewing angles.

Fig. 19 is a schematic perspective view (partial) of the material pouring drive mechanism.

Fig. 20 and 21 are schematic perspective views of the reclaiming system from two different viewing angles.

Fig. 22 and 23 are schematic perspective views of the reclaiming system from two different perspectives (with portions of the fifth frame and the protective cover removed).

Fig. 24 is a schematic perspective view (partially) of the solid raw material storage mechanism and the solid raw material transfer mechanism.

Fig. 25 and 26 are schematic structural views of the solid raw material conveying mechanism (the third transverse driving mechanism is removed), in which fig. 25 is a schematic perspective structural view, and fig. 26 is a plan view.

Fig. 27 is a schematic view of the third lateral drive mechanism.

Fig. 28-31 are schematic structural views of the conveying system in the invention, wherein fig. 28-30 are schematic perspective structural views from three different angles, and fig. 31 is a top view.

Fig. 32 to 35 are schematic structural views of the first handling device, wherein fig. 32 and 33 are schematic perspective structural views from two different viewing angles, fig. 34 is a side view, and fig. 35 is a top view.

Fig. 36 and 37 are schematic perspective views of the first handling device from two different perspectives (with the first frame removed).

Fig. 38 is a perspective view of the linear drive mechanism.

Fig. 39 is a schematic perspective view of a milky tea cup jacket.

Fig. 40-41 are schematic perspective views of the second handling device and the capping system from two different perspectives.

Fig. 42 is a perspective view of the second conveying device.

Fig. 43 is a perspective view of the closure system.

Fig. 44 is a schematic perspective view (partially) of the conveyance robot.

Fig. 45 and 46 are schematic perspective views of the third handling device, wherein fig. 46 is an exploded view.

Fig. 47-50 are schematic perspective views of the handling module from four different perspectives, wherein fig. 50 is an exploded view.

Figure 51 is a perspective view (partial) of the racking mechanism.

Fig. 52 is a perspective view of the second clamping mechanism.

Fig. 53 is a schematic perspective view of the relay system.

Fig. 54 is a schematic configuration diagram of a second embodiment of the fully automatic milky tea maker according to the present invention.

Detailed Description

The present invention will be described in further detail with reference to examples and drawings, but the present invention is not limited thereto.