CN216848863U

CN216848863U - Self-service coffee system

Info

Publication number: CN216848863U
Application number: CN202122993766.2U
Authority: CN
Inventors: 姜宇; 郎需林; 刘主福
Original assignee: Shenzhen Yuejiang Technology Co Ltd
Current assignee: Shenzhen Yuejiang Technology Co Ltd
Priority date: 2021-11-30
Filing date: 2021-11-30
Publication date: 2022-06-28
Anticipated expiration: 2031-11-30

Abstract

The application belongs to the technical field of robots and provides a self-service coffee system, an upper computer is arranged and used for receiving commands, generating and sending control commands, a coffee machine, a first mechanical arm and a second mechanical arm in the self-service coffee system are respectively and electrically connected with the upper computer, a coffee cup is clamped through the first mechanical arm, a brewing cup is clamped through the second mechanical arm, the coffee machine is arranged at a proper position on an operation table board, the movable range of the first mechanical arm can cover a coffee discharge port of the coffee machine, the movable range of the second mechanical arm can cover a milk foam discharge port of the coffee machine, the upper computer is used for controlling the linkage matching of the first mechanical arm and the second mechanical arm to enable milk foam in the brewing cup to be mixed with coffee liquid in the coffee cup, and therefore brewing and brewing of coffee are completed. The whole process is completely finished by the mechanical arm according to the control instruction of the upper computer, and manual participation is not needed, so that the quality of the coffee is not influenced by the condition of the state during manual brewing, and the coffee with stable quality can be brewed.

Description

Self-service coffee system

Technical Field

The application belongs to the technical field of robots, and particularly relates to a self-service coffee system.

Background

At present, snack beverage vending machines are the most common vending machines in the field of automatic vending, typical representatives of the vending machines for making beverages on site are orange juice vending machines, and the automatic beverage vending machines show the characteristics of convenience and high efficiency in various use occasions, such as schools, hospitals, large shopping malls, various public places and the like, and are well favored by users. Among many drinks, coffee is one of the favorite drinks of young people, however, most of the current coffee selling methods are prepared on site by a coffeemaker, the coffee making process completely depends on the coffeemaker, and the quality of the coffee made by the coffeemaker directly affects the quality of the coffee made at the time, so that the coffee with stable quality is difficult to make.

SUMMERY OF THE UTILITY MODEL

An object of the embodiment of the application is to provide a self-service coffee system to solve the technical problem that the coffee making quality is unstable in the prior art.

In order to achieve the purpose, the technical scheme adopted by the application is as follows: there is provided a self-service coffee system comprising: the coffee maker comprises an operation table, an upper computer, a coffee maker, a first mechanical arm and a second mechanical arm;

the upper computer is arranged below the operation table top and used for receiving commands, generating and sending control instructions, and the upper computer is electrically connected with the coffee machine, the first mechanical arm and the second mechanical arm respectively;

The coffee machine is arranged on the operation table board and comprises a coffee discharging port and a milk foam discharging port which are arranged in parallel;

the first mechanical arm and the second mechanical arm are respectively arranged on the operation table board, the first mechanical arm is arranged corresponding to the coffee outlet, the tail end of the first mechanical arm is provided with a clamping jaw structure, the clamping jaw structure is used for clamping coffee cups and receiving coffee liquid from the coffee outlet, the second mechanical arm is arranged corresponding to the milk foam outlet, the tail end of the second mechanical arm is fixedly connected with a brewing cup, the brewing cup is used for receiving milk foam from the milk foam outlet, and the upper computer controls the first mechanical arm and the second mechanical arm to be in linkage fit so that the milk foam in the brewing cup is mixed with the coffee liquid in the coffee cup.

Optionally, the upper computer stores at least one group of coffee garland tracks, the coffee garland tracks include coffee cup movement tracks and brewing cup movement tracks, each group of coffee garland tracks correspond to a flower type, the coffee cup movement track is a movement track of the first mechanical arm when making coffee of the corresponding flower type, and the brewing cup movement track is a movement track of the second mechanical arm when making coffee of the corresponding flower type.

Optionally, the self-service coffee system further comprises a coffee cup conveying mechanism, the coffee cup conveying mechanism is electrically connected with the upper computer and is arranged on the operation table corresponding to the movable range of the first mechanical arm, and the coffee cup conveying mechanism can convey the coffee cups one by one from bottom to top or from top to bottom.

Optionally, the coffee cup delivery mechanism comprises a lifting mechanism comprising: the device comprises a first control motor, a transmission assembly and a support piece;

the transmission assembly comprises a gear set and a belt, the gear set comprises a driving wheel and a driven wheel which are vertically arranged, the driving wheel is sleeved on a rotating shaft of the first control motor and can rotate along with the rotating shaft, and the belt is in transmission connection with the driving wheel and the driven wheel;

the supporting piece is fixedly connected to the belt, and the coffee cups are stacked on the supporting piece.

Optionally, the coffee cup delivery mechanism further comprises a cup clamping mechanism, the cup clamping mechanism comprising: the second control motor, the sliding block component and the clamping cup structure;

the sliding block assembly comprises a fixed seat, a sliding block and a sliding rail, the fixed seat is sleeved on a screw rod of the second control motor, the sliding block is arranged at the bottom end of the fixed seat, and the sliding rail is installed at the bottom end of the sliding block in a matching mode;

The clamping cup structure is arranged on the fixed seat and is provided with a U-shaped bayonet matched with the coffee cup in shape, and the U-shaped bayonet can clamp or release the coffee cup along with the movement of the fixed seat.

Optionally, the coffee cup conveying mechanism further includes a guide mechanism, the guide mechanism includes an inner cavity vertically arranged for accommodating the coffee cups, a first opening is axially formed in a side wall of the inner cavity, a second opening is formed in a top end of the inner cavity, the support member enters from the first opening and extends into the inner cavity, and the coffee cups are reversely buckled by the second opening, enter the inner cavity and are stacked on the support member.

Optionally, the inner cavity is enclosed by three vertically arranged guide bars and is formed, every two vacant areas between the guide bars form the first openings, the support piece enters the inner cavity from one of the first openings, the two ends of each guide bar are respectively provided with a top plate and a bottom plate, the top plate is parallel to the bottom plate, and the top plate is provided with the second openings.

Optionally, the self-service coffee system further comprises a cup washing mechanism, and the cup washing mechanism is electrically connected with the upper computer and is arranged on the operation table corresponding to the moving range of the second mechanical arm.

Optionally, the cup washing mechanism comprises: the device comprises a tank body, a purified water pipeline and a sewage pipeline;

the tank body is embedded on the operating table top and is provided with a water inlet and a water outlet;

the water purifying pipeline comprises a pressure pump and a water purifying pipe which are connected with each other, the water purifying pipe is connected to the water inlet and used for conveying purified water, the pressure pump is electrically connected with the upper machine, and the second mechanical arm can drive the brewing cup to invert and suspend right above the water inlet;

the sewage pipeline comprises a sewage pipe, and the sewage pipe is connected to the water outlet and used for discharging sewage.

Optionally, the cup washing mechanism further comprises a water spraying piece arranged on the water inlet, the water spraying piece is arranged on the water inlet in a hemispherical shape, a plurality of water spraying holes are formed in the hemispherical wall of the water spraying piece, and the plurality of water spraying holes can spray water simultaneously to wash the inner wall of the modulation cup.

Optionally, a larger one of the plurality of water spray holes is opened at the top of the hemisphere of the water spray member, and the rest of the plurality of water spray holes are uniformly opened on the peripheral side wall of the hemisphere of the water spray member.

Optionally, the self-service coffee system further comprises an ice maker, wherein the ice maker is electrically connected with the upper computer and is arranged on the operation table corresponding to the movable range of the second mechanical arm.

Optionally, the tail end of the second mechanical arm is provided with a cup clamping structure, and a handle of the brewing cup is connected with the cup clamping structure.

Optionally, the cup clamping structure comprises: the mounting base, the positioning pin and the fixing plate;

the mounting seat is connected to the tail end of the second mechanical arm and comprises a mounting surface used for connecting the handle;

the positioning pin is arranged on the mounting surface in a protruding mode and is inserted into the positioning hole in the handle;

the fixing plate is fixedly connected to the mounting surface, and the brewing cup handle is positioned between the fixing plate and the mounting surface.

The application provides a self-service coffee system's beneficial effect lies in: compared with the prior art, the self-service coffee system is a full-automatic coffee system for simulating a coffeemaker to brew coffee, the upper computer is arranged and used for receiving commands, generating and sending control commands, the coffee machine, the first mechanical arm and the second mechanical arm in the self-service coffee system are respectively and electrically connected with the upper computer, the coffee cup is clamped through the first mechanical arm, the brewing cup is clamped through the second mechanical arm, the coffee machine is arranged at a proper position on the operation table board, the movable range of the first mechanical arm can cover a coffee discharge port of the coffee machine, the movable range of the second mechanical arm can cover a milk foam discharge port of the coffee machine, and the upper computer controls the first mechanical arm and the second mechanical arm to be in linkage fit so that milk foam contained in the brewing cup is mixed with coffee liquid contained in the coffee cup, and brewing of coffee is completed. The whole process is completely finished by the mechanical arm according to the control instruction of the upper computer, manual participation is not needed, the quality of coffee is not affected due to the condition of the state during manual brewing, and the coffee with stable quality can be brewed.

Drawings

In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings needed to be used in the embodiments or the prior art descriptions will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present application, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without inventive exercise.

Fig. 1 is a schematic overall structure diagram of a self-service coffee system according to an embodiment of the present application;

FIG. 2 is a schematic structural diagram of a coffee cup delivery mechanism according to an embodiment of the present application;

FIG. 3 is a schematic view of a portion of the structure of FIG. 2;

FIG. 4 is a top view partially schematic view of the U-shaped bayonet of FIG. 2 mated with a coffee cup;

FIG. 5 is a schematic overall structural diagram of a cup washing mechanism according to an embodiment of the present disclosure;

FIG. 6 is a schematic structural view of a water spraying member of the cup washing mechanism according to an embodiment of the present disclosure;

FIG. 7 is a schematic view of a cup clamping structure according to an embodiment of the present application;

fig. 8 is a schematic diagram of the disassembled structure of fig. 7.

Wherein, in the figures, the respective reference numerals:

100. an operation table top; 200. an upper computer; 300. a coffee machine; 400. a first robot arm; 500. a second mechanical arm; 510. a cup clamping structure; 511. a mounting seat; 5111. a limiting groove; 5112. a mounting surface; 512. a fixing plate; 513. positioning pins; 520. preparing a cup; 5201. a handle; 521. positioning holes; 600. a coffee cup delivery mechanism; 610. a lifting mechanism; 611. a first control motor; 612. a driving wheel; 613. a driven wheel; 614. a belt; 615. a support member; 616. a cup holder; 617. a coffee cup; 618. a first photoelectric correlation switch; 620. a cup clamping mechanism; 621. a second control motor; 622. a slider assembly; 6221. a fixed seat; 6222. a slider; 6223. a slide rail; 623. a clamping cup structure; 6231. a U-shaped bayonet; 624. a photosensor; 630. a guide mechanism; 631. a guide bar; 6311. an inner cavity; 6312. a first opening; 632. a top plate; 633. a base plate; 700. a cup washing mechanism; 710. a trough body; 711. a water inlet; 712. a water outlet; 713. a water spraying member; 7131. a water spray hole; 714. a support frame; 715. an upper cover; 720. a water purification pipeline; 721. a pressure pump; 722. a water purifying pipe; 730. a sewage pipe; 800. an ice maker.

Detailed Description

In order to make the technical problems, technical solutions and advantageous effects to be solved by the present application clearer, the present application is further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of and not restrictive on the broad application.

It will be understood that when an element is referred to as being "secured to" or "disposed on" another element, it can be directly on the other element or be indirectly on the other element. When an element is referred to as being "connected to" another element, it can be directly connected to the other element or be indirectly connected to the other element.

It will be understood that the terms "length," "width," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," and the like are used in an orientation or positional relationship indicated in the drawings for convenience in describing the application and to simplify the description, and are not intended to indicate or imply that the device or element so referred to must have a particular orientation, be constructed in a particular orientation, and be constructed in operation as a limitation of the application.

Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or to implicitly indicate the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of the present application, "a plurality" means two or more unless specifically limited otherwise.

Referring to fig. 1, a self-service coffee system provided by the embodiment of the present application will now be described. The self-service coffee system of the embodiment comprises an operation table 100, an upper computer 200, a coffee machine 300, a first mechanical arm 400 and a second mechanical arm 500.

The upper computer 200 is arranged below the operation table 100 and used for receiving commands, generating and sending control instructions, and the upper computer 200 is electrically connected with the coffee machine 300, the first mechanical arm 400 and the second mechanical arm 500 respectively.

Specifically, in this embodiment, the upper computer 200 is used to receive commands, generate and send control instructions, and the upper computer 200 serves as a core control component of the whole self-service coffee system to control the operation of the whole system. The upper computer 200 is electrically connected to each functional component of the system, such as the coffee machine 300, the first robot 400, and the second robot 500. In the whole self-service coffee system, the upper computer 200 is disposed in the electric cabinet below the operation table 100.

The coffee machine 300 is disposed on the operation table 100 and includes a coffee outlet and a milk foam outlet arranged in parallel.

Specifically, the coffee machine 300 is disposed near the center of the operation table 100, the coffee machine 300 is a coffee machine 300 having two outlets, which are a coffee outlet and a milk foam outlet, respectively, and the coffee outlet and the milk foam outlet are disposed in parallel with respect to the coffee machine 300, and when the coffee machine 300 is installed, the side having the coffee outlet and the milk foam outlet is preferably disposed facing the first mechanical arm 400 and the second mechanical arm 500.

The first mechanical arm 400 and the second mechanical arm 500 are respectively arranged on the operation table board 100, the first mechanical arm 400 is arranged corresponding to a coffee outlet, a clamping jaw structure is arranged at the tail end of the first mechanical arm 400 and used for clamping coffee cups 617 and receiving coffee liquid from the coffee outlet, the second mechanical arm 500 is arranged corresponding to a milk foam outlet, a brewing cup 520 is fixedly connected at the tail end of the second mechanical arm 500, the brewing cup 520 is used for receiving milk foam from the milk foam outlet, and the upper computer 200 controls the first mechanical arm 400 and the second mechanical arm 500 to be in linkage fit so that the milk foam in the brewing cup 520 is mixed with the coffee liquid in the coffee cups 617.

Specifically, the first robot arm 400 and the second robot arm 500 are also respectively mounted on the operation table 100, and preferably, six-axis robot arms are used for the first robot arm 400 and the second robot arm 500. The six-axis mechanical arm provides six degrees of freedom in three-dimensional space, and the tail end of the six-axis mechanical arm can reach any position and angle in space, so that the requirement of automatic coffee making in a self-service coffee system can be completely met.

Specifically, when the mechanical arm is installed, the first mechanical arm 400 is correspondingly installed at the position of the coffee outlet, so that the movable range of the first mechanical arm 400 can cover the coffee outlet, and the second mechanical arm 500 is correspondingly installed at the position of the milk foam outlet, so that the movable range of the second mechanical arm 500 can cover the milk foam outlet.

Specifically, the end of the first robot 400 grips the coffee cup 617 through the gripper structure, and can take coffee liquid from the coffee outlet under the control of the upper computer 200. The clamping jaw structure can be separated and folded, when the first mechanical arm 400 needs to clamp the coffee cup 617, the clamping jaw structure is separated to reach a proper position of the coffee cup 617 and then folded to clamp the coffee cup 617, the first mechanical arm 400 drives the coffee cup 617 to move to a coffee discharge hole, after coffee liquid is received, the clamping jaw structure of the first mechanical arm 400 drives the coffee cup 617 to move to a brewing position, after coffee is brewed, the clamping jaw structure is separated, and the coffee cup 617 filled with coffee is placed on the operation table board 100.

The tail end of the second mechanical arm 500 is fixedly connected with a brewing cup 520, and the second mechanical arm 500 can receive milk foam from a milk foam discharge port under the control of the upper computer 200. The end of the second mechanical arm 500 is fixedly connected to the brewing cup 520, i.e. the same brewing cup 520 is used for brewing each coffee cup, and the mounting position of the brewing cup 520 at the end of the second mechanical arm 500 is always fixed.

The first mechanical arm 400 and the second mechanical arm 500 can be in linkage fit under the control of the upper computer 200 to mix milk foam in the brewing cup 520 with coffee liquid in the coffee cup 617, so that automatic brewing of coffee is completed.

Compared with the prior art, the self-service coffee system belongs to a full-automatic coffee system simulating a coffeemaker to brew coffee, the upper computer 200 is arranged for receiving commands, generating and sending control commands, the coffee machine 300, the first mechanical arm 400 and the second mechanical arm 500 in the self-service coffee system are respectively and electrically connected with the upper computer 200, the coffee cup 617 is clamped by the first mechanical arm 400, the brewing cup 520 is clamped by the second mechanical arm 500, the coffee machine 300 is arranged at a proper position on the operation table board 100, so that the movable range of the first mechanical arm 400 can cover the coffee discharging port of the coffee machine 300, the movable range of the second mechanical arm 500 can cover the milk foam discharging port of the coffee machine 300, the first mechanical arm 400 and the second mechanical arm 500 are controlled by the upper computer 200 to be in linkage fit to mix milk foam contained in the brewing cup 520 with coffee liquid contained in the coffee cup 617, thereby completing the brewing of coffee. The whole process is completely finished by the mechanical arm according to the control instruction of the upper computer 200 without manual participation, so that the quality of the coffee is not influenced by the quality of the state during manual brewing, and the coffee with stable quality can be brewed.

In another embodiment of the present application, the upper computer 200 stores at least one group of coffee flower drawing tracks, the coffee flower drawing tracks include coffee cup movement tracks and brewing cup movement tracks, each group of coffee flower drawing tracks corresponds to a flower type, the coffee cup movement track is a movement track of the first mechanical arm 400 when making coffee of a corresponding flower type, and the brewing cup movement track is a movement track of the second mechanical arm 500 when making coffee of a corresponding flower type.

Specifically, in this embodiment, at least one group of coffee flower drawing tracks is stored in the upper computer 200 in advance, and usually, a plurality of groups of coffee flower drawing tracks are stored, where the coffee flower drawing tracks include a coffee cup motion track and a brewing cup motion track. Each group of coffee flower drawing tracks corresponds to a coffee flower type. The upper computer 200 may control the first robot arm 400 and the second robot arm 500 to perform coffee garlanding according to the coffee garlanding trajectory stored in the upper computer 200. That is, when a certain coffee flower pattern is drawn, the first mechanical arm 400 runs according to the motion track of the coffee cup in the group of coffee pull tracks corresponding to the certain coffee pattern, the second mechanical arm 500 runs according to the motion track of the brewing cup in the group of coffee pull tracks corresponding to the certain coffee pattern, and when the first mechanical arm 400 completes the motion track of the coffee cup and the second mechanical arm 500 completes the motion track of the brewing cup, the required coffee is automatically brewed.

In another embodiment of the present application, referring to fig. 1 to 4, the self-service coffee system further includes a coffee cup delivering mechanism 600, the coffee cup delivering mechanism 600 is electrically connected to the upper computer 200 and disposed on the operation table 100 corresponding to the movable range of the first mechanical arm 400, and the coffee cup delivering mechanism 600 can deliver coffee cups 617 one by one from bottom to top or from top to bottom.

In particular, self-service coffee systems require constant brewing of coffee as required by the order, and therefore, require a specialized coffee cup delivery mechanism 600 to deliver empty coffee cups 617. In this embodiment, an outlet for gripping coffee cups 617 is opened in the movable range of the first robot arm 400 on the operation table 100. The main body of the coffee cup delivery mechanism 600 is mounted inside the cabinet below the operating table 100. The coffee cup delivery mechanism 600 is electrically connected to the upper computer 200, and the upper computer 200 can control the coffee cup delivery mechanism 600 to deliver the empty coffee cup 617 according to the requirements of the first mechanical arm 400. In this embodiment, the coffee cup feeding mechanism 600 can feed the coffee cups 617 one by one from the bottom to the top or from the top to the bottom.

In another embodiment of the present application, referring to fig. 2, the coffee cup delivering mechanism 600 comprises a lifting mechanism 610, wherein the lifting mechanism 610 comprises a first control motor 611, a transmission assembly and a support 615; the transmission assembly comprises a gear set and a belt 614, the gear set comprises a driving wheel 612 and a driven wheel 613 which are vertically arranged, the driving wheel 612 is sleeved on the rotating shaft of the first control motor 611 and can rotate along with the rotating shaft, and the belt 614 is in transmission connection with the driving wheel 612 and the driven wheel 613; a support member 615 is fixedly connected to the belt 614, and a plurality of coffee cups 617 are stacked on the support member 615.

Specifically, in the present embodiment, the lifting mechanism 610 mainly delivers the empty coffee cup 617 from bottom to top by using a way that the motor drives the gear, the gear drives the belt 614, and the belt 614 drives the coffee cup 617 to ascend together. Specifically, the coffee cup conveying mechanism 600 is mounted on the electric cabinet bottom plate below the operation table 100 through a mounting bracket, the mounting bracket is vertically long, the top end of the mounting bracket is fixed on the inner table of the operation table 100, the bottom end of the mounting bracket is fixed on the electric cabinet bottom plate, the first control motor 611 is fixedly mounted at the bottom end of the mounting bracket, and preferably, the first control motor 611 is a stepping motor. A driving wheel 612 is sleeved on a rotating shaft of the first control motor 611, the driving wheel 612 can rotate along with the rotating shaft, a driven wheel 613 is installed at the top end of the installation support, the driving wheel 612 and the driven wheel 613 are arranged in the vertical direction, a belt 614 is connected to the driving wheel 612 and the driven wheel 613 in a transmission manner, and the first control motor 611 drives the belt 614 to rotate and can rotate upwards or downwards.

Specifically, referring to fig. 2, a slide rail is disposed on the mounting bracket along a vertical direction, a base of the supporting member 615 is a slider structure, the slider structure can drive the supporting member 615 to move up and down along the slide rail, a clamping plate structure is disposed on the supporting member 615, the supporting member 615 is fixedly connected to the belt 614 through the clamping plate structure, and the supporting member 615 cannot move relative to the belt 614. The support member 615 has a rectangular plate body, and a plurality of coffee cups 617 are stacked on the plate surface of the support member 615. When the first control motor 611 works, the belt 614 drives the support member 615 to move upwards, so as to drive the coffee cups 617 stacked on the support member 615 to move upwards, and thus the coffee cups 617 are conveyed upwards.

In another embodiment of the present application, referring to fig. 2, a first photo-electric correlation switch 618 is provided corresponding to the height position of the central axis of the driven wheel 613, and the first photo-electric correlation switch 618 is used for detecting and limiting the upward transportation distance of the coffee cup 617.

Specifically, in this embodiment, the first photo-electric correlation switch 618 is disposed at a position at a height of the central axis of the driven wheel 613 located above the lifting mechanism 610, and the emitting end and the receiving end of the first photo-electric correlation switch 618 are respectively disposed at two sides of the coffee cup 617, that is, when the coffee cup 617 rises to the position where the projected edge of the coffee cup 617 passes through the middle of the emitting end and the receiving end, the first photo-electric correlation switch 618 senses one coffee cup 617 conveyed upwards, and at this time, the system controls the first control motor 611 to stop operating. After the first robot 400 has gripped the topmost coffee cup 617, the system controls the first control motor 611 to deliver the coffee cups 617 upward, and when the protruding edge of the next coffee cup 617 passes between the emitting end and the receiving end, the first photo-electric correlation switch 618 senses the one coffee cup 617 delivered upward again, and at this time, the system controls the first control motor 611 to stop operating again. And so on, the coffee cup delivering mechanism 600 delivers one coffee cup 617 upwards at a time.

In another embodiment of the present application, a second photo-electric correlation switch (not shown) is disposed above the central axis of the driving wheel 612 below the lifting mechanism 610 for detecting and limiting the downward movement position of the support 615, so that the first control motor 611 stops or starts to operate in the reverse direction after the support 615 moves downward to the bottom end. When the support 615 moves down to the slider structure at the bottom thereof to pass through the middle between the emitting end and the receiving end of the second photo-electric correlation switch, the first control motor 611 is controlled by the system to stop or start to operate reversely. Normally, when the support 615 drives the coffee cups 617 to be conveyed upward one by one until the support 615 reaches the top end position of the lifting mechanism 610, the last coffee cup 617 is clamped away, and when the first photoelectric correlation switch 618 cannot detect the coffee cups 617, the first control motor 611 rotates in the reverse direction to drive the support 615 to move down to the bottom end of the lifting mechanism 610, that is, to move down to a position where the second photoelectric correlation switch can detect, and at this time, a new stack of coffee cups 617 to be supplemented is stacked on the support 615.

In another embodiment of the present application, referring to fig. 2, the coffee cup delivering mechanism 600 further comprises a cup clamping mechanism 620, wherein the cup clamping mechanism 620 comprises a second control motor 621, a slide block assembly 622 and a cup clamping structure 623; the sliding block assembly 622 comprises a fixed seat 6221, a sliding block 6222 and a sliding rail 6223, the fixed seat 6221 is sleeved on the screw rod of the second control motor 621, the sliding block 6222 is arranged at the bottom end of the fixed seat 6221, and the sliding rail 6223 is arranged at the bottom end of the sliding block 6222 in a matching manner; the cup clamping structure 623 is arranged on the fixed seat 6221 and is provided with a U-shaped bayonet 6231 matched with the shape of the coffee cup 617, and the U-shaped bayonet 6231 can clamp or release the coffee cup 617 along with the movement of the fixed seat 6221.

In particular, in this embodiment, the cup-catching mechanism 620 is mainly used to catch the outer walls of the coffee cups 617 such that only one coffee cup 617 can be delivered at a time to the coffee cup 617 outlet on the operating floor. The cup clamping mechanism 620 is mainly powered by the second control motor 621, and the slider assembly 622 drives the cup clamping structure 623 to reciprocate, preferably, the second control motor 621 is a stepping motor.

Specifically, referring to fig. 2 and 3, the cup clamping mechanism 620 is disposed near the operation table 100 where the outlet of the coffee cup 617 is disposed. The slider assembly 622 is horizontally arranged, the screw of the second control motor 621 is also horizontally arranged, and the screw of the second control motor 621 drives the slider assembly 622 to horizontally slide left and right. Fixing base 6221 in the slider subassembly 622 is located on the screw rod of second control motor 621 in the cover, and slider 6222 is connected to fixing base 6221 bottom, and slider 6222 slides along the slide rail 6223 of bottom, and card cup structure 623 sets up on fixing base 6221 simultaneously, and when first control motor 611 work, the screw rod drives fixing base 6221, and fixing base 6221 relies on slider 6222 and the slide rail 6223 of bottom to remove along the horizontal direction, and simultaneously, card cup structure 623 can block or release coffee cup 617 along with the removal of fixing base 6221. The catch cup structure 623 catches or releases the coffee cup 617 via a U-shaped catch 6231 that matches the shape of the coffee cup 617.

When the coffee cups 617 are conveyed upwards, after one coffee cup 617 is conveyed upwards, the cup clamping mechanism 620 slides towards the direction close to the coffee cup 617 and clamps the second coffee cup 617 from top to bottom, and at this time, the first mechanical arm 400 can easily clamp the first coffee cup 617 without simultaneously clamping other coffee cups 617 stacked below. After the first mechanical arm 400 clamps the first coffee cup 617, the cup clamping mechanism 620 slides in a direction away from the coffee cup 617 until the cup clamping structure 623 releases the clamped coffee cup 617, at this time, the lifting mechanism 610 moves upward by the distance of one coffee cup 617 (when the coffee cups 617 are stacked, the distance between the protruding edges of two adjacent coffee cups 617 is moved), so as to realize that one coffee cup 617 is conveyed upward, the cup clamping mechanism 620 slides to clamp the second coffee cup 617 counted from top to bottom at this time, and so on, when the first mechanical arm 400 clamps the coffee cup 617 each time, the remaining coffee cups 617 below are blocked by the cup clamping mechanism 620, thereby ensuring that the first mechanical arm 400 can only clamp one coffee cup 617 each time, and further ensuring that coffee can be prepared by cup one cup after the first mechanical arm 400 clamps the coffee cup 617 smoothly.

In another embodiment of the present application, referring to fig. 2 and 3, the cup clamping mechanism 620 further includes a photo sensor 624 disposed beside the sliding rail 6223, one photo sensor 624 is disposed corresponding to the position where the U-shaped bayonet 6231 moves to completely clamp the coffee cup 617, and another photo sensor 624 is disposed corresponding to the position where the U-shaped bayonet 6231 moves to completely release the coffee cup 617, and the photo sensor 624 is configured to detect and limit the moving distance of the U-shaped bayonet 6231 along the sliding rail 6223.

Specifically, in the present embodiment, at least two photosensors 624 are provided for defining the travel distance of the cup clamping structure 623 in the horizontal direction. The first photoelectric sensor 624 can sense that the U-shaped bayonet 6231 of the cup clamping structure 623 reaches a position capable of completely clamping the coffee cup 617, and at the moment, a stop signal is given out to control the second control motor 621 to stop running; the second photo sensor 624 can sense the U-shaped opening 6231 of the cup locking structure 623 reaching a position capable of completely releasing the coffee cup 617, and then give a stop signal to control the second control motor 621 to stop running. The two photo sensors 624 cause the U-shaped bayonet 6231 in the catch cup 623 to reciprocate in a fixed distance in between, effecting the catch and release of the coffee cup 617.

Preferably, in this embodiment, the U-shaped bayonets 6231 of the snap-cup structures 623 snap into the protruding edge of the coffee cup 617. The structural characteristic of the edge projection of the coffee cup 617 is utilized to increase the firmness of the clamping cup.

Specifically, in this embodiment, referring to fig. 3, a sensing portion (not labeled) is disposed on the fixed seat 6221 of the slider assembly 622, and the sensing portion can reach a sensing area of the photoelectric sensor 624 along with the movement of the fixed seat 6221. Preferably, the sensing portion is a rod extending vertically downward, and the rod can extend into the sensing area of the photoelectric sensor 624 and can freely move in the sensing area of the photoelectric sensor 624 along with the movement of the fixing base 6221.

In another embodiment of the present application, referring to fig. 2 and 4, the coffee cup delivering mechanism 600 further includes a guiding mechanism 630, the guiding mechanism 630 includes an inner cavity 6311 vertically disposed for accommodating the coffee cups 617, a sidewall of the inner cavity 6311 is axially provided with a first opening 6312, a top end of the inner cavity 6311 is provided with a second opening (not shown), the supporting member 615 enters from the first opening 6312 and extends into the inner cavity 6311, and the coffee cups 617 enter the inner cavity 6311 through the second opening and are stacked on the supporting member 615.

Specifically, in this embodiment, the guiding mechanism 630 is mainly used for accommodating a plurality of stacked coffee cups 617, so that the coffee cups 617 can be vertically transported in the inner cavity 6311 provided by the guiding mechanism 630 without being tilted or tilted.

Specifically, referring to fig. 4, an inner cavity 6311 of the guide mechanism 630 extends vertically, and the inner cavity 6311 is not a cavity enclosed around, but a sidewall of the inner cavity 6311 is axially provided with a first opening 6312, for example, the first opening 6312 may be axially provided on a sidewall of a hollow cylinder, or the first opening 6312 may be axially provided on a sidewall of a hollow cylinder of other shape. The first opening 6312 is mainly used for the rectangular plate of the supporting member 615 to enter and extend into the inner cavity 6311, so that the coffee cups 617 stacked on the supporting member 615 can be all located in the inner cavity 6311, and at the same time, the supporting member 615 can be moved up and down smoothly without jamming.

Specifically, the top end of the inner cavity 6311 is provided with a second opening, the second opening is used for moving up and down the coffee cup 617, and after the coffee cup 617 is used up, a new coffee cup 617 can be put in through the second opening, and the coffee cup 617 is stacked on the support 615.

In another embodiment of the present application, please refer to fig. 2, 3, and 4, the inner cavity 6311 is enclosed by three vertically disposed guide bars 631, a first opening 6312 is formed in a vacant area between every two guide bars 631, the support 615 enters the inner cavity 6311 through one of the first openings 6312, the two ends of the guide bars 631 are respectively disposed with the top plate 632 and the bottom plate 633, the top plate 632 is parallel to the bottom plate 633, and the top plate 632 is provided with a second opening.

Specifically, in this embodiment, an inner cavity 6311 may be defined by three vertically arranged guide rods 631, an empty coffee cup 617 is placed in the inner cavity 6311, and the three guide rods 631 are defined around the cup body to play a guiding role. The vacant areas between two guide rods 631 can be used as first openings 6312, and the supporting member 615 enters the inner cavity 6311 through one of the first openings 6312. The top ends of the three guiding rods 631 are connected with a top plate 632, the bottom ends of the three guiding rods 631 are connected with a bottom plate 633, and the top plate 632 and the bottom plate 633 are parallel, thereby forming a stable guiding mechanism 630. The coffee cup 617 can be smoothly passed through by providing a second opening in the top plate 632. The guide mechanism 630 surrounded by the guide rod 631 has a simple structure, and can visually see the up-and-down conveying state of the coffee cups 617, observe whether the coffee cups are short or not in time and supplement new coffee cups 617 in time.

In another embodiment of the present application, referring to fig. 2, a cup holder 616 is disposed on the support member 615, the cup holder 616 is disposed in the cavity 6311, the shape of the cup holder 616 matches the shape of the inverted coffee cups 617, and the plurality of coffee cups 617 are inverted and stacked on the cup holder 616.

Specifically, in this embodiment, in order to further ensure that a plurality of coffee cups 617 can be vertically stacked on the support member 615, and the situation such as skew does not occur, so as to affect the first robot 400 to normally pick up the coffee cups 617, a cup holder 616 is further disposed on the support member 615, the cup holder 616 is fixed on the surface of the support member 615 and is perpendicular to the surface of the support member 615, and the shape of the cup holder 616 is matched with the shape of the coffee cups 617 when inverted, that is, the empty coffee cups 617 can be just buckled on the cup holder 616 when inverted. Preferably, the inner wall of the coffee cup 617, which is fastened to the cup holder 616 at the bottom end, abuts against the outer wall of the cup holder 616.

In another embodiment of the present application, referring to fig. 5, the self-service coffee system further includes a cup washing mechanism 700, wherein the cup washing mechanism 700 is electrically connected to the upper computer 200 and disposed on the operation table 100 corresponding to the movable range of the second robot arm 500.

Specifically, in the present embodiment, after a cup of coffee is brewed, the self-service coffee system needs to flush the brewing cup 520 at the end of the second mechanical arm 500 to enable the next cup of coffee to be made. Therefore, in this embodiment, the cup washing mechanism 700 is disposed on the operation table 100 and within the range of motion of the second mechanical arm 500, the main body of the cup washing mechanism 700 is installed in the electric cabinet below the operation table 100, the cup washing mechanism 700 is electrically connected to the upper computer 200, the upper computer 200 can control the cup washing mechanism 700 to wash the brewing cup 520 according to the requirement of the second mechanical arm 500, that is, the whole cup washing mechanism 700 senses the position information of the second mechanical arm 500 by the upper computer 200, and when the second mechanical arm 500 drives the brewing cup 520 to reach the cup washing mechanism 700, water is automatically discharged to wash the inner wall of the brewing cup 520.

In another embodiment of the present application, referring to fig. 5, the cup washing mechanism 700 includes a tank 710, a clear water pipe 720 and a waste water pipe; the trough body 710 is embedded on the operation table 100 and is provided with a water inlet 711 and a water outlet 712; the water purifying pipeline 720 comprises a pressure pump 721 and a water purifying pipe 722 which are connected with each other, the water purifying pipe 722 is connected to the water inlet 711 and used for conveying purified water, the pressure pump 721 is electrically connected with the upper computer 200, and the second mechanical arm 500 can drive the brewing cup 520 to be inverted and to suspend above the water outlet 712; the sewage line includes a sewage pipe 730, and the sewage pipe 730 is connected to the water outlet 712 for discharging sewage.

Specifically, in this embodiment, the trough body 710 of the cup washing mechanism 700 is embedded in the operation table 100, and the bottom of the trough body 710 is provided with a water inlet 711 and a water outlet 712 for delivering purified water upwards and discharging sewage downwards. The first end of a water purifying pipe 722 of the water purifying pipeline 720 is connected with the pressure pump 721, the second end of the water purifying pipe 722 is connected with the water inlet 711, when the water purifier works normally, the pressure pump 721 is connected with a power supply through a power line, the upper computer 200 is connected through another signal line, and the pressure pump 721 can provide enough pressure for the water inlet 711 so as to realize the effect of high-pressure flushing.

Specifically, host computer 200 prerecorded washes installation position of cup mechanism 700, and second arm 500 can drive modulation cup 520 and invert and hover the positional information directly over water inlet 711, when needs wash modulation cup 520, host computer 200 control second arm 500 removes to the position directly over water inlet 711, make modulation cup 520 place in directly over water inlet 711, this moment, host computer 200 control pressure pump 721 works, the water purification is spouted by water inlet 711 through water purification pipe 722, thereby wash modulation cup 520.

In another embodiment of the present application, referring to fig. 5 and fig. 6, the cup washing mechanism 700 further includes a water spraying member 713 disposed on the water inlet 711, the water spraying member 713 is disposed on the water inlet 711 in a hemispherical shape, a plurality of water spraying holes 7131 are disposed on a hemispherical wall of the water spraying member 713, and the plurality of water spraying holes 7131 can spray water simultaneously to wash the inner wall of the modulation cup 520.

Specifically, in this embodiment, a water spraying part 713 is arranged above the water inlet 711, optionally, the water spraying part 713 is a hemispherical cover and is arranged on the water inlet 711, and the water spraying part 713 is fixedly connected in a threaded connection mode, a bonding welding mode and the like, and a plurality of water spraying holes 7131 are formed in the hemispherical wall of the water spraying part 713, so that the plurality of water spraying holes 7131 can spray high-pressure water flow to flush the brewing cup 520 at the same time, and the high-pressure water flow is dispersed by arranging the water spraying part 713, thereby improving the efficiency and cleanliness of flushing the brewing cup 520.

In another embodiment of the present application, referring to fig. 6, a larger one of the plurality of water jet holes 7131 is opened on the top of the hemisphere of the water jet member 713, and the other water jet holes 7131 of the plurality of water jet holes 7131 are uniformly opened on the peripheral sidewall of the hemisphere of the water jet member 713.

Specifically, in the present embodiment, the plurality of water spraying holes 7131 of the water spraying member 713 are reasonably distributed on the hemisphere, and one of the water spraying holes 7131 is disposed at the middle of the top of the hemisphere, and the rest of the water spraying holes 7131 have the same size and are uniformly distributed on the peripheral sidewall of the hemisphere. The inner wall of the modulation cup 520 can be flushed by the plurality of water spraying holes 7131 from different directions and different angles, so that the inner wall of the cup can be quickly and completely flushed.

Preferably, in one embodiment, referring to fig. 6, the number of the water jet holes 7131 is five, and the five water jet holes 7131 include a larger water jet hole 7131, and the remaining four smaller water jet holes 7131 with the same size, wherein the larger water jet hole 7131 is located at the middle of the top of the hemisphere, and the remaining four smaller water jet holes 7131 are uniformly distributed on the peripheral side wall of the hemisphere. Under the condition that the water spraying member 713 is rotatably connected with the water inlet 711, when the pressure pump 721 is operated, a high-pressure water line is sprayed out from each water spraying hole 7131, the water spraying member 713 automatically rotates under the action of the water lines in different directions, water can be sprayed out in a rotating mode, and the efficiency and the cleanliness of the washing and preparing cup 520 are improved by spraying water while rotating.

In another embodiment of the present application, referring to fig. 5 and fig. 6, a supporting frame 714 for supporting the cup body is sleeved on the water spraying member 713, the supporting frame 714 is connected to the water spraying member 713 through an annular connecting portion, a diameter of the annular connecting portion matches with a hemispherical diameter of the water spraying member 713, and a body of the supporting frame 714 extends along a horizontal direction with the water spraying member 713 as a center.

Specifically, in the embodiment, a supporting frame 714 is provided, which takes the water spraying member 713 as a center and extends along the horizontal direction, and the body of the supporting frame 714 has a gap for water to flow down, so that the brewing cup 520 can be placed upside down on the supporting frame 714, thereby facilitating the water drops remaining inside the brewing cup 520 to flow down.

Alternatively, the supporting frame 714 may be integrally formed with the water spraying member 713, or may be fixedly connected by an annular connection.

In another embodiment of the present application, please refer to fig. 5, the tank 710 includes an upper cover 715, the upper cover 715 closes an upper end opening of the tank 710, and an avoiding area for avoiding the brewing cup 520 is disposed on the upper cover 715 at a position corresponding to the water inlet 711.

Specifically, in this embodiment, an upper cover 715 is disposed on an opening at the upper end of the trough body 710 of the cup washing mechanism 700, and a washing area (avoiding area) for washing the brewing cup 520 is reserved on the upper cover 715, so that the brewing cup 520 can be placed upside down over the water inlet 711 without being blocked.

Specifically, the upper cover 715 is further provided with a plurality of through holes for draining water. The plurality of drainage through holes are arranged in an array form, and can be beneficial to draining residual water on the table top into the tank body 710 and then into the sewage pipeline through the water outlet 712.

In another embodiment of the present application, referring to fig. 1, the self-service coffee system further includes an ice maker 800, wherein the ice maker 800 is electrically connected to the upper computer 200 and disposed on the operation table 100 corresponding to the movable range of the second robot arm 500.

Specifically, in the present embodiment, an ice maker 800 is further installed in the movable range of the second mechanical arm 500 on the operation table 100, and when ice needs to be added, the upper computer 200 controls the second mechanical arm 500 to move to an ice adding opening of the ice maker 800, and the ice maker 800 automatically adds ice into the brewing cup 520.

In another embodiment of the present application, referring to fig. 7 and 8, the end of the second mechanical arm 500 is provided with a cup clamping structure 510, and the handle 5201 of the brewing cup 520 is connected to the cup clamping structure 510.

In particular, the handle 5201 of the brewing cup 520 is fixedly connected to the cup clamping structure 510 and keeps the brewing cup 520 stable and stable, and the connection between the brewing cup 520 and the cup clamping structure 510 is not changed during the brewing process of any coffee, i.e., the position of the brewing cup 520 relative to the cup clamping structure 510 is not changed.

In another embodiment of the present application, referring to fig. 7 and 8, the cup clamping structure 510 includes: a mounting base 511, a positioning pin 513 and a fixing plate 512; the mount 511 is attached to the end of the second mechanical arm 500, and includes a mounting surface 5112 for attaching the handle 5201; the positioning pin 513 is arranged on the mounting surface 5112 in a protruding manner, and the positioning pin 513 is inserted into the positioning hole 521 on the handle 5201; the fixed plate 512 is fixedly connected to the mounting surface 5112 such that the handle 5201 of the brewing cup 520 is positioned between the fixed plate 512 and the mounting surface 5112.

Specifically, in this embodiment, one side of the mounting seat 511 is connected to the end of the second mechanical arm 500 through a flange, and the mounting surface 5112 of the mounting seat 511 is used for fixing the handle 5201 for mounting the brewing cup 520.

The mounting surface 5112 is provided with a protruding positioning pin 513, correspondingly, a positioning hole 521 matching with the positioning pin 513 is provided at a corresponding position of the handle 5201 of the brewing cup 520, and the positioning pin 513 is inserted into the positioning hole 521 of the handle 5201, thereby fixing the brewing cup 520. The fixed plate 512 is then mounted on the mounting surface 5112, preferably by bolts, and the handle 5201 of the brewing cup 520 is positioned between the fixed plate 512 and the mounting surface 5112, and the handle 5201 is clamped by the fixed plate 512 and the mounting surface 5112 and then fastened by bolts, thereby fixedly connecting the brewing cup 520 and the cup clamping structure 510.

Preferably, referring to fig. 8, in the present embodiment, the mounting surface 5112 is provided with a limiting groove 5111 matching with the shape of the handle 5201 of the brewing cup 520, the limiting groove 5111 is used for accommodating the handle 5201 and limiting the movement of the handle 5201, that is, the handle 5201 of the brewing cup 520 can be completely clamped into the limiting groove. The positioning pin 513 is located at the bottom of the limit groove 5111.

Preferably, in this embodiment, the handle 5201 of the brewing cup 520 has a flat shape, a rectangular transverse cross-section and a rectangular transverse cross-section for the limiting groove 5111, the positioning pin 513 is disposed at the bottom of the limiting groove 5111, and the protruding height of the positioning pin 513 matches the depth of the limiting groove 5111. When the positioning hole 521 on the handle 5201 is inserted into the positioning pin 513, the handle 5201 is just completely embedded into the limiting groove 5111, and both the handle 5201 and the positioning pin 513 are flush with the notch of the limiting groove 5111. The fixing plate 512 is connected with the mounting surface 5112 through bolts, so that the brewing cup 520 can be completely fixed at the tail end of the second mechanical arm 500, the fixing plate 512 and the mounting surface 5112 can be completely attached without gaps, and the limiting groove 5111 is matched with the positioning pin 513, so that the fixed connection of the brewing cup 520 is realized, the brewing cup 520 cannot shake up and down and left and right, and on the other hand, the brewing cup 520 is fixed at the tail end of the second mechanical arm 500 in a simple and reliable manner, and is attractive and reliable.

Alternatively, in one embodiment, the profile of the surface of the mounting seat 511 connected to the second robot arm 500 matches the profile of the cross-section of the distal end of the second robot arm 500, and the profile of the fixing plate 512 matches the profile of the mounting surface 5112. The mounting faces 5112 connected in pairs are matched in shape, so that the whole structure looks harmonious and attractive in appearance, and the stress at each connecting point is uniform.

The process of the self-service coffee system automatically making coffee is as follows:

after receiving the coffee making command, the cafe system drives the end of the first robot 400 to move to the predetermined position of the coffee cup transporting mechanism 600 and clamp the coffee cup 617; after the coffee cup 617 is clamped, the end of the first mechanical arm 400 is driven to move to the coffee outlet of the coffee machine 300, when the end of the first mechanical arm 400 is detected to reach the coffee outlet of the coffee machine 300, the coffee machine 300 is controlled to discharge coffee liquid with a preset volume, so that coffee liquid containing is completed, and then the end of the first mechanical arm 400 is driven to move from the coffee outlet to a preset coffee cup 617 brewing position. When the first mechanical arm 400 is driven to complete coffee liquid containing, the tail end of the second mechanical arm 500 is driven to move to the milk foam discharging port of the coffee machine 300, when the tail end of the second mechanical arm 500 is detected to reach the milk foam discharging port of the coffee machine 300, the coffee machine 300 is controlled to discharge milk foam with preset volume, milk foam containing is completed, then the tail end of the second mechanical arm 500 is driven to move to a circling position, and the cup opening of the brewing cup 520 is kept to move upwards and rotates around a preset shaft for preset turns at the circling position; after the preset number of turns, the end of the second mechanical arm 500 is driven to move to the preset brewing position of the brewing cup 520. When the tail end of the first mechanical arm 400 reaches the preset coffee cup 617 brewing position and the tail end of the second mechanical arm 500 reaches the preset coffee cup 520 brewing position, driving the tail end of the first mechanical arm 400 to move along the preset coffee cup track and simultaneously driving the tail end of the second mechanical arm 500 to move along the preset coffee cup brewing track; after the first mechanical arm 400 and the second mechanical arm 500 complete their respective trajectories at the same time, the coffee brewing is completed. To facilitate removal of the coffee by the staff or the consumer, the end of the first robot 400 is driven to move to a predetermined output position and unload the coffee cup 617 containing coffee. To facilitate the next cup of coffee to be brewed, the end of the second mechanical arm 500 is driven to move to the position of the cup washing mechanism 700 to wash the brewing cup 520, when the brewing cup 520 is detected to be suspended right above the water inlet 711, the pressure pump 721 is controlled to be turned on, and the water inlet 711 sprays water to wash the inner wall of the brewing cup 520. Therefore, the full-automatic brewing of a cup of coffee is completed, the whole process is performed fully automatically, the mechanical arm is used for brewing coffee according to the brewing track preset by the system, and when the coffee with the same type or taste is made, the mechanical arm executes the same brewing track, so that the quality of the made coffee is stable.

The present application is intended to cover various modifications, equivalent arrangements, and adaptations of the present application without departing from the spirit and scope of the present application.

Claims

1. A self-service coffee system, comprising: the coffee maker comprises an operation table, an upper computer, a coffee maker, a first mechanical arm and a second mechanical arm;

the first mechanical arm and the second mechanical arm are respectively arranged on the operation table board, the first mechanical arm is arranged corresponding to the coffee discharge port, the tail end of the first mechanical arm is provided with a clamping jaw structure, the clamping jaw structure is used for clamping coffee cups and receiving coffee liquid from the coffee discharge port, the second mechanical arm is arranged corresponding to the milk foam discharge port, the tail end of the second mechanical arm is fixedly connected with a brewing cup, the brewing cup is used for receiving milk foam from the milk foam discharge port, and the upper computer controls the first mechanical arm and the second mechanical arm to be in linkage fit so that the milk foam in the brewing cup is mixed with the coffee liquid in the coffee cups.

2. The self-service coffee system of claim 1, wherein the upper computer stores at least one set of coffee pull trajectories, the coffee pull trajectories include a coffee cup movement trajectory and a brewing cup movement trajectory, each set of coffee pull trajectories corresponds to a pattern, the coffee cup movement trajectory is a movement trajectory of the first mechanical arm when making coffee of the corresponding pattern, and the brewing cup movement trajectory is a movement trajectory of the second mechanical arm when making coffee of the corresponding pattern.

3. The self-service coffee system of claim 1, further comprising a coffee cup delivery mechanism electrically connected to the upper computer and disposed on the operating table corresponding to the range of motion of the first mechanical arm, wherein the coffee cup delivery mechanism can deliver the coffee cups one by one from bottom to top or from top to bottom.

4. The self-service coffee system of claim 3, wherein the coffee cup delivery mechanism comprises an elevator mechanism, the elevator mechanism comprising: the device comprises a first control motor, a transmission assembly and a support piece;

5. The self-service coffee system of claim 4, wherein the coffee cup delivery mechanism further comprises a cup jamming mechanism comprising: the second control motor, the sliding block assembly and the clamping cup structure;

the sliding block assembly comprises a fixed seat, a sliding block and a sliding rail, the fixed seat is sleeved on a screw rod of the second control motor, the sliding block is arranged at the bottom end of the fixed seat, and the sliding rail is arranged at the bottom end of the sliding block in a matched mode;

6. The self-service coffee system of claim 4, wherein the coffee cup delivery mechanism further comprises a guide mechanism, the guide mechanism comprises an inner cavity vertically arranged to receive the coffee cups, the inner cavity has a sidewall with a first opening axially, the inner cavity has a top end with a second opening, the support member enters from the first opening and extends into the inner cavity, and the coffee cups enter from the second opening into the inner cavity and are stacked on the support member.

7. The self-service coffee system of claim 6, wherein the inner cavity is surrounded by three vertically arranged guide rods, a vacant area between every two guide rods forms the first opening, the support enters the inner cavity from one of the first openings, a top plate and a bottom plate are respectively arranged at two ends of each guide rod, the top plate and the bottom plate are parallel, and the top plate is provided with the second opening.

8. The self-service coffee system of claim 1, further comprising a cup-washing mechanism electrically connected to the upper computer and disposed on the operating floor corresponding to a range of motion of the second robotic arm.

9. The self-service coffee system of claim 8, wherein the cup-washing mechanism comprises: the device comprises a tank body, a purified water pipeline and a sewage pipeline;

the tank body is embedded on the operating table board and is provided with a water inlet and a water outlet;

the water purifying pipeline comprises a pressure pump and a water purifying pipe which are connected with each other, the water purifying pipe is connected to the water inlet and used for conveying purified water, the pressure pump is electrically connected with the upper machine, and the second mechanical arm can drive the brewing cup to invert and suspend above the water inlet;

10. The self-service coffee system of claim 9, wherein the cup washing mechanism further comprises a water spraying member disposed on the water inlet, the water spraying member is hemispherical and covers the water inlet, a plurality of water spraying holes are formed in a hemispherical wall of the water spraying member, and the plurality of water spraying holes can spray water simultaneously to wash the inner wall of the brewing cup.

11. The self-service coffee system as recited in claim 10, wherein a larger one of the plurality of water jet holes is formed in a top portion of the hemisphere of the water jet member, and the remaining water jet holes of the plurality of water jet holes are uniformly formed in a peripheral sidewall of the hemisphere of the water jet member.

12. The self-service coffee system of claim 1, further comprising an ice maker electrically connected to the upper level and disposed on the operating floor corresponding to a range of motion of the second robotic arm.

13. An espresso system according to any one of claims 1 to 12, wherein the second robotic arm is provided at its distal end with a clip cup arrangement to which the handle of the brew cup is connected.

14. The self-service coffee system of claim 13, wherein the clip cup structure comprises: the mounting base, the positioning pin and the fixing plate;

the fixing plate is fixedly connected to the mounting surface, and the handle of the brewing cup is positioned between the fixing plate and the mounting surface.