CN116636738A - Single-line multi-track independent mobile automation device, cup feeding device and beverage machine - Google Patents

Abstract

The present invention proposes a single-line multi-track independent mobile automation device, a cup feeding device and a beverage machine. The single-line multi-track independent mobile automation device includes two or more active translation mechanisms, and the active translation mechanism includes active and The active translation slider independently performs translation, the active translation slider of each active translation mechanism is fixed with an independent moving component, and the independent moving component is provided with a placement point for placing a moving object. A single-line multi-track independent mobile automation device, a cup delivery device and a beverage machine provided by the present invention can transmit multiple mobile objects (such as cups) at a time, and each mobile object (such as a cup) can also be transmitted independently At the same time, it also has the advantages of simple structure, low cost and small size, and can be applied to scenarios with high requirements for volume and cost, such as commercial beverage machines.

Description

Single-line multi-track independent mobile automation device, cup feeding device and beverage machine

technical field

The invention relates to a single-line multi-track independent mobile automation device, a cup feeding device and a beverage machine, belonging to the technical field of automation equipment.

Background technique

In an automatic beverage machine, such as a coffee machine, it is necessary to move the beverage cup to one or more designated positions, such as a liquid outlet of a designated feeding device.

In order to achieve this goal, the existing solution is to use a single-track, single-slider synchronous belt or screw linear guide. The common linear guide module, whether it uses a synchronous belt or a screw control principle, can only be controlled independently. a mechanical arm. For example, the Chinese patent whose publication number is CN 111631604 A discloses a computer table device capable of brewing coffee or tea, including a box body, and a transmission cavity is arranged in the box body, and the front wall of the transmission cavity is rotatably connected with a A driving shaft, a driving wheel is fixed on the driving shaft, a driven shaft on the right side of the driving shaft is rotatably connected to the front wall of the transmission cavity, a driven wheel is fixed on the driven shaft, and the A conveying belt is connected between the driven wheel and the driving wheel, and a paper cup chamber with an upward opening is connected to the upper side of the conveying chamber, and spare paper cups are stored in the paper cup chamber. The function of brewing coffee, brewing tea and infusing cold water is added on the basis of the traditional method. The present invention is different from the traditional brewing of coffee and tea. Everything is controlled by motor drive and cylinder adjustment, which reduces the time for employees to leave work ,Improve work efficiency.

Although the above-mentioned computer table device for brewing coffee or tea can realize the transmission of paper cups through the conveyor belt, thereby realizing the functions of brewing coffee, brewing tea and pouring cold water, its defect is that only one cup can be sent at a time. Paper cups are only suitable for household beverage machines with lower output requirements, not for commercial beverage machines with higher output requirements.

In order to realize that multiple paper cups can be conveyed at one time, the Chinese patent with the publication number CN 114668290 A discloses a beverage production equipment, including: a workbench, a feeding device, a liquid feeding device and a circulating cup feeding device arranged on the workbench. Wherein the circulating cup delivery device includes a circular track and a plurality of cup holders for supporting the drinking cups, the plurality of cup holders are arranged along the circular track at a first predetermined interval and move intermittently along the circular track with a predetermined step; work The table is provided with a plurality of stations arranged at second predetermined intervals along the circular track, and the plurality of stations include a feeding station and/or a liquid feeding station, the outlet of the feeding device is aligned with the feeding station, and the feeding station is aligned with the feeding station. The liquid outlet of the liquid device is aligned with the liquid filling station, and each cup holder stops at each station during the intermittent movement; and the first predetermined interval is m times the predetermined step distance, and the second predetermined interval is n times the predetermined step, m and n are both positive integers. In this way, not only can the beverage production efficiency be improved, but also the work intensity of the staff can be reduced, thereby reducing the cost.

Although the above-mentioned beverage making equipment can transmit multiple paper cups at one time, which improves the output, its defect is that all paper cups are driven by the same circulating cup feeding device, that is, all paper cups are synchronously transmitted It is impossible to achieve independent transmission of each paper cup, and the problem caused by synchronous transmission is that the feeding stations and/or liquid filling stations of multiple stations need to be set equidistantly, while different feeding stations and/or liquid filling stations There is a large difference in the size of the position, which leads to a larger overall size of the equipment, which puts forward higher requirements on the use space of the equipment; in addition, different feeding stations and/or liquid filling stations, The time for feeding or adding liquid varies, but for the synchronous movement of the paper cups, all the paper cups have to wait for the completion of all operations before performing an intermittent movement, which leads to a long waiting time; and, synchronous transmission Only one type of formula drink can be completed, which is a standardized operation, and it cannot complete a variety of drinks with different formulas. In actual use, it is difficult to meet the needs of consumers with diverse tastes.

In order to realize that multiple paper cups can be conveyed at one time, and each paper cup can be conveyed independently, the prior art proposes a single-track, multi-slider linear motor guide rail, which magnetizes the entire track, and adopts flat laying The coil and the permanent magnet on the guide rail produce an interaction force, and then control the movement of each slider.

Although this kind of linear motor guide rail can convey multiple paper cups at a time, and each paper cup can be conveyed independently, it brings many defects, as follows:

Defect 1. The structure is complex. The slider of the linear guide rail is connected to the control signal line and the power line, which makes the structure complex and the reliability lower than that of the synchronous belt module;

Defect 2. The cost is high. The flat permanent magnet makes the cost of the linear motor guide rail calculated in units of guide rail length, and the final cost is several times that of the synchronous belt module of the same size;

Defect 3. Large size and complex structure make the size of the linear guide much larger than the synchronous belt, which greatly limits the application scenarios, for example, it cannot be used in catering stores (the catering stores require a lot of land and have high requirements for the volume of equipment).

In order to realize that the two sliding tables can be driven independently, the Chinese patent with the publication number CN205704157U discloses a linear module, by setting two power sources, two active mechanisms, two driven mechanisms, and two Synchronous belt, two guide rails and two sliding tables to realize the two non-interfering power sources on a single linear module drive the driven mechanism respectively through the active mechanism, and then drive the sliding table to reciprocate on the guide rails to achieve precise linearity. They do not interfere with each other during positioning, and in some working conditions with limited space, long strokes and heavy loads, the design difficulty is reduced, the design is reasonable and the manufacturing cost is reduced.

Although this linear module realizes that the two sliding tables can be driven independently, its defects are as follows:

Defect 1. It can only be limited to the independent drive of two sliding tables, and cannot realize the independent driving of more than two sliding tables. The main technical concept of this linear module is to arrange the two belt transmission mechanisms symmetrically on the left and right, and Each is connected to a sliding table to realize the independent drive of the two sliding tables. In terms of structure, there is no way to add more than one belt transmission mechanism, that is, it is impossible to realize the independent drive of three or more sliding tables;

Defect 2. It is difficult to apply to beverage machines. The main application scenario of this linear module is the working condition of limited space, long stroke and heavy load. It is not suitable for light-load working conditions such as beverage machines. Moreover, the linear module The sliding table is located directly above the synchronous belt. If it is applied to a beverage machine, there may be a problem that the beverage liquid leaks into the linear module;

Defect 3. There are difficulties in the specific realization of the slide table. The linear module requires one slide table (called slide table A) to slide on one guide rail, and the other slide table to slide on another guide rail (called guide rail B). In the above, each synchronous belt is fixed on a sliding table respectively, but it does not give how to cooperate between the sliding table A and the guide rail B, how to avoid the interference problem in the movement, and does not give the relationship between the sliding table and another synchronous belt. How to cooperate with each other and how to avoid interference in motion, therefore, in practical applications, it is difficult to realize the linear module, and the two sliding tables also need to be matched with two corresponding guide rails.

Therefore, looking for a device, on the basis of realizing that multiple moving objects (such as cups) can be transmitted at one time, and each moving object (such as cups) can also be transmitted independently, meanwhile, it also has the advantages of simple structure and low cost. Moreover, the advantage of small size can be applied to scenarios with high volume and cost requirements such as commercial beverage machines, which is a technical problem to be solved urgently by those skilled in the art.

Contents of the invention

Aiming at the deficiencies of the above-mentioned prior art, the purpose of the present invention is to provide a single-line multi-track independent mobile automation device, a cup delivery device and a beverage machine, through which the single-line multi-track independent mobile automation device, a cup delivery device and a beverage machine, in realizing On the basis that multiple moving objects (such as cups) can be transmitted at one time, and each moving object (such as cups) can be transmitted independently, and at the same time, it also has the advantages of simple structure, low cost and small size, and can be applied in Scenarios with high volume and cost requirements such as commercial beverage machines.

According to the embodiment of the present invention, the first solution is provided as follows: a single-line multi-track independent mobile automation device, including two or more active translation mechanisms, and the active translation mechanisms include active translation mechanisms that can actively and independently perform translation. Translation sliders, independent moving components are fixed on the active translation sliders of each active translation mechanism, and the independent moving components are provided with placement points for placing moving objects, and the independent movement of the active translation sliders of all active translation mechanisms The moving trajectories of the placement points of the components are coincident, and the moving trajectories of the placement points of the independent moving components of the active translation slider of the active translation mechanism are staggered and do not overlap with the movement trajectories of the active translation sliders of the active translation mechanism .

Further, two or more active translation mechanisms are arranged in parallel along the longitudinal direction to jointly form an active translation track arrangement area, the independent moving member straddles the active translation track arrangement area, and the placement point is laterally Protruding outside the active translation track arrangement area, all the placement points that extend laterally outside the active translation track arrangement area translate along the same track, and the active translation mechanism within the active translation track arrangement area constitutes a plurality of track structure, and the placement point laterally protruding outside the active translation track arrangement area constitutes a single-line structure away from the multi-track structure, thereby forming a unique translation structure in which a single line has multiple tracks and the single line and the multi-track are staggered.

Further, all placement points laterally protruding outside the active translation track arrangement area translate along the same straight line.

Further, the active translation mechanism has three or more.

Further, the single-line multi-track independent mobile automation device also includes a driven translation mechanism, the driven translation mechanism includes a driven translation slider that can be driven and independently perform translation, and the independent moving member is a bridge-type independent movement component, and the driven translation slider is connected to the bridging independent moving component in a one-to-one correspondence.

Further, two or more of the active translation mechanisms and the driven translation mechanisms are arranged in parallel along the longitudinal direction to jointly form an active and passive translation track arrangement area, and the bridge-type independent moving member spans the active and passive translation tracks. Passive translation track arrangement area, and, the placement point extends laterally outside the active and passive translation track arrangement area, and all placement points laterally protruding outside the active and passive translation track arrangement area are along the same Track translation, the active translation mechanism and the driven translation mechanism within the active and passive translation track arrangement area constitute a multi-active track sharing a single driven track structure, and extend laterally beyond the active and passive translation track arrangement The placement points outside the area constitute a single-line structure far away from the single driven track structure shared by multiple active tracks, thus forming a unique translational structure in which single-line and multi-track are staggered.

Further, all placement points extending laterally beyond the arrangement area of the active and passive translational rails are translated along the same straight line.

Further, the distance between the driven translation mechanism and any active translation mechanism remains unchanged.

Further, the driven translation mechanism is arranged on the outermost or innermost side of all the active translation mechanisms.

Further, the driven translation mechanism is arranged between the outermost active translation mechanism or the innermost active translation mechanism and the placement point of the independent moving member.

Further, the driven translation mechanism is arranged between any two active translation mechanisms.

Further, one end of the bridge-type independent moving member is connected to the active translation slider of the active translation mechanism, and the other end of the bridge-type independent moving member is provided with the placement point.

Further, the bridging independent moving member is a cantilever beam structure, and the placement point is located at the suspended end of the bridging independent moving member.

Further, the middle part of the bridging independent moving member is connected with the driven translation slider of the driven translation mechanism.

Further, the bridging independent moving member is perpendicular to the driven translation mechanism.

Further, the bridging independent moving member is perpendicular to the active translation mechanism.

Further, the driven translation mechanism does not have a driving part.

Further, the driven translation mechanism does not have a transmission part.

Further, both the active translation mechanism and the driven translation mechanism are linear.

Further, both the active translation mechanism and the driven translation mechanism are encircling.

Further, the driven translation mechanism further includes a driven guide rail, and the driven translation slider is installed on the driven guide rail and slidably fits with it.

Further, the single-line multi-track independent mobile automation device further includes a position sensor for detecting the position of the driven translation slider.

Further, the driven translation mechanism is located on the same level as the active translation mechanism, and all the active translation mechanisms are located on the same level.

Further, the distance between adjacent active translation mechanisms remains unchanged.

Further, the active translation mechanism further includes an active translation drive unit that drives the active translation slider to translate.

Further, the active translation mechanism further includes a conveyor belt drive motor and a conveyor belt mechanism connected to the conveyor belt drive motor, and the active translation slider is fixed on the conveyor belt of the conveyor belt mechanism.

Further, the active translation mechanism further includes a screw drive motor and a screw mechanism connected to the screw drive motor, and the active translation slider is fixed on a screw nut of the screw mechanism.

Further, the active translation mechanism further includes an active guide rail, and the active translation slider is installed on the active guide rail and slidably fits with it.

Further, the independent moving member is in the shape of a sheet.

According to an embodiment of the present invention, a second solution is provided: a cup delivery device, including the above-mentioned single-line multi-track independent mobile automation device.

Further, the cup delivery device further includes a cup holder for placing cups, and the cup holder is fixed on the placement point of the independent moving member.

According to the embodiment of the present invention, a third solution is provided: a beverage machine, including the above-mentioned single-line multi-track independent mobile automation device.

Further, the beverage machine further includes a cup holder for placing cups, and the cup holder is fixed on the placement point of the independent moving member.

Further, the beverage machine also includes a machine base and an operation table arranged on the machine base, the operation table is a cabinet structure, and the single-line multi-track independent mobile automation device is arranged inside the operation table.

Further, an avoidance channel is provided on the operating platform, through which the independent moving member protrudes out of the operating platform, and the placement point is located outside the operating platform.

Further, the operation console includes a cabinet body and a cabinet surface connected to the cabinet body through a rotating opening mechanism, and the avoidance channel is a side gap between the cabinet surface and the cabinet body.

Further, the beverage machine also includes two or more batching machines, and the moving trajectory of the placement point of the independent moving member of the active translation slider of the active translation mechanism is located in front of the discharge port of the batching machine. below.

Further, the batching machine includes any one of hammer lemon machine, tea blending machine, milk blending machine, sugar blending machine, fruit juice blending machine, coffee blending machine or any combination thereof.

Further, the beverage machine is an automatic coffee maker.

Compared with the prior art, a single-line multi-track independent mobile automation device, a cup delivery device and a beverage machine provided by the present application can transmit multiple mobile objects (such as cups) at a time, and each mobile object (such as Cups) can also be transported independently, and at the same time, it also has the advantages of simple structure, low cost and small size, and can be applied to scenarios with high requirements for volume and cost such as commercial beverage machines.

Description of drawings

Fig. 1 is the overall structure schematic diagram of automatic coffee making machine of the present invention;

Fig. 2 is a partial structural schematic diagram of the automatic coffee making machine of the present invention;

Fig. 3 is a schematic structural view of the automatic coffee making machine of the present invention without displaying the counter surface of the console;

Fig. 4 is a partial enlarged view A of Fig. 3;

Fig. 5 is a schematic structural view of the cup feeding device of the automatic coffee making machine of the present invention;

Fig. 6 is a partial structural schematic diagram of the single-line multi-track independent mobile automation device of the automatic coffee making machine of the present invention;

Fig. 7 is a partial structural schematic diagram of the single-line multi-track independent mobile automation device of the automatic coffee making machine of the present invention;

Fig. 8 is a partial structural schematic diagram of the single-line multi-track independent mobile automation device of the automatic coffee making machine of the present invention.

Reference signs:

Single-line multi-track independent mobile automation device 1, active translation mechanism 11, active translation slider 111, active guide rail 112, conveyor belt drive motor 113, driven translation mechanism 12, driven translation slider 121, driven guide rail 122, independent moving components 13. Cup feeding device 2, cup holder 21, automatic coffee making machine 3, machine base 31, console 32, batching machine 33, position sensor 4.

Detailed ways

In order to enable those skilled in the art to better understand the technical solution in the application, the technical solution in the embodiment of the application will be clearly and completely described below in conjunction with the drawings in the embodiment of the application. Obviously, the described implementation Examples are only some of the embodiments of the present application, but not all of them. Based on the embodiments in this application, all other embodiments obtained by persons of ordinary skill in the art without making creative efforts belong to the scope of protection of this application.

It should be noted that when an element is referred to as being "fixed" or "disposed on" another part, it may be directly on another part or indirectly provided on another part; to" another part, it may be directly connected to another part or indirectly connected to another part.

It is to be understood that the terms "length", "width", "top", "bottom", "front", "rear", "left", "right", "vertical", "horizontal", "top" , "bottom", "inner", "outer" and other indicated orientations or positional relationships are based on the orientations or positional relationships shown in the drawings, and are only for the convenience of describing the application and simplifying the description, rather than indicating or implying No device or component must have a particular orientation, be constructed, and operate in a particular orientation, and thus should not be construed as limiting the application.

In addition, the terms "first" and "second" are used for descriptive purposes only, and cannot be interpreted as indicating or implying relative importance or implicitly specifying the quantity of indicated technical features. Thus, a feature defined as "first" and "second" may explicitly or implicitly include one or more of these features. In the description of the present application, the meanings of "plurality" and "several" are two or more, unless otherwise specifically defined.

It should be noted that the structures, proportions, sizes, etc. shown in the drawings of this specification are only used to match the content disclosed in the specification, for those who are familiar with this technology to understand and read, and are not used to limit the conditions that this application can implement , so it has no technical substantive meaning, and any modification of structure, change of proportional relationship or adjustment of size shall still fall within the scope of the disclosure disclosed in this application without affecting the effect and purpose of this application. The technical content must be within the scope covered.

It should be noted that the drawings and implementations of this specification take the coffee automatic maker 3 as an example to illustrate the technical solution, but it is not limited to this. The single-line multi-track independent mobile automation device 1 provided by the application can be applied to It is suitable for various automatic transmission scenarios, especially for automatic catering equipment.

According to the embodiment of the present invention, the first solution is provided as follows: as shown in Figures 1 to 8, a single-line multi-track independent mobile automation device 1 includes two or more active translation mechanisms 11, the active The translation mechanism 11 includes an active translation slider 111 capable of actively and independently performing translation, and an independent moving member 13 is fixed on the active translation slider 111 of each active translation mechanism 11, that is, the active translation slider 111 and the independent moving member 13 are One-to-one correspondence connection, the independent moving member 13 is provided with a placement point for placing the moving object, and the moving trajectories of the placement points of the independent moving member 13 of the active translation slider 111 of all the active translation mechanisms 11 coincide, and, the The moving trajectory of the placement point of the independent moving member 13 of the active translation slider 111 of the active translation mechanism 11 is staggered and does not overlap with the movement trajectory of the active translation slider 111 of the active translation mechanism.

In this technical solution, it should be noted that this solution adopts the technical idea of single-line and multi-track and the single-line and multi-track are staggered, that is, multiple tracks drive multiple moving objects (such as cups on the cup holder 21) along the same straight line. Independent movement, especially suitable for devices such as beverage machines, using two or more active translation mechanisms 11, the active translation mechanism 11 includes active translation sliders 111 that can actively and independently perform translation, each The active translation slider 111 of the active translation mechanism 11 is fixed with an independent moving member 13 to form a multi-track drive. The independent moving member 13 is provided with a placement point for placing a moving object, and all the active translation mechanisms 11 The moving track of the placement point of the independent moving member 13 of the active translation slider 111 of the active translation mechanism 11 coincides with the moving track of the placement point of the independent moving member 13 of the active translation slider 111 of the active translation mechanism 11 and the active translation mechanism 11 The moving trajectories of the active translation sliders 111 of the mechanism 11 are staggered and do not overlap to form a single-line movement, thereby constructing a brand-new single-line multi-track transmission system. On the one hand, each active translation mechanism 11 can drive the active movement on it. The translation slider 111 moves independently, and the active translation slider 111 drives the independent moving member 13 to move independently, and finally realizes the independent movement of the placement point of the independent moving member 13. On the other hand, the active translation sliders of all the active translation mechanisms 11 The moving track of the placement point of the independent moving member 13 of the block 111 coincides, and the moving track of the placing point of the independent moving member 13 of the active translation slider 111 of the active translation mechanism 11 is the same as the active translation mechanism 11 of the active translation mechanism 11. The trajectories of the translation slider 111 are staggered and do not overlap, so that the trajectories of the moving objects placed on the placement point are coincident and collinear, and the moving objects on the placement point are on the same trajectory (like a straight line) above), that is, the above-mentioned single-line movement, so that the moving object is moved along the same line, and multiple moving objects (such as cups) can be transmitted at one time, and each moving object (such as a cup) It can also be transmitted independently, and at the same time, it also has the advantages of simple structure, low cost and small size, and can be applied to scenarios with high requirements for volume and cost such as commercial beverage machines.

It should be noted that this solution adopts the technical idea of single-line and multi-track and the single-line and multi-track are staggered, that is, multiple tracks drive multiple moving objects (such as cups on the cup holder 21) to move independently along the same straight line. The solution actually overcomes the traditional technical prejudice, the traditional technical prejudice is to use a single-line monorail (that is, one or more sliders are equipped on a guide rail, a moving object is placed on a slider, and the slider and the moving object on it are along the same track. Therefore, the traditional improvement idea is to focus on a single track for improvement, without considering the way multiple tracks are driven and combined with the movement of a single line that is staggered, such as a linear motor guide rail with an extremely complicated scheme. It is to realize independent driving of multiple objects on a single track, but this application does the opposite, adopts the technical idea of driving on multiple tracks combined with single-line movement, and achieves unexpected technical effects.

It should be noted that two or more active translation mechanisms 11 may be used, and three or more active translation mechanisms 11 may be used. In this embodiment, four active translation mechanisms 11 are preferably used to realize the independent movement of four cup holders 21 , but not limited thereto, the number of active translation mechanisms 11 can be adjusted accordingly according to the number of moving objects that need to be moved, one active translation mechanism 11 realizes the independent movement of one moving object, then N active translation mechanisms 11 realize N Independent movement of moving objects.

It should be noted that, since the discharge position is fixed, only when the moving trajectories of the placement points of the independent moving members 13 of the active translation sliders 111 of all the active translation mechanisms 11 coincide, can batching of multiple cups be realized.

It should be noted that the placement point of the independent moving member 13 (on which the moving object is placed, such as a cup on the cup holder 21) is not directly above the active translation slider 111, but staggered from the active translation slider 111 If they do not overlap, then, on the one hand, when the place is used to place the cup of the beverage machine, even if there is leakage of beverage liquid, since the active translation mechanism 11 is not directly below the cup, the leakage of liquid will not enter the Inside the active translation mechanism 11, on the other hand, it may also be necessary to flexibly configure multiple active translation mechanisms 11, for example, three or more active translation mechanisms 11, to realize the independent movement of multiple cups.

It should be noted that the translation motion of the active translation slider 111 can be a linear reciprocating motion, or a circular circular motion.

Specifically, in the embodiment of the present invention, the single-line multi-track independent mobile automation device 1 also includes a driven translation mechanism 12, and the driven translation mechanism 12 includes a driven translation slide that can be driven and independently perform translation. Block 121, the independent moving member 13 is a bridge-type independent moving member 13, the driven translation slider 121 is connected to the bridge-type independent moving member 13 in a one-to-one correspondence, and different bridge-type independent moving members 13 are connected differently The driven translation slider 121 to drive different driven translation sliders 121 to move.

It should be noted that the above bridge type specifically refers to the bridge type independent moving member 13 being fixedly connected to the active translation slider 111 and the driven translation slider 121 respectively, that is, the active translation slider 111 can drive the bridge type independent movement member 13 to move, while the bridge-type independent moving member 13 can drive the driven translation slider 121 to move. Specifically, the bridge-type independent moving member 13 straddles the active translation slider 111 and the driven translation slider 121, similar to a bridge structure, and the bridge-type independent moving member 13, the active translation slider 111 and the driven translation slider 121 move synchronously, and this special bridge-type independent moving member 13 is used to drive the placement point on it (such as the cup holder 21) to move synchronously, and the active translation sliders 111 at the placement points are staggered and do not overlap, so that multiple active translation mechanisms 11 can share one driven translation mechanism 12, and there is no interference problem during the movement. Each bridge-type independent moving member 13, active translation slider 111 and driven translation slider 121 can run smoothly, is easy to implement in structure, has practical application value, is especially suitable for devices such as beverage machines, and is also multi-line The expansion of the active translation mechanism 11 provides a structural basis.

It should be noted that, since the movement trajectory of the placement point of the independent moving member 13 of the active translation slider 111 of the active translation mechanism 11 is staggered and does not overlap with the movement trajectory of the active translation slider 111 of the active translation mechanism 11, that is, the placement point is not located directly above the active translation slider 111, then there will be unbalanced force in terms of force (the more the number of active translation mechanisms 11, the more unbalanced the force), resulting in unstable transmission , in view of this problem, this embodiment proposes the driven translation mechanism 12 specifically, and the independent moving member 13 is supported by the driven translation slider 121 of the driven translation mechanism 12, and at this time, the independent moving member 13 is connected Structurally, it is actually a structure similar to a bridge (so it is called a bridge type), which are respectively connected to the driven translation slider 121 and the active translation slider 111. Therefore, the independent moving member 13 at this time can also be called The bridge-type independent moving member 13 acts as a bridge between the driven translation slider 121 and the active translation slider 111. When the active translation slider 111 moves, it drives the bridge-type independent moving member 13 to move, while the bridge-type independent moving member 13 then drives the driven translation slider 121 to be driven, i.e. follow-up, then when the bridge-type independent moving member 13 moves, the driven translation slider 121 has the effect of auxiliary support, solving the problem of the bridge-type independent moving member 13 The problem of unbalanced force makes the movement of the single-line multi-track independent mobile automation device 1 more stable.

It should be noted that all bridge-type independent moving components 13 share a driven translation mechanism 12, but they correspond to different driven translation sliders 121 on the same driven translation mechanism 12, which can save space and simplify the structure. At the same time, it realizes the independent transmission of multiple moving objects, which is a great improvement over the traditional one slider with one guide rail.

It should be noted that the driven translation slider 121 is connected to the bridge-type independent moving member 13 in a one-to-one correspondence, that is, an active translation slider 111 drives a bridge-type independent moving member 13 to move, and the bridge-type independent moving member 13 moves. The independent moving member 13 then drives a driven translation slider 121 to move, thereby realizing that a plurality of moving objects (such as cups) can be transmitted at one time, and each moving object (such as a cup on the cup holder 21) can also be transmitted independently .

Specifically, in the embodiment of the present invention, the distance between the driven translation mechanism 12 and any one of the active translation mechanisms 11 remains unchanged.

It should be noted that keeping the distance between the driven translation mechanism 12 and any one of the active translation mechanisms 11 unchanged can keep the driven translation slider 121 and the active translation slider 111 relatively stationary, thereby realizing a single line Mobile, and, can achieve compact structure to reduce size.

Specifically, in the embodiment of the present invention, the driven translation mechanism 12 is arranged on the outermost or innermost side of all the active translation mechanisms 11 .

It should be noted that arranging the driven translation mechanism 12 on the outermost or innermost side of all the active translation mechanisms 11 can optimize the arrangement of the driven translation mechanism 12 and the active translation mechanism 11, and further improve the independent moving member 13. unbalanced forces and can reduce the size of the device.

Specifically, in the embodiment of the present invention, the driven translation mechanism 12 is arranged between the outermost active translation mechanism 11 or the innermost active translation mechanism 11 and the placement point of the independent moving member 13 .

It should be noted that the driven translation mechanism 12 is arranged between the active translation mechanism 11 and the placement point, and the driven translation mechanism 12 can support the placement point at a position relatively close to the placement point, which can further improve the independent moving member 13. The situation of power imbalance.

Specifically, in the embodiment of the present invention, the driven translation mechanism 12 is arranged between any two active translation mechanisms 11 .

It should be noted that arranging the driven translation mechanism 12 between any two active translation mechanisms 11 can make reasonable use of the space and perform corresponding position adjustments according to the actual arrangement of the device.

Specifically, in the embodiment of the present invention, one end of the bridge-type independent moving member 13 is connected to the active translation slider 111 of the active translation mechanism 11, and the other end of the bridge-type independent moving member 13 is provided with the the placement point.

It should be noted that, by distributing the active translation slider 111 and the placement points at both ends of the bridging independent moving member 13, the placement point can be kept away from the active translation slider 111 to the greatest extent, which is beneficial to multiple groups of active translation mechanisms 11 Form multiple placement points that can be moved in a single line.

To elaborate, in the embodiment of the present invention, the bridging independent moving member 13 is a cantilever beam structure, and the placement point is located at the suspended end of the bridging independent moving member 13 .

It should be noted that the bridge-type independent moving member 13 adopts a cantilever beam structure, that is, the bridging-type independent moving member 13 protrudes outward from the active translation slider 111 to form a cantilever beam structure, and then is installed at the suspended end of the cantilever beam structure. The purpose of placing the placement points of moving objects is to form multiple placement points capable of single-line movement on multiple sets of active translation mechanisms 11, and to provide structural space for the expansion of the number of multiple sets of active translation mechanisms 11. Although it is not suitable for heavy-duty working conditions, it is very suitable for beverage machines and has special application scenarios. In addition, the bridge-type independent moving member 13 adopts the active translation slider 111 The outwardly protruding structural form is also conducive to the arrangement of the single-line multi-track independent mobile automation device 1 inside the operating table, and only the bridging independent moving member 13 protrudes outward from the operating table and drives the movement on the placement point Objects, such as cups on cup holders 21 , move independently under the plurality of beverage serving devices to receive corresponding beverages.

Specifically, in the embodiment of the present invention, the middle part of the bridging independent moving member 13 is connected with the driven translation slider 121 of the driven translation mechanism 12 .

It should be noted that, since the bridging type independent moving member 13 is a cantilever beam structure, and its placement point (i.e. bearing point) is located at the suspended end of the cantilever beam structure, therefore, the middle part of the bridging type independent moving member 13 adopts a driven The driven support of the translation slider 121 can effectively improve the force bearing problem of the bridge-type independent moving member 13, and is conducive to the smooth movement of the bridge-type independent moving member 13. Even so, since the placement point is always suspended, therefore, and Not suitable for heavy duty applications.

Specifically, in the embodiment of the present invention, the bridging independent moving member 13 is perpendicular to the driven translation mechanism 12 .

It should be noted that placing the bridging independent moving member 13 perpendicular to the driven translation mechanism 12 can shorten the moment at the placement point of the bridging independent moving member 13, effectively improve the force bearing problem of the bridging independent moving member 13, and facilitate bridging The independent moving member 13 moves smoothly.

Specifically, in the embodiment of the present invention, the bridging independent moving member 13 is perpendicular to the active translation mechanism 11 .

It should be noted that placing the bridge-type independent moving member 13 perpendicular to the active translation mechanism 11 can shorten the moment of the placement point of the bridge-type independent moving member 13, effectively improve the force problem of the bridge-type independent moving member 13, and is beneficial to the bridge-type independent moving member 13. The independent moving member 13 performs smooth movement.

To elaborate specifically, in the embodiment of the present invention, the driven translation mechanism 12 is not provided with a driving part.

It should be noted that the driven translation mechanism 12 only has a driving role in movement, and does not undertake a driving role. Therefore, no driving part is provided, which is different from the traditional translation mechanism that assumes a driving role.

To elaborate specifically, in the embodiment of the present invention, the driven translation mechanism 12 is not provided with a transmission part.

It should be noted that the driven translation mechanism 12 is not provided with a transmission part, and only has a slave function in terms of movement.

To elaborate specifically, in the embodiment of the present invention, both the active translation mechanism 11 and the driven translation mechanism 12 are linear.

It should be noted that the active translation mechanism 11 and the driven translation mechanism 12 are linear, that is, the active translation mechanism 11 and the driven translation mechanism 12 are arranged in parallel, and the placement point of the bridging independent moving member 13 can be from the left Move to the right (or from right to left), and then return to the original path to reset after completing one batching or filling.

Specifically, in the embodiment of the present invention, the active translation mechanism 11 and the driven translation mechanism 12 are both encircling.

It should be noted that both the active translation mechanism 11 and the driven translation mechanism 12 are encircling. For example, they can be arranged in a racetrack-like encircling manner, which can realize the encircling cycle, and the batching machine 33 can be moved without returning to the original path. Carry out the mirror image arrangement in the front and rear directions, when the placement point of the bridge-type independent moving member 13 in the front moves from left to right to complete a batching or filling, at the same time, the placement point of the bridge-type independent moving member 13 in the back is from Move from right to left to complete one batching or filling. It can complete two groups of batching or filling at one time. The efficiency is doubled, but it will lead to a larger size. It is suitable for lower volume requirements and is suitable for rotary tables. usage scenarios.

Specifically, in the embodiment of the present invention, the driven translation mechanism 12 further includes a driven guide rail 122 , and the driven translation slider 121 is installed on the driven guide rail 122 and slidably fits thereon.

It should be noted that the driven translation mechanism 12 is constituted by the driven guide rail 122 and the driven translation slider 121 .

Specifically, in the embodiment of the present invention, the single-line multi-track independent mobile automation device 1 further includes a position sensor 4 for detecting the position of the driven translation slider 121 .

It should be noted that the position of the driven translation slider 121 can be detected by the position sensor 4, so as to detect the position of the placement point of the bridging independent moving member 13, and provide position feedback for the position control of the moving object.

Specifically, in the embodiment of the present invention, the driven translation mechanism 12 and the active translation mechanism 11 are located on the same level, and all the active translation mechanisms 11 are located on the same level.

To elaborate specifically, in the embodiment of the present invention, the distance between adjacent active translation mechanisms 11 remains unchanged.

It should be noted that keeping the distance between adjacent active translation mechanisms 11 unchanged, that is, a plurality of active translation mechanisms 11 can be arranged in parallel to achieve a compact structure and reduce size.

Specifically, in the embodiment of the present invention, the active translation mechanism 11 further includes an active translation drive unit that drives the active translation slider 111 to perform translation.

It should be noted that the multiple active translation sliders 111 are independently driven by their respective active translation drive units, so that multiple active translation sliders 111 can move independently of each other, for example, four active translation sliders 111 are driven by four active translation sliders. The drive unit is driven independently, so that the four active translation sliders 111 can move independently of each other.

Specifically, in the embodiment of the present invention, the active translation drive unit includes a conveyor belt drive motor 113 and a conveyor belt mechanism connected to the conveyor belt drive motor 113, and the active translation slider 111 is fixed on the conveyor belt mechanism. on the conveyor belt.

It should be noted that the driving mode of the active translation mechanism 11 can be realized by using a conveyor belt mechanism with a small size.

Specifically, in the embodiment of the present invention, the active translation drive unit includes a screw drive motor and a screw mechanism connected to the screw drive motor, and the active translation slider 111 is fixed on the screw drive On the screw nut of the mechanism.

It should be noted that the drive mode of the active translation mechanism can also adopt the mode of cooperating with the motor and the screw rod.

It should be noted that this embodiment provides two driving modes for the active translation drive unit, the conveyor belt mechanism and the motor and the screw rod, but it is not limited to this, and other driving modes that can drive the active translation slider 111 can also be used. Translational drive mechanism.

To elaborate, in the embodiment of the present invention, the active translation mechanism 11 further includes an active guide rail 112 , and the active translation slider 111 is installed on the active guide rail 112 and slidably fits thereon.

It should be noted that the active guide rail 112 is used to guide the movement of the active translation slider 111 .

To elaborate specifically, in the embodiment of the present invention, the independent moving member 13 is in the shape of a sheet.

To elaborate specifically, in the embodiment of the present invention, the independent moving member 13 is in the shape of a sheet.

It should be noted that the use of the sheet-shaped independent moving member 13 can better support the cup stably, and the single-line multi-track independent moving automation device 1 can be put into the interior of the operation table 32 as a whole, only extending The sheet-shaped independent moving member 13 makes good use of the space of the operating table 32 to install the single-line multi-track independent moving automation device 1, which can realize compact structure and reduce size.

According to the embodiment of the present invention, a second solution is provided: as shown in FIG. 1 to FIG. 8 , a cup feeding device 2 includes the above-mentioned single-line multi-track independent mobile automation device 1 .

It should be noted that the above-mentioned single-line multi-track independent mobile automation device 1 is applied to the cup feeding device 2, and it is realized that multiple cups (such as paper cups) can be transmitted at one time, and each cup (such as paper cups) can be transmitted independently. Basically, at the same time, it also has the advantages of simple structure, low cost and small size, and can be applied to scenarios with high requirements for volume and cost, such as commercial beverage machines.

Specifically, in the embodiment of the present invention, the cup delivery device 2 further includes a cup holder 21 for placing cups, the cup holder 21 is fixed on the placement point of the independent moving member 13, and the center of the cup holder 21 The point is collinear with the placement point of the independent moving member 13 .

It should be noted that the cup holder 21 is used to place cups, and can drive its corresponding independent moving member 13 to move independently through different active translation mechanisms 11, thereby driving the cup holder 21 on the independent moving member 13 to move, thereby realizing multiple The independent movement of each cup realizes the transfer of the cup.

It should be noted that the placement of the cup (that is, the position of the cup holder 21 ) is not directly above the active translation slider 111 , but at the placement point of the independent moving member 13 .

According to the embodiment of the present invention, a third solution is provided: as shown in FIG. 1 to FIG. 8 , a beverage machine includes the above-mentioned single-line multi-track independent mobile automation device 1 .

It should be noted that generally the liquid outlets of beverages are all on the same line, so the cups need to be on the same line.

It should be noted that the above-mentioned single-line multi-track independent mobile automation device 1 is applied to the beverage machine, on the basis that multiple cups (such as paper cups) can be conveyed at one time, and each cup (such as paper cups) can be conveyed independently , at the same time, it also has the advantages of simple structure, low cost and small size, and can be applied to scenarios with high requirements for volume and cost, such as commercial beverage machines.

Specifically, in the embodiment of the present invention, the beverage machine further includes a cup holder 21 for placing cups, and the cup holder 21 is fixed on the placement point of the independent moving member 13 .

It should be noted that the cup holder 21 is used to place cups, and can drive its corresponding independent moving member 13 to move independently through different active translation mechanisms 11, thereby driving the cup holder 21 on the independent moving member 13 to move, thereby realizing multiple The independent movement of each cup realizes the transfer of the cup.

It should be noted that the cup in the cup holder 21 is staggered from the active translation mechanism 11. Even if there is leakage of beverage liquid, since the active translation mechanism 11 is not located directly under the cup, the leakage of liquid will not enter the active translation mechanism. 11 interior.

Specifically, in the embodiment of the present invention, the beverage machine also includes a base 31 and an operating table 32 arranged on the base 31, the operating table 32 is a cabinet structure, and the single-line multi-track The independent mobile automation device 1 is arranged inside the operating platform 32 .

It should be noted that, the single-line multi-track independent mobile automation device 1 is installed by using the space of the operating table 32, so that the structure can be compact and the size can be reduced.

Specifically, in the embodiment of the present invention, an avoidance channel is provided on the operating table 32, and the independent moving member 13 protrudes out of the operating table 32 through the avoiding channel 324, and the The placement point is outside of said console 32 .

It should be noted that the single-line and multi-track independent mobile automation device 1 formed by the technical idea of single-line and multi-track and the single-line and multi-track are staggered in this scheme is flat in shape and is very suitable for installation in flat operating Taiwan.

It should be noted that the space of the operating platform 32 is used to install the single-line multi-track independent mobile automation device 1, and the sheet-shaped independent moving member 13 is used to protrude from the operating platform 32 through the avoidance channel 324. In addition, it is possible to better prevent liquids and the like from entering the console 32.

It should be noted that, in order to further prevent liquids from entering the console 32, a flow guide baffle can be added above the avoidance channel 324, so that even if a small amount of liquid flows along the side of the console 32, it can The liquid is directed away from the escape channel 324 by the deflector baffle.

Specifically, in the embodiment of the present invention, in order to further prevent liquids from entering the console 32, a flexible scraper can also be provided on the side of the console 32, and the top of the flexible scraper is connected to the top of the avoidance channel 324, The bottom of the flexible scraper abuts against the top surface of the sheet-shaped independent moving member 13. The flexible scraper can be a silicone scraper or a rubber scraper, and the liquid entering the top surface of the independent moving member 13 can be scraped off by the flexible scraper.

Specifically, in the embodiment of the present invention, the operation console 32 includes a cabinet body 321 and a cabinet surface 322 connected to the cabinet body 321 through a rotating opening mechanism 323, and the avoidance channel 324 is the cabinet surface 322. and the side clearance between the cabinet body 321.

It should be noted that, the independent moving member 13 in the shape of a sheet protrudes out of the operation table 32 through the side gap between the cabinet surface 322 and the cabinet body 321, which can better prevent liquids from entering the operation table. Within station 32.

Specifically, in the embodiment of the present invention, the beverage machine also includes two or more batching machines 33, and the placement point of the independent moving member 13 of the active translation slider 111 of the active translation mechanism 11 The moving track is located directly below the discharge port of the batching machine 33 .

It should be noted that the active translation slider 111 of the active translation mechanism 11 can drive the cup on the placement point of the independent moving member 13 to move directly below the discharge port of the batching machine 33 for corresponding batching or filling. The cups can be moved independently to match the batching or filling of different batching machines 33.

Specifically, in the embodiment of the present invention, the batching machine 33 includes any one of a hammer lemon machine, a tea blending machine, a milk blending machine, a sugar blending machine, a juice blending machine, a coffee blending machine, or any combination thereof .

It should be noted that the ingredients of beverages with various tastes can be realized, which can better meet the needs of consumers.

To elaborate specifically, in the embodiment of the present invention, the beverage machine is an automatic coffee making machine 3 .

It should be noted that automatic coffee making can be realized.

Specifically, in the embodiment of the present invention, a hammer lemon machine 331 and a tea mixing machine 332 (sugar, milk, tea, fruit juice) are sequentially arranged along a straight line from left to right (or from right to left) on the base 31. etc.) and coffee machines 333, 334, 335, different coffee machines can prepare different grades of coffee.

As shown in Fig. 1 to Fig. 8, a kind of automatic coffee making machine 3, its working process is as follows:

1. At the starting point, the clerk will stick a label for customers to pick up the meal according to the order number; after scanning the code, the system will know the product formula;

2. At the automatic liquid outlet, various ingredients will be automatically quantitatively discharged; including water, milk, coconut milk, coffee milk, syrup, etc.; the general liquid discharge time is 10s, and the conveyor belt can be driven by the conveyor belt drive motor 113 to move. Drive the active translation slider 111 on it to move, the active translation slider 111 drives the independent moving member 13 to move, and the independent moving member 13 drives the cup in the cup holder 21 on it to move, when the cup reaches the discharge of the corresponding ingredient phase When the cup is directly below the mouth, the cup stops moving for batching or filling. After the completion, it advances to the next batching machine 33 for corresponding batching, and finally reaches the coffee machine. The coffee machine is automatically controlled by the system to make and flow out The coffee is concentrated, and the general time is 20s. After the coffee is made, each cup is moved and controlled by a corresponding independent conveyor belt drive motor 113. Each cup can move independently, for example, it can be driven by the active translation slider 111 The moving member 13 moves, drives the cup to reach the bottom of the hammered lemon machine 331, fills it with lemon juice, then moves the cup to the tea dispenser 332, fills it with sugar and milk, then moves the cup to the coffee dispenser 335, and loads coffee, coffee After the production is completed, the cups behind can also be moved independently for corresponding batching or filling;

3. At the cup outlet, after completing the operation at the starting point, the clerk will go to the cup outlet to add a lid, pack it into a bag, and put it in the pick-up area for the customer to pick up the meal.

Example 1

Provide a single-line multi-track independent mobile automation device 1, including two or more active translation mechanisms 11, the active translation mechanism 11 includes an active translation slider 111 that can actively and independently perform translation, each active translation mechanism The active translation slider 111 of 11 is fixed with an independent moving member 13, and the independent moving member 13 is provided with a placement point for placing a moving object. The independent moving members 13 of the active translation slider 111 of all active translation mechanisms 11 The moving tracks of the placement points coincide, and the moving tracks of the placement points of the independent moving members 13 of the active translation slider 111 of the active translation mechanism 11 are identical to the moving tracks of the active translation slider 111 of the active translation mechanism 11. Stagger does not overlap.

Example 2

Repeat Example 1, except that the single-line multi-track independent mobile automation device 1 also includes a driven translation mechanism 12, and the driven translation mechanism 12 includes a driven translation slider 121 that can be driven and independently perform translation. The moving member 13 is a bridge-type independent moving member 13, and the driven translation slider 121 is connected to the bridge-type independent moving member 13 in a one-to-one correspondence.

Example 3

Embodiment 2 is repeated, except that the distance between the driven translation mechanism 12 and each active translation mechanism 11 remains unchanged.

Example 4

Embodiment 3 is repeated, except that the driven translation mechanism 12 is arranged on the outermost or innermost side of all the active translation mechanisms 11 .

Example 5

Embodiment 4 is repeated, except that the driven translation mechanism 12 is arranged between the outermost active translation mechanism 11 or the innermost active translation mechanism 11 and the placement point of the independent moving member 13 .

Example 6

Embodiment 3 is repeated, except that the driven translation mechanism 12 is arranged between any two active translation mechanisms 11 .

Example 7

Embodiment 2 is repeated, except that one end of the bridge-type independent moving member 13 is connected to the active translation slider 111 of the active translation mechanism 11, and the other end of the bridge-type independent moving member 13 is provided with the placement point.

Example 8

Embodiment 7 is repeated, except that the bridging independent moving member 13 is a cantilever beam structure, and the placement point is located at the suspended end of the bridging independent moving member 13 .

Example 9

Embodiment 2 is repeated, except that the middle part of the bridging independent moving member 13 is connected with the driven translation slider 121 of the driven translation mechanism 12 .

Example 10

Embodiment 2 is repeated, except that the bridging independent moving member 13 is perpendicular to the driven translation mechanism 12 .

Example 11

Embodiment 2 is repeated, except that the bridging independent moving member 13 is perpendicular to the active translation mechanism 11 .

Example 12

Embodiment 2 is repeated, except that the driven translation mechanism 12 is not provided with a driving part.

Example 13

Repeat embodiment 2, except that the driven translation mechanism 12 is not provided with a transmission part

Example 14

Embodiment 2 is repeated, except that the active translation mechanism 11 and the driven translation mechanism 12 are both linear.

Example 15

Embodiment 2 is repeated, except that the active translation mechanism 11 and the driven translation mechanism 12 are both encircling.

Example 16

Embodiment 2 is repeated, except that the driven translation mechanism 12 further includes a driven guide rail 122 , and the driven translation slider 121 is installed on the driven guide rail 122 and slidably fits thereon.

Example 17

Embodiment 2 is repeated, except that the single-line multi-track independent mobile automation device 1 further includes a position sensor 4 for detecting the position of the driven translation slider 121 .

Example 18

Embodiment 2 is repeated, except that the driven translation mechanism 12 and the active translation mechanism 11 are located on the same level, and all the active translation mechanisms 11 are located on the same level.

Example 19

Embodiment 1 is repeated, except that the distance between adjacent active translation mechanisms 11 remains unchanged.

Example 20

Embodiment 1 is repeated, except that the active translation mechanism 11 further includes an active translation drive unit that drives the active translation slider 111 to translate.

Example 21

Embodiment 20 is repeated, except that the active translation drive unit includes a conveyor belt drive motor 113 and a conveyor belt mechanism connected to the conveyor belt drive motor 113, and the active translation slider 111 is fixed on the conveyor belt of the conveyor belt mechanism.

Example 22

Repeat Example 20, except that the active translation drive unit includes a screw drive motor and a screw mechanism connected to the screw drive motor, and the active translation slider 111 is fixed on the screw nut of the screw mechanism .

Example 23

Embodiment 1 is repeated, except that the active translation mechanism 11 further includes an active guide rail 112, and the active translation slider 111 is installed on the active guide rail 112 and slidably fits thereon.

Example 24

Example 1 is repeated, except that the independent moving member 13 is in the shape of a sheet.

Example 25

By repeating any one of 4 of Examples 1 to 2, a cup feeding device 2 is provided, including the single-line multi-track independent mobile automation device 1 .

Example 26

Embodiment 25 is repeated, except that the cup delivery device 2 further includes a cup holder 21 for placing cups, and the cup holder 21 is fixed on the placement point of the independent moving member 13 .

Example 27

Repeat any one of Examples 1 to 24 to provide a beverage machine, including the single-line multi-track independent mobile automation device 1 .

Example 28

Embodiment 27 is repeated, except that the beverage machine further includes a cup holder 21 for placing cups, and the cup holder 21 is fixed on the placement point of the independent moving member 13 .

Example 29

Repeat Example 27, except that the beverage machine also includes a base 31 and an operating table 32 arranged on the base 31, the operating table 32 is a cabinet structure, and the single-line multi-track independent mobile automation device 1 is set Inside the console 32 .

Example 30

Repeat embodiment 29, except that an avoidance channel is provided on the operating table 32, and the independent moving member 13 protrudes out of the operating table 32 through the avoiding channel, and the placement point is located on the operating table 32 outside.

Example 31

Embodiment 30 is repeated, except that the operation console 32 includes a cabinet body and a cabinet surface connected to the cabinet body through a rotating opening mechanism, and the avoidance channel is a gap between the cabinet surface and the cabinet body.

Example 32

Repeat Example 27, except that the beverage machine also includes two or more batching machines 33, and the moving trajectory of the placement point of the independent moving member 13 of the active translation slider 111 of the active translation mechanism 11 is located at the top of the batching machine. Just below the outlet of machine 33.

Example 33

Repeat Example 32, except that the batching machine 33 includes any one of a hammer lemon machine, a tea blending machine, a milk blending machine, a sugar blending machine, a juice blending machine, a coffee blending machine or any combination thereof.

Example 34

According to any one of the embodiments 27 to 33, the beverage machine is an automatic coffee maker 3 .

The above description of the disclosed embodiments is provided to enable any person skilled in the art to make or use the invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of the invention. Therefore, the present invention will not be limited to the embodiments shown herein, but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.

Claims (24)

1. A single-line multi-track independent mobile automation device, characterized in that it includes two or more active translation mechanisms, the active translation mechanism includes an active translation slider that can actively and independently perform translation, each active translation The active translation sliders of the mechanism are fixed with independent moving components, and the independent moving components are provided with placement points for placing moving objects, and the moving tracks of the placement points of the independent moving components of the active translation sliders of all active translation mechanisms coincide, and the movement track of the placement point of the independent moving member of the active translation slider of the active translation mechanism is staggered and does not overlap with the movement track of the active translation slider of the active translation mechanism. 2. The single-line multi-track independent mobile automation device according to claim 1, characterized in that, the single-line multi-track independent mobile automation device also includes a driven translation mechanism, and the driven translation mechanism includes a device that can be driven and independently perform translation. The driven translation slider, the independent moving member is a bridge-type independent moving member, and the driven translation slider is connected to the bridge-type independent moving member in a one-to-one correspondence. 3. The single-line multi-track independent mobile automation device according to claim 2, wherein the distance between the driven translation mechanism and any active translation mechanism remains unchanged. 4. The single-line multi-track independent mobile automation device according to claim 3, wherein the driven translation mechanism is arranged on the outermost or innermost side of all active translation mechanisms, or the driven translation mechanism is arranged on Between any two active translation mechanisms. 5. The single-line multi-track independent mobile automation device according to claim 4, wherein the driven translation mechanism is arranged at the placement point of the outermost active translation mechanism or the innermost active translation mechanism and the independent moving member between. 6. The single-line multi-track independent mobile automation device according to claim 2, characterized in that, one end of the bridge-type independent moving member is connected to the active translation slider of the active translation mechanism, and the bridge-type independent moving member The other end is provided with the placement point, and the middle part between the two ends of the bridge-type independent moving member is connected to the driven translation slider of the driven translation mechanism. 7. The single-line multi-track independent mobile automation device according to claim 6, wherein the bridging independent moving member is a cantilever beam structure, and the placement point is located at the suspended end of the bridging independent moving member. 8. The single-line multi-track independent mobile automation device according to claim 2, wherein the bridging independent moving member is perpendicular to the driven translation mechanism, and the bridging independent moving member is connected to the active The translation mechanism is vertical. 9. The single-line multi-track independent mobile automation device according to claim 2, wherein the driven translation mechanism is not provided with a driving part, and is not provided with a transmission part. 10. The single-line multi-track independent mobile automation device according to claim 2, characterized in that, both the active translation mechanism and the driven translation mechanism are linear or encircling. 11. The single-line multi-track independent mobile automation device according to claim 2, characterized in that, The driven translation mechanism also includes a driven guide rail, and the driven translation slider is installed on the driven guide rail and slidably fits with it; The active translation mechanism also includes an active guide rail, and the active translation slider is installed on the active guide rail and slidably fits with it. 12. The single-line multi-track independent mobile automation device according to claim 2, characterized in that, the single-line multi-track independent mobile automation device further comprises a position sensor for detecting the position of the driven translation slider. 13. The single-line multi-track independent mobile automation device according to claim 2, wherein the driven translation mechanism and the active translation mechanism are located on the same level, and all the active translation mechanisms are located on the same level. 14. The single-line multi-track independent mobile automation device according to claim 1, wherein the distance between adjacent active translation mechanisms remains unchanged. 15. The single-line multi-track independent mobile automation device according to claim 1, wherein the active translation mechanism further comprises an active translation drive unit that drives the active translation slider to perform translation. 16. The single-line multi-track independent mobile automation device according to claim 15, characterized in that, The active translation drive unit includes a conveyor belt drive motor and a conveyor belt mechanism connected to the conveyor belt drive motor, and the active translation slider is fixed on the conveyor belt of the conveyor belt mechanism; or, The active translation drive unit includes a screw drive motor and a screw mechanism connected to the screw drive motor, and the active translation slider is fixed on a screw nut of the screw mechanism. 17. The single-line multi-track independent mobile automation device according to claim 1, wherein the independent mobile member is in the form of a sheet. 18. A cup feeding device, characterized by comprising the single-line multi-track independent mobile automation device according to any one of claims 1-17. 19. The cup delivery device according to claim 18, characterized in that, the cup delivery device further comprises a cup holder for placing cups, and the cup holder is fixed on the placement point of the independent moving member. 20. A beverage machine, characterized by comprising the single-line multi-track independent mobile automation device according to any one of claims 1-17. 21. The beverage machine according to claim 20, characterized in that, the beverage machine further comprises a cup holder for placing cups, and the cup holder is fixed on the placement point of the independent moving member. 22. The beverage machine according to claim 21, characterized in that, the beverage machine also includes a machine base and an operating table arranged on the machine base, the operating table is a cabinet structure, and the single-line multi-track is independent The mobile automation device is arranged inside the operation platform, and an avoidance channel is provided on the operation platform, and the independent moving member protrudes out of the operation platform through the avoidance channel, and the placement point is located at the outside of the console described above. 23. The beverage machine according to claim 22, wherein the console comprises a cabinet body and a cabinet surface connected to the cabinet body through a rotating opening mechanism, and the avoidance channel is a combination of the cabinet surface and the cabinet surface. side gap between bodies. 24. The beverage machine according to claim 20, characterized in that, the beverage machine further comprises two or more batching machines, and the movement of the placement point of the independent moving member of the active translation slider of the active translation mechanism The track is located directly below the discharge port of the batching machine.