Mechanical

Our mechanical system consists of a three axis gantry. The x and y axes are controlled by a belt and pulley system, while the z axis is a lead screw mechanism. The two y-plates are mounted directly to an extrusion structure, and each of them holds a linear rail and bearing, a pulley, a bearing, a belt, and a motor. The belt moves the linear bearing along the rail. The x-plate is mounted to one of the y-linear bearings on each side, and is perpendicular to the two y-plates. It has a similar layout to the y-axis plate, except that there is a ¼” steel piece holding the z plate. The motor controlling the lead screw is mounted to two 3d printed plates, along with two guide rails, which is then mounted to the z-axis plate (cut out of aluminum). The lead screw moves the extruder up and down.

The extruder is a solenoid controlled zero differential valve with a ¼” nozzle lathed out of stainless steel to direct the flow of milk. Milk is poured into a funnel, which is connected to nylon tubing that feeds into the valve. This entire system rests on a structure made of aluminum extrusion. All parts used are food and heat safe, and can be cleaned by being flushed with hot water.

The cup rests below the valve and nozzle, and is tilted side to side by a motor. All of our mechanisms are controlled by stepper motors (minus the solenoid-controlled valve).