In family gatherings and various types of occasions that require alcohol, drinking alcohol, beverages, etc. will use a large number of goblets. At present, the goblet cleaning is done by manual, cleaning efficiency is low, serious waste of water resources, the cleaning process uses a lot of detergent and after washing without sterilization, once the cleaning is not caused by the residue will be harmful to the user's health. To solve these problems, we designed a set of feeding, storage, transportation, cleaning, disinfection, drying, waste water collection in one of the automated goblet cleaning equipment. It can complete large quantities of cleaning work at one time, and its cleaning efficiency can reach more than 10 times that of manual cleaning. Because the goblet wall is thin, easy to crack, fragile and so on, we adopt high precision synchronous belt transmission and set up infrared diffuse reflection sensor in the transportation system, which achieves the effect of stable operation and high detection and positioning accuracy. Taking into account the goblet specifications, more types, we designed a new type of inner and outer wall brush head based on multi-link mechanism, which can be controlled by the electric push rod opening and closing size, to adapt to different specifications of the goblet. And all the brush heads are designed as "quick change", which is quick and convenient to remove and replace, which greatly improves its practicability and promotion. In order to improve the response performance of the equipment, we designed an integrated control system based on STM32, which effectively suppressed the zero drift, reduced the incidence of circuit failures, and had a counting function to make the control system more intelligent and reliable. The transportation system, cleaning system and control system form a complete set of goblet cleaning line, which improves the cleaning efficiency of the goblet, saves manpower, and the cleaning process is energy-saving and environmentally friendly. After a large number of cleaning experiments, the cleaning effect has reached the expected design requirements. In order to achieve the design purpose, the following problems need to be solved: 1. Achieve stable, smooth and high-precision transportation The goblet wall is thin and fragile, and collision should be avoided as much as possible during the cleaning process, so the degree of freedom of the goblet should be limited during the transportation process, so that there is no relative movement between the goblet and the transportation line. The transportation method commonly used in industry that relies on friction is obviously not suitable for goblet transportation, which requires creative design of a stable and smooth transportation system suitable for goblet. Since the cleaning process requires the goblet to reach the designated station for cleaning, the transportation system must also have a high-precision positioning function. 2. Realize automatic feeding and storage In order to make the equipment has the ability to complete the mass cleaning work at one time, it must have the function of automatic feeding and storage. In order to improve efficiency, we need to achieve multi-station cleaning at the same time, requiring the feed port to enable the goblet to accurately feed at intervals, that is, the goblet needs to enter the transportation system one by one and the time interval between the two adjacent cups entering the transportation system is consistent. Considering the space and cost, we hope that the feeding and storage mechanism is small and easy to use. 3. Adapt to different specifications of goblet There are many types of goblets and a wide range of types. In order to improve the promotion and practicability of the equipment, it is required to adapt to various specifications of goblets. The difference between the conventional goblet model is reflected in the caliber size, bottom diameter size and cup height size, so it is necessary to design a cleaning mechanism that can adapt to the difference between the three sizes. Since the cleaning process relies on the rotation of the cleaning brush head, the cleaning mechanism should be lightweight and dexterous. 4. Design the cleaning process with low damage rate The goblet is complex in shape, with inner and outer arc surfaces, and the sizes of the cup mouth, cup body and cup bottom are different. Therefore, the requirements for cleaning the brush head are high, and it is required to fit the cup wall without dead corners. In order to ensure that the goblet is not harmed during the cleaning process, in addition to requiring smooth transportation and accurate positioning, it is also required that the cleaning brush head rotation cleaning process does not cause scratches or damage to the cup wall. 5. Design a control system with stable performance and rapid response The entire cleaning process of the equipment requires a variety of electric control and sensor cooperation, which requires the control circuit and control program to have a high response speed and ensure the stable performance of the equipment. Because the cleaning process requires high positioning accuracy, once the control circuit fails, it is easy to cause damage to the goblet. In addition, considering the humid working environment, the control system also needs to have a certain moisture resistance. In response to these problems, we have designed or adopted the following solutions: In view of problem 1, we adopt high-precision synchronous belt transmission and design the corresponding transportation track. 14 positioning fixtures are connected to the synchronous belt, so that the degree of freedom of the goblet is 0 under the constraints of its own gravity, track and fixture. When the synchronous belt rotates, the goblet follows the positioning fixture to transport along the track. An infrared diffuse reflection sensor is set at the position of the feed inlet to ensure high positioning accuracy. In response to question 2, we tilt the feed and storage track at a certain angle, and the goblet can enter the transportation system along the track by its own gravity. Two limit switches based on the principle of crank slider are arranged at the feed port, which act in sequence to ensure that the goblets enter the transport track one by one; a limit gear lever is arranged at the storage port, and the goblets slide into the storage track along the gear lever for storage. In response to question 3, we designed a multi-link inner and outer wall cleaning mechanism, which changes the opening and closing size of the curved rod of the cleaning mechanism through the up and down movement of the electric push rod, so as to adapt to different specifications of the cup. Considering the wide variety of goblets, in order to adapt to the cleaning of non-standard goblets, we designed the cleaning brush head to be "quick-change" (convenient and quick disassembly and replacement). When the brush head cannot adapt to the current goblet, other specifications can be easily replaced manually. In response to question 4, we designed a flexible imitation form cleaning brush head, which can better fit the goblet cup wall, and the use of flexible materials to make the brush head will not cause damage to the cup wall. In view of problem 5, we design a set of integrated control system based on STM32 Nucleo-L476RG, which effectively suppresses the zero drift and reduces the fault rate of the whole circuit. At the same time, it has the function of counting, which makes the control system more intelligent and reliable.