CN112847405A

CN112847405A - Automatic wine mixing robot system

Info

Publication number: CN112847405A
Application number: CN202110194960.6A
Authority: CN
Inventors: 宫伟; 赵小东; 朴天龙; 鲁云哲
Original assignee: Harbin Institute Of Technology Robot Group Wuxi Science And Technology Innovation Base Research Institute
Current assignee: Harbin Institute Of Technology Robot Group Wuxi Science And Technology Innovation Base Research Institute
Priority date: 2021-02-22
Filing date: 2021-02-22
Publication date: 2021-05-28

Abstract

The invention provides an automatic wine mixing robot system. The automatic wine mixing robot system comprises a rotary wine rack, a driving mechanism, a mechanical arm and a control device. Wherein, rotatory wine frame of rotatory wine frame is used for holding multiple beverage bottle, and actuating mechanism drives rotatory wine frame rotatory, and the arm setting is in rotatory wine frame department. The control device is electrically connected with the driving mechanism and the mechanical arm, receives the wine blending information, controls the driving mechanism to operate according to the wine blending information so as to drive the rotary wine rack to rotate the corresponding wine bottles to be opposite to the mechanical arm, and further controls the mechanical arm to take wine from the rotary wine rack. Compared with the fixed wine cabinet in the past, the plane space of the rotary wine rack occupies relatively small space, the arm extension length of the mechanical arm is not required, the control requirement on the mechanical arm is relatively low, and the flexibility and the stability of the automatic wine mixing robot system are improved.

Description

Automatic wine mixing robot system

Technical Field

The invention relates to the technical field of robots, in particular to an automatic wine mixing robot system.

Background

At present, blended cocktails are increasingly popular with the market, and among them, blended cocktails on site are preferred by more consumers. Many wine blending methods are relatively streamlined, but are relatively labor-intensive for the wine blender. Therefore, a robot capable of automatically mixing wine is also presented above.

The automatic wine mixing robot generally comprises a mechanical arm for mixing wine and a wine cabinet for storing wine bottles, the wine cabinets of the automatic wine mixing robots on the market are basically fixed, the whole system occupies a large area, and the number of the placed wine bottles is limited. For the wine bottles at the edge of the wine cabinet, the requirement on the arm extension length of the mechanical arm is high, and the requirement on the control of the mechanical arm is also high.

Therefore, the robot for automatically blending wine has low flexibility and stability in practical use.

Disclosure of Invention

The invention mainly aims to provide an automatic wine mixing robot system to solve the problems that in the prior art, an automatic wine mixing robot is low in flexibility and stability in wine taking.

In order to achieve the above object, the present invention provides an automatic liquor blending robot system, comprising: the rotary wine rack is used for containing various wine bottles; the driving mechanism drives the rotary wine rack to rotate; the mechanical arm is arranged at the position of the rotary wine rack; and the control device is electrically connected with the driving mechanism and the mechanical arm, receives the wine blending information, controls the driving mechanism to operate according to the wine blending information so as to drive the rotary wine rack to rotate the wine bottles of corresponding types to be opposite to the mechanical arm, and also controls the mechanical arm to take the wine from the rotary wine rack.

In one embodiment, the automatic wine mixing robot system further comprises a human-computer interaction device, the human-computer interaction device is electrically connected with the control device, and the human-computer interaction device is used for receiving user operation, generating wine mixing information and sending the wine mixing information to the control device.

In one embodiment, the driving mechanism comprises a motor and a motor controller, the motor is in driving connection with the rotating wine rack and used for driving the rotating wine rack to rotate, the motor controller is electrically connected with the control device and the motor, and the motor controller receives a rotating electric signal sent by the control device and controls the motor to work according to the rotating electric signal.

In one embodiment, the motor is a servo motor and the motor controller is a servo controller.

In one embodiment, the control device comprises a communication module and a CPU, the communication module is respectively in communication connection with the CPU, the man-machine interaction device and the driving mechanism, and the CPU is electrically connected with the mechanical arm and used for controlling the mechanical arm to take wine from the rotary wine rack.

In one embodiment, the control device further comprises an I/O module through which the CPU is electrically connected to the robotic arm.

In one embodiment, the mechanical arm comprises a mechanical arm controller and a mechanical arm body, the mechanical arm controller is electrically connected with the control device and the mechanical arm body respectively, and the mechanical arm controller receives an action electric signal sent by the control device and controls the action of the mechanical arm body according to the action electric signal.

In one embodiment, the automatic wine mixing robot system further comprises an origin detection device electrically connected with the control device, the origin detection device is used for detecting the position information of the rotating wine rack and sending the position information to the control device, and the control device controls the rotating wine rack to rotate back to the initial position according to the position information.

In one embodiment, the automatic wine mixing robot system further comprises a power supply device, and the power supply device is electrically connected with the control device.

Compared with the fixed wine cabinet in the prior art, the automatic wine mixing robot system has the advantages that the occupied plane space of the rotary wine rack is relatively small, the control device can control the driving mechanism to operate according to the received wine mixing information when the automatic wine mixing robot system mixes wine, the rotary wine rack is driven to rotate the corresponding type of wine bottles to be opposite to the mechanical arm, and the mechanical arm can take the wine from the rotary wine rack at the set position each time. Therefore, the arm extension length of the mechanical arm is not required, the control requirement on the mechanical arm is relatively low, and the flexibility and the stability of the automatic wine mixing robot system are improved.

In addition to the objects, features and advantages described above, other objects, features and advantages of the present invention are also provided. The present invention will be described in further detail below with reference to the drawings.

Drawings

The accompanying drawings, which are incorporated in and constitute a part of this specification, are included to provide a further understanding of the invention, and are incorporated in and constitute a part of this specification, illustrate exemplary embodiments of the invention and together with the description serve to explain the invention and not to limit the invention. In the drawings:

FIG. 1 shows a schematic structural diagram of an embodiment of an automated wine blending robot system according to the present invention;

fig. 2 shows a system schematic of the automated wine-blending robot system of fig. 1.

Detailed Description

It should be noted that the embodiments and features of the embodiments may be combined with each other without conflict. The present invention will be described in detail below with reference to the embodiments with reference to the attached drawings.

In order to make the technical solutions of the present invention better understood, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

It should be noted that the terms "first," "second," and the like in the description and claims of the present invention and in the drawings described above are used for distinguishing between similar elements and not necessarily for describing a particular sequential or chronological order. It is to be understood that the terms so used are interchangeable under appropriate circumstances for describing embodiments of the invention herein. Furthermore, the terms "comprises," "comprising," and "having," and any variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, system, article, or apparatus that comprises a list of steps or elements is not necessarily limited to those steps or elements expressly listed, but may include other steps or elements not expressly listed or inherent to such process, method, article, or apparatus.

It is noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of example embodiments according to the present application. As used herein, the singular forms "a", "an" and "the" are intended to include the plural forms as well, and it should be understood that when the terms "comprises" and/or "comprising" are used in this specification, they specify the presence of stated features, steps, operations, devices, components, and/or combinations thereof, unless the context clearly indicates otherwise.

Fig. 1 and 2 show an embodiment of the automated wine-blending robot system of the present invention, which includes a rotating wine rack 10, a drive mechanism 20, a robot arm 30, and a control device 40. Wherein, the rotary wine rack 10 is used for holding a plurality of wine bottles, the driving mechanism 20 drives the rotary wine rack 10 to rotate, and the mechanical arm 30 is arranged at the rotary wine rack 10. The control device 40 is electrically connected with the driving mechanism 20 and the mechanical arm 30, the control device 40 receives the wine blending information and controls the driving mechanism 20 to operate according to the wine blending information so as to drive the rotary wine rack 10 to rotate the corresponding type of wine bottles to be opposite to the mechanical arm 30, and the control device 40 further controls the mechanical arm 30 to take wine from the rotary wine rack 10.

Compared with the fixed wine cabinet in the prior art, the technical scheme of the invention has the advantages that the occupied plane space of the rotary wine rack 10 is relatively small, and the control device 40 can control the driving mechanism 20 to operate according to the received wine mixing information when the automatic wine mixing robot system mixes wine, so that the rotary wine rack 10 is driven to rotate the corresponding type of wine bottles to be opposite to the mechanical arm 30, and the mechanical arm 30 can take the wine from the rotary wine rack 10 at the set position every time. Therefore, the extension length of the mechanical arm 30 is not required, the control requirement on the mechanical arm 30 is relatively low, and the flexibility and the stability of the automatic wine mixing robot system are improved.

More preferably, as shown in fig. 2, in the technical solution of the present embodiment, the automatic wine blending robot system further includes a human-computer interaction device 50, the human-computer interaction device 50 is electrically connected to the control device 40, and the human-computer interaction device 50 is configured to receive a user operation, generate wine blending information, and send the wine blending information to the control device 40. Through the human-computer interaction device 50, a user can input a formula and an operation process of wine blending, and then the human-computer interaction device 50 can transmit wine blending information generated by user operation and used for control to the control device 40, so that the control device 40 controls the driving mechanism 20 and the mechanical arm 30.

Optionally, in the technical solution of this embodiment, the driving mechanism 20 includes a motor and a motor controller, the motor is in driving connection with the rotating wine rack 10, and the motor controller is electrically connected with the control device 40 and the motor. When the wine bottle taking machine is used, the motor controller receives a rotating electric signal sent by the control device 40, and converts the rotating electric signal into a current signal for controlling the motor to operate so as to control the motor to work, the motor can drive the rotating wine rack 10 to rotate to a specified position, and a wine bottle corresponding to a type is opposite to the mechanical arm 30, so that the mechanical arm 30 can take wine from the rotating wine rack 10 conveniently. Preferably, as shown in fig. 2, in the technical solution of the present embodiment, the motor is a servo motor, and the motor controller is a servo controller. As another alternative, the motor may also be a stepping motor, and the corresponding motor controller is a stepping controller.

As an alternative implementation manner, as shown in fig. 2, in the technical solution of the present embodiment, the control device 40 includes a communication module and a CPU, the communication module is respectively connected in communication with the CPU, the human-computer interaction device 50 and the driving mechanism 20, and the CPU is electrically connected to the robot arm 30. In use, the CPU controls the robotic arm 30 to take wine from the rotating wine rack 10. Alternatively, the CPU may be a PLC chip or other type of processor. Optionally, the control device 40 further comprises an I/O module, and the CPU is electrically connected to the robot arm 30 through the I/O module.

As shown in fig. 2, in the present embodiment, the robot arm 30 includes a robot arm controller and a robot arm body, and the robot arm controller is electrically connected to the control device 40 and the robot arm body, respectively. When in use, the mechanical arm controller receives the action electric signal sent by the control device 40, controls the action of the mechanical arm body according to the action electric signal, and can convert the action electric signal into specific motor control for controlling the action of the mechanical arm body through the mechanical arm controller. Specifically, in the technical solution of this embodiment, the arm controller is electrically connected to the I/O module, and the CPU sends an operation electric signal to the arm controller through the I/O module. Preferably, in the technical solution of this embodiment, the robot arm body is a six-axis robot arm.

More preferably, in the technical solution of the present embodiment, as shown in fig. 2, the automatic liquor blending robot system further includes an origin detection device 60, and the origin detection device 60 is electrically connected to the control device 40. In use, the origin detection device 60 detects the position information of the rotating wine rack 10 and transmits the position information to the control device 40, and the control device 40 controls the rotating wine rack 10 to rotate back to the initial position according to the position information. Specifically, in the technical solution of this embodiment, the origin detection device 60 is electrically connected to the I/O module, the origin detection device 60 sends the detected position information to the CPU through the I/O module, and the CPU compares a difference value between the position information and the initial position information and sends a rotation electric signal to the driving mechanism 20 according to the difference value.

Preferably, the automatic wine blending robot system further comprises a power supply device 70, and the power supply device 70 is electrically connected with the control device 40. The power supply device 70 directly supplies power to the control device 40, and supplies power to the driving mechanism 20, the robot arm 30, and the human-computer interaction device 50 through the control device 40.

Specifically, when the automatic wine blending robot system is used, the human-computer interaction device 50 is responsible for newly building or changing a wine blending formula, the CPU is communicated with the servo controller through the communication module to control the servo motor to be positioned, the servo motor adopts an incremental encoder to acquire the current position in real time, closed-loop control is realized, and the rotation positioning precision of the wine rack is ensured. After the wine rack is positioned, the CPU sends wine receiving and blending instructions to the mechanical arm controller through the I/O module, the mechanical arm body is responsible for wine receiving actions, one wine is received in each wine receiving action, and the wine rack 10 is rotated to be positioned again after the wine receiving is finished until the required wine is completely received. The teaching of the mechanical arm body only needs to teach a single working point, and the teaching is convenient and simple. The origin detection device 60 is responsible for the origin returning operation of the rotating wine rack 10, and the origin returning operation is performed on the rotating wine rack after the wine blending is finished each time, so that the consistency of the wine blending starting position each time is ensured.

According to the invention, the formula is modified by adopting the human-computer interaction device 50, so that the wine blending formula is more flexible, and the problems of large floor area, low flexibility and the like of automatic wine blending equipment in the market are solved by rotating the wine rack. The whole system is simple to operate, high in stability and simple in raw material replacement.

According to the invention, the rotating wine rack 10 is matched with the mechanical arm 30, the number and types of wine bottles which can be placed are obviously increased by adopting the rotating wine rack 10, and the problems of few types of raw materials, large occupied area of the raw materials, fussy teaching of the mechanical arm 30, low flexibility and stability and the like are effectively solved. Has the characteristics that: 1. the occupied space is small, and the wine blending is flexible; 2. closed-loop control is carried out, so that the rotary wine rack 10 is accurately positioned; 3. the mechanical arm 30 can be taught in a single point, the teaching is simple, and the accumulated error is small.

It should be noted that the technical scheme of the invention can be conveniently applied to places such as malls, restaurants, bars, commercial complexes and the like.

The relative arrangement of the components and steps, the numerical expressions and numerical values set forth in these embodiments do not limit the scope of the present invention unless specifically stated otherwise. Meanwhile, it should be understood that the sizes of the respective portions shown in the drawings are not drawn in an actual proportional relationship for the convenience of description. Techniques, methods, and apparatus known to those of ordinary skill in the relevant art may not be discussed in detail but are intended to be part of the specification where appropriate. In all examples shown and discussed herein, any particular value should be construed as merely illustrative, and not limiting. Thus, other examples of the exemplary embodiments may have different values. It should be noted that: like reference numbers and letters refer to like items in the following figures, and thus, once an item is defined in one figure, further discussion thereof is not required in subsequent figures.

Spatially relative terms, such as "above … …," "above … …," "above … …," "above," and the like, may be used herein for ease of description to describe one device or feature's spatial relationship to another device or feature as illustrated in the figures. It will be understood that the spatially relative terms are intended to encompass different orientations of the device in use or operation in addition to the orientation depicted in the figures. For example, if a device in the figures is turned over, devices described as "above" or "on" other devices or configurations would then be oriented "below" or "under" the other devices or configurations. Thus, the exemplary term "above … …" can include both an orientation of "above … …" and "below … …". The device may be otherwise variously oriented (rotated 90 degrees or at other orientations) and the spatially relative descriptors used herein interpreted accordingly.

In the description of the present invention, it is to be understood that the orientation or positional relationship indicated by the orientation words such as "front, rear, upper, lower, left, right", "lateral, vertical, horizontal" and "top, bottom", etc. are usually based on the orientation or positional relationship shown in the drawings, and are only for convenience of description and simplicity of description, and in the case of not making a reverse description, these orientation words do not indicate and imply that the device or element being referred to must have a specific orientation or be constructed and operated in a specific orientation, and therefore, should not be considered as limiting the scope of the present invention; the terms "inner and outer" refer to the inner and outer relative to the profile of the respective component itself.

The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims

1. An automatic wine mixing robot system, comprising:

the rotary wine rack (10), the rotary wine rack (10) is used for containing various wine bottles;

a driving mechanism (20) for driving the rotary wine rack (10) to rotate;

a mechanical arm (30) arranged at the rotating wine rack (10);

the control device (40) is electrically connected with the driving mechanism (20) and the mechanical arm (30), the control device (40) receives wine blending information, controls the driving mechanism (20) to operate according to the wine blending information so as to drive the rotary wine rack (10) to rotate the corresponding type of wine bottles to be opposite to the mechanical arm (30), and the control device (40) further controls the mechanical arm (30) to take wine from the rotary wine rack (10).

2. The automatic wine mixing robot system according to claim 1, further comprising a human-computer interaction device (50), wherein the human-computer interaction device (50) is electrically connected with the control device (40), and the human-computer interaction device (50) is used for receiving user operation, generating wine mixing information and sending the wine mixing information to the control device (40).

3. The automatic wine mixing robot system according to claim 1, wherein the driving mechanism (20) comprises a motor and a motor controller, the motor is in driving connection with the rotary wine rack (10) and is used for driving the rotary wine rack (10) to rotate, the motor controller is electrically connected with the control device (40) and the motor, and the motor controller receives a rotary electric signal sent by the control device (40) and controls the motor to work according to the rotary electric signal.

4. The automated wine blending robot system of claim 3, wherein the motor is a servo motor and the motor controller is a servo controller.

5. The automated wine mixing robot system according to claim 2, wherein the control device (40) comprises a communication module and a CPU, the communication module is in communication connection with the CPU, the human-computer interaction device (50) and the driving mechanism (20), respectively, and the CPU is electrically connected with the mechanical arm (30) for controlling the mechanical arm (30) to take wine from the rotary wine rack (10).

6. The automated wine mixing robot system according to claim 5, wherein the control device (40) further comprises an I/O module through which the CPU is electrically connected to the robot arm (30).

7. The automated wine mixing robot system according to claim 1, wherein the robot arm (30) comprises a robot arm controller and a robot arm body, the robot arm controller is electrically connected to the control device (40) and the robot arm body, respectively, and the robot arm controller receives an electric actuation signal sent by the control device (40) and controls the actuation of the robot arm body according to the electric actuation signal.

8. The automatic wine-blending robot system according to claim 1, further comprising an origin detection device (60), wherein the origin detection device (60) is electrically connected to the control device (40), the origin detection device (60) is used for detecting position information of the rotating wine rack (10) and sending the position information to the control device (40), and the control device (40) controls the rotating wine rack (10) to rotate back to an initial position according to the position information.

9. The automated wine mixing robot system according to claim 1, further comprising a power supply device (70), wherein the power supply device (70) is electrically connected with the control device (40).