CN115969223A - Robot beverage preparation equipment - Google Patents
Robot beverage preparation equipment Download PDFInfo
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- CN115969223A CN115969223A CN202310119461.XA CN202310119461A CN115969223A CN 115969223 A CN115969223 A CN 115969223A CN 202310119461 A CN202310119461 A CN 202310119461A CN 115969223 A CN115969223 A CN 115969223A
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
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- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P90/00—Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
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Abstract
The present disclosure is a robot beverage preparation device, including: the machine comprises a machine table, wherein the machine table comprises an operation table top, and the operation table top comprises a mechanical arm installation position, a preset point position and a mechanical arm working area; the first mechanical arm and the second mechanical arm are arranged on the operation table top; the sensor module is arranged at a preset point position; and the mechanical arm control module is used for controlling the first mechanical arm and/or the second mechanical arm to execute corresponding operations of the target configuration file at a preset point position and a mechanical arm working area according to the pre-stored target configuration file after receiving the preset signal sent by the sensor module. The device is simple, small in size, light in weight, convenient to transport and low in later maintenance cost, and various beverage making can be realized by presetting selectable configuration files.
Description
Technical Field
The utility model relates to the technical field of robots, especially, relate to a robot drink preparation equipment.
Background
At present, a catering type service robot can replace manual service as a solution of a service industry. At present, the common scenes comprise 6-axis cooperative mechanical arm flower drawing, automatic vending pavilion, single mechanical arm hand coffee making and the like. The 6-axis cooperative mechanical arm flower drawing is characterized in that two mechanical arms with 6 degrees of freedom (joints) are matched with a full-automatic coffee machine to automatically connect coffee concentrated solution and milk foam, and the coffee concentrated solution and the milk foam are fully fused to draw out delicate flower types such as tulip, love heart and the like. The automatic coffee maker comprises hardware modules including a full-automatic coffee maker, a water purification module, a cleaning module, a cup dropping device module, a mechanical arm module and complex control equipment.
However, from the viewpoint of these hardware components, the 6-axis cooperative arm garland robot is a very complicated device, and has the following disadvantages: the robot is large in size and weight, occupies a large space, is difficult to be integrated into a bar counter of a standard coffee shop, is very difficult to transport, and needs a special vehicle for delivering. The elevator has requirements on the space of the elevator, generally, the elevator almost does not carry a large machine, and the elevator can not carry the elevator in the space above 2 floors without the elevator; the robot realizes that the types of drinks are single, and only coffee drinks can be made at present. If drinks such as kungfu tea or cocktail need to be made, the hardware module of the robot needs to be designed in a customized manner, and one drink corresponds to one set of hardware equipment, which is very difficult for customers who do not know engineering technology; hardware modules carried by the robot, such as a coffee machine and a water boiler, need to be fixed in brand and fixed model, and the brand is contradictory to the brand which is approved by a chain coffee shop; the robot equipment is large and complex, so that inconvenience is brought to later maintenance, and the maintenance cost is very high; the finished hardware of the robot is high in price, so that the price of the robot is not advantageous, and the price of the robot is generally hard to bear for chain coffee shops or other common users.
Therefore, the robot is difficult to really blend into a chain of coffee shops and even into the homes of thousands of consumers in view of the size, weight and complexity of the control device.
Disclosure of Invention
To overcome the problems in the related art, embodiments of the present disclosure provide a robotic beverage making device. The technical scheme is as follows:
according to a first aspect of embodiments of the present disclosure, there is provided a robotic beverage making apparatus comprising:
the machine comprises a machine table, wherein the machine table comprises an operation table top, and the operation table top comprises a mechanical arm installation position, a preset point position and a mechanical arm working area;
the device comprises a first mechanical arm and a second mechanical arm, wherein the first mechanical arm and the second mechanical arm are arranged on the operating table board through the installation positions of the mechanical arms, the tail end of the first mechanical arm is connected with an electric clamping jaw, and the tail end of the second mechanical arm is connected with a quick-change clamp;
the sensor module is arranged at the preset point position and used for sending a preset signal when detecting that a preset article is placed at the preset point position;
the mechanical arm control module is arranged in the machine table, is respectively connected with the first mechanical arm and the second mechanical arm, and is connected with the sensor module; after receiving a preset signal sent by the sensor module, the mechanical arm control module controls the first mechanical arm and/or the second mechanical arm to execute corresponding operations of the target configuration file at a preset point position and a mechanical arm working area according to a pre-stored target configuration file;
and the strength and weakness electric control module is arranged in the machine table and is respectively connected with the first mechanical arm, the second mechanical arm, the sensor module and the mechanical arm control module.
In an embodiment of the present application, the method further includes:
and the prompt module is connected with the mechanical arm control module and is used for sending a voice prompt after the mechanical arm control module controls the first mechanical arm and/or the second mechanical arm to complete the operation.
In an embodiment of the present application, the apparatus further includes:
can be embedded into the structural frame inside the standard bar counter.
In an embodiment of the present application, the receiving module includes a touch screen.
In an embodiment of the application, the preset point locations include a concentrated solution placing point location and a garland cup discharging point location, the mechanical arm working area includes a garland mechanical arm working area, and when the target configuration file includes a coffee garland configuration file, the mechanical arm control module is configured to: after receiving a preset signal sent by a sensor module of the concentrated solution placing point, controlling a first mechanical arm to move to the concentrated solution placing point to grab a concentrated solution cup, controlling the first mechanical arm and a second mechanical arm which clamps the milk cylinder through a quick-change clamp to mutually cooperate in a working area of a garland mechanical arm to complete garland, and controlling the first mechanical arm to place a beverage after garland is finished at a garland cup outlet point.
In this application embodiment, predetermine the position and include that the hand dashes the kettle and place the position, the arm workspace includes that the hand dashes coffee mechanical arm workspace, when the target configuration file includes the hand and dashes coffee configuration file, arm control module is used for: after receiving a preset signal sent by a sensor module of the hand brewing kettle placing position, controlling the first mechanical arm to move to the hand brewing kettle placing position to grab the hand brewing kettle, and controlling the first mechanical arm to execute brewing operation in a working area of the hand brewing coffee mechanical arm.
In an embodiment of the application, the robot arm work area includes a wine blending robot arm work area, and when the target configuration file includes a wine blending configuration file, the robot arm control module is configured to: and controlling a second mechanical arm which clamps the wine mixing pot through the quick-change clamp to execute wine shaking action in a working area of the wine mixing mechanical arm.
The technical scheme that this application provided, equipment is simple, and board surface core component only has 2 arms, therefore small, light in weight, convenient transportation to can imbed all kinds of bars counter and other coffee machines, supporting uses such as water dispensers, the later maintenance is with low costs, can realize multiple drink preparation through predetermineeing optional configuration file.
It is to be understood that both the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the disclosure.
Drawings
The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the present disclosure and, together with the description, serve to explain the principles of the disclosure.
Fig. 1 is a schematic view of a robotic beverage making device shown according to an exemplary embodiment.
Figure 2 is a schematic diagram of a robotic beverage making device shown according to an exemplary embodiment.
Figure 3 is a schematic diagram of a robotic beverage making device shown according to an exemplary embodiment.
Fig. 4 is a schematic diagram of a robotic beverage making device shown according to an exemplary embodiment.
Fig. 5 is a schematic diagram of a robotic beverage making device shown according to an exemplary embodiment.
Detailed Description
Reference will now be made in detail to the exemplary embodiments, examples of which are illustrated in the accompanying drawings. When the following description refers to the accompanying drawings, like numbers in different drawings represent the same or similar elements unless otherwise indicated. The implementations described in the exemplary embodiments below do not represent all implementations consistent with the present disclosure. Rather, they are merely examples of apparatus and methods consistent with certain aspects of the disclosure, as detailed in the appended claims.
The technical scheme of this application provides a preparation equipment of robot drink, can realize the preparation of multiple drink through simple hardware equipment. Fig. 1 is a schematic view of a robotic beverage making device shown according to an exemplary embodiment, and fig. 2 is a schematic view of an operating deck of the robotic beverage making device shown according to an exemplary embodiment. As shown in fig. 1 and 2, the robotic beverage making device may include:
the machine platform 101 comprises an operation platform surface, wherein the operation platform surface comprises a mechanical arm installation position S1, a preset point position S2 and a mechanical arm working area S3.
The first mechanical arm 102 and the second mechanical arm 103 are arranged on the operation table board through the mechanical arm mounting position S1, wherein the tail end of the first mechanical arm 102 is connected with an electric clamping jaw A1, and the tail end of the second mechanical arm 103 is connected with a quick-change clamp A2; wherein, the quick-change fixture can include but not limited to milk container quick-change fixture, transfers wine pot quick-change fixture etc..
The sensor module 104 is disposed at the preset point location, and configured to send a preset signal when detecting that a preset article is placed at the preset point location.
A robot arm control module 105 disposed in the machine platform 101, respectively connected to the first robot arm 102 and the second robot arm 103, and connected to the sensor module; and after receiving a preset signal sent by the sensor module, the mechanical arm control module controls the first mechanical arm and/or the second mechanical arm to execute corresponding operations of the target configuration file at a preset point position and a mechanical arm working area according to a pre-stored target configuration file.
And the strength and weakness control module 106 is arranged in the machine platform 101 and is respectively connected with the first mechanical arm 102, the second mechanical arm 103, the sensor module 104 and the mechanical arm control module 105.
As shown in fig. 2, the robot arm mounting position S1 may include a left robot arm mounting position and a right robot arm mounting position. In this embodiment, the first robot 102 is a left robot, and the second robot 103 is a right robot.
Wherein, preset point location S2 can be set up as required the drink of making. For example, as shown in fig. 2, the predetermined point location S2 may include one or more of a concentrate cup placement point, a hand pot placement point, and a pop-up cup point. Wherein the same kind of point location may include two or more. As shown in fig. 2, the operation table top includes a concentrated solution cup placing point 1, a concentrated solution cup placing point 2, a concentrated solution cup placing point 3, a hand pot placing point, and a flower-out point in three flower-out areas.
As shown in fig. 2, for the convenience of the operation of the store clerk, the hand pot placement point and the concentrate cup placement point may be located on one side of the store clerk, and the areas where the hand pot placement point and the concentrate cup placement point are located may also be referred to as a manual material preparation area; in order to facilitate the taking of the beverage by the customer, the flower pulling cup area is arranged at one side close to the position of the customer.
The sensor module 104 may be disposed in the preset point location, and configured to send a preset signal when detecting that a preset article is placed in the preset point location. For example, in an embodiment of the present application, the sensor module may include an infrared sensor, and the infrared sensor may be disposed at each point, so that the robot arm control module may know which point has a preset item (e.g., a concentrate cup, a hand pot, etc.) placed therein.
The robot arm working area S3 may also include a plurality of areas, for example, as shown in fig. 2, the robot arm working area S3 may include a garland robot arm working area, a wine blending robot arm working area, and a hand coffee machine arm working area. The different robot arm work areas may or may not coincide, for example, in fig. 2 the garland robot arm work area and the wine mixing robot arm work area are actually the same area on the operation table.
The mechanical arm control module 104 may control the first mechanical arm 102 and/or the second mechanical arm 103 to execute corresponding operations of the target configuration file at one or more points in the preset points S2 and the mechanical arm working area S3 according to different target configuration files, so as to complete beverage making. In one embodiment, the robot arm control module may include hardware components such as a computing host, an interface board, and a power supply module, and a general-purpose programmable ROS system is installed. Usually, the robot arm control module is an independent operation and control system, is a command center for robot arm movement, can receive IO digital signals through peripheral equipment, and can also read a C, C + + based programming configuration file.
The utility model provides a robot drink preparation equipment, compared with the prior art, no matter drink preparation ability, drink preparation kind, the complexity of equipment, occupation space size, transportation convenience, with the surrounding environment degree of fusion, the aspect such as price/performance ratio all has very big advantage, the robot drink preparation equipment that this application provided, equipment is simple, board surface core component only has 2 arms, therefore small, light in weight, convenient transportation, and can imbed all kinds of bar counter and other coffee machines, supporting use such as water dispensers, the later maintenance is with low costs, can realize multiple drink preparation through predetermineeing optional configuration file.
In an embodiment of the present application, the robotic beverage making apparatus further comprises:
a receiving module, connected to the robot arm control module 105, configured to receive a selection instruction of a user for at least one pre-stored configuration file of the robot arm control module 105, send a configuration file identifier selected by the selection instruction to the robot arm control module 105, and the robot arm control module 105 determines a target configuration file from the at least one pre-stored configuration file according to the identifier. The receiving module can be arranged in the machine platform and receives a selection instruction of a user sent by the ordering system. The ordering system may be, for example, an ordering APP and a corresponding server.
In an embodiment of the present application, the receiving module may directly include a touch screen as the ordering system, and at this time, the touch screen of the receiving module may be disposed on an operation table of the machine, and the user may directly select the configuration file on the touch screen.
In an embodiment of the application, the robotic beverage making apparatus further comprises:
and the prompt module is connected with the mechanical arm control module and is used for sending out voice prompts after the mechanical arm control module controls the first mechanical arm and/or the second mechanical arm to complete the operation. The prompting module can be arranged in the machine table and can also be arranged at any suitable position of the robot beverage making equipment.
In an embodiment of the present application, the machine includes a structural frame that can be embedded inside a standard bar counter. The invention can realize that the robot beverage making equipment is embedded into the standard bar counter, saves space and does not influence the overall decoration style of the client environment.
In an embodiment of the application, the preset point locations include a concentrated solution placing point location and a garland cup discharging point location, the mechanical arm working area includes a garland mechanical arm working area, and when the target configuration file includes a coffee garland configuration file, the mechanical arm control module is configured to: after receiving a preset signal sent by a sensor module of the concentrated solution placing point, controlling a first mechanical arm to automatically move to the concentrated solution placing point to grab a concentrated solution cup, controlling the first mechanical arm and a second mechanical arm which clamps the milk cylinder through a quick-change clamp to mutually cooperate to complete flower drawing, and controlling the first mechanical arm to place a beverage after flower drawing at a flower-drawing cup-out point.
In this application embodiment, predetermine the position and include that the hand dashes the kettle and place the position, the arm workspace includes that the hand dashes coffee mechanical arm workspace, when the target configuration file includes the hand and dashes coffee configuration file, arm control module is used for: after receiving a preset signal sent by a sensor module of the hand brewing kettle placing position, controlling the first mechanical arm to move to the hand brewing kettle placing position to grab the hand brewing kettle, and controlling the first mechanical arm to execute brewing operation in a working area of the hand brewing coffee mechanical arm.
In an embodiment of the present application, the robot arm workspace includes a wine blending robot arm workspace, and when the target configuration file includes a wine blending configuration file, the robot arm control module is configured to: and controlling a second mechanical arm which clamps the wine mixing pot through the quick-change clamp to execute wine shaking action in a working area of the wine mixing mechanical arm.
Several specific examples are presented below:
in an embodiment of the present application, the robotic beverage making device may implement coffee garland. As shown in fig. 3, the working space required by the robot beverage making device when making a coffee garland beverage includes a left mechanical arm, a right mechanical arm, a concentrated solution placing point, a garland cup discharging point, and a garland mechanical arm working area; when the coffee garland drink is made, a coffeemaker is required to prepare the concentrated solution in advance, and the concentrated solution cup is placed at one of the concentrated solution cup placement points 1, 2 and 3 according to the cup shape prompt; a coffeemaker prepares milk foam for flower drawing, and hands the milk cylinder filled with the milk foam to the right mechanical arm in a mechanical quick insertion mode; the cafeteria clicks on the confirmation of the cafe-ia-la-hua drink on the PAD interface, where the PAD refers to the user's ordering system, with a display screen, which can be typically placed on a bar or a separate display screen with a host. The receiving module is connected with the PAD, the receiving module receives a selection instruction of at least one configuration file pre-stored by the mechanical arm control module, and the mechanical arm control module determines the coffee flower configuration file as a target configuration file from the at least one pre-stored configuration file; the mechanical arm control module executes the following operations according to the target configuration file: the device comprises a sensor module, a first mechanical arm, a second mechanical arm, a quick-change clamp, a prompt module and a control module, wherein the sensor module is used for receiving a preset signal sent by the sensor module of a concentrated solution placing point position and indicating that a concentrated solution cup is detected, the first mechanical arm is controlled to automatically move to the corresponding concentrated solution placing point position to grab the concentrated solution cup, the first mechanical arm and the second mechanical arm which clamps a milk cylinder through the quick-change clamp are controlled to cooperate with each other to complete flower drawing, the first mechanical arm is controlled to place a beverage after flower drawing at one point position of the flower-drawing cup-out point, and the prompt module is indicated to send a voice prompt after the mechanical arm control module judges that the beverage is completely made.
In an embodiment of the present application, the robotic beverage making device may enable hand-brewing of coffee. As shown in fig. 4, the working space required by the robot beverage making device when making hand coffee comprises a left mechanical arm, a hand coffee pot placing point and a hand coffee making mechanical arm working area; when making hand coffee drink, need the coffeemaker to carry out preparation work such as balance beans in advance, grind, boil water, moist filter paper, fill out powder, the coffeemaker will hand towards the kettle and place the position to hand towards the kettle. A coffee maker clicks a confirmation option on a PAD interface, at the moment, a receiving module receives a selection instruction of at least one configuration file pre-stored by a mechanical arm control module, and the mechanical arm control module determines a hand-made coffee configuration file as a target configuration file from the at least one pre-stored configuration file; the mechanical arm control module is used for: the sensor module for receiving the hand brewing pot placing point position sends a preset signal indicating that the hand brewing pot is detected, the first mechanical arm is controlled to move to the hand brewing pot placing point position to grab the hand brewing pot, and the first mechanical arm is controlled to execute brewing operation in the working area of the hand coffee brewing mechanical arm, for example, three-section brewing actions (braising and twice water injection) can be performed. After the brewing is finished, the mechanical arm control module indicates the prompt module to send out voice prompt after the beverage making is judged to be finished.
In an embodiment of the application, the robot beverage making equipment can realize wine mixing. As shown in fig. 5, the working space required by the robot beverage making device includes a right mechanical arm and a coffee blending mechanical arm working area; when making cocktail drink, need the cocktail shaker to add ice-cube, base wine, preparation wine etc. in advance to shaking the flagon, then install right arm through quick change tool. A wine blender clicks a confirmation option on a PAD interface, at the moment, a receiving module receives a selection instruction of at least one pre-stored configuration file of a mechanical arm control module, and the mechanical arm control module determines the wine blending configuration file as a target configuration file from the at least one pre-stored configuration file; the mechanical arm control module is used for: and controlling a second mechanical arm which clamps the wine mixing pot through the quick-change clamp to execute wine shaking action in a working area of the wine mixing mechanical arm. After the wine shaking is finished, the mechanical arm control module judges that the beverage is made, the indication module sends out voice prompt, and a wine dispenser can take down the wine shaking pot to pour wine.
Other embodiments of the disclosure will be apparent to those skilled in the art from consideration of the specification and practice of the disclosure disclosed herein. This application is intended to cover any variations, uses, or adaptations of the disclosure following, in general, the principles of the disclosure and including such departures from the present disclosure as come within known or customary practice within the art to which the disclosure pertains. It is intended that the specification and examples be considered as exemplary only, with a true scope and spirit of the disclosure being indicated by the following claims.
It will be understood that the present disclosure is not limited to the precise arrangements that have been described above and shown in the drawings, and that various modifications and changes may be made without departing from the scope thereof. The scope of the present disclosure is limited only by the appended claims.
Claims (8)
1. A robotic beverage making apparatus, comprising:
the machine comprises a machine table, wherein the machine table comprises an operation table top, and the operation table top comprises a mechanical arm installation position, a preset point position and a mechanical arm working area;
the device comprises a first mechanical arm and a second mechanical arm, wherein the first mechanical arm and the second mechanical arm are arranged on the operating table board through the installation positions of the mechanical arms, the tail end of the first mechanical arm is connected with an electric clamping jaw, and the tail end of the second mechanical arm is connected with a quick-change clamp;
the sensor module is arranged at the preset point position and used for sending a preset signal when detecting that a preset article is placed at the preset point position;
the mechanical arm control module is arranged in the machine table, is respectively connected with the first mechanical arm and the second mechanical arm, and is connected with the sensor module; after receiving a preset signal sent by the sensor module, the mechanical arm control module controls the first mechanical arm and/or the second mechanical arm to execute corresponding operations of the target configuration file at a preset point position and a mechanical arm working area according to a pre-stored target configuration file;
and the strength and weakness electric control module is arranged in the machine table and is respectively connected with the first mechanical arm, the second mechanical arm, the sensor module and the mechanical arm control module.
2. The apparatus of claim 1, further comprising:
and the prompt module is connected with the mechanical arm control module and is used for sending out voice prompts after the mechanical arm control module controls the first mechanical arm and/or the second mechanical arm to complete the operation.
3. The apparatus of claim 1, wherein the machine further comprises:
can be embedded into the structural frame inside the standard bar counter.
4. The apparatus of claim 1, further comprising:
the receiving module is connected with the mechanical arm control module and used for receiving a selection instruction of at least one pre-stored configuration file of the mechanical arm control module and sending the configuration file identifier selected by the selection instruction to the mechanical arm control module, and the mechanical arm control module determines a target configuration file from the at least one pre-stored configuration file according to the identifier.
5. The device of claim 4, wherein the receiving module comprises a touch screen.
6. The apparatus of any one of claims 1 to 5, wherein the predetermined points comprise a concentrate placement point and a garland cup exit point, the robot arm work area comprises a garland robot arm work area, and when the target profile comprises a coffee garland profile, the robot arm control module is configured to: after a preset signal sent by a sensor module of the concentrated solution placing point location is received, the first mechanical arm is controlled to move to the concentrated solution placing point location to grab a concentrated solution cup, the first mechanical arm and the second mechanical arm which clamps the milk cylinder through the quick-change clamp are controlled to cooperate with each other to complete the flower pulling action, and the first mechanical arm is controlled to place the beverage after the flower pulling at the flower pulling cup outlet point location.
7. The apparatus of any one of claims 1 to 5, wherein the preset point location comprises a hand brewing pot placement point location, the robotic arm workspace comprises a hand brewing coffee robotic arm workspace, and when the target profile comprises a hand brewing coffee profile, the robotic arm control module is to: after receiving a preset signal sent by a sensor module of the hand brewing kettle placing position, controlling the first mechanical arm to move to the hand brewing kettle placing position to grab the hand brewing kettle, and controlling the first mechanical arm to execute brewing operation in a working area of the hand brewing coffee mechanical arm.
8. The apparatus of any one of claims 1 to 5, wherein the robot arm workspace comprises a wine blending robot arm workspace, and wherein when the target profile comprises a wine blending profile, the robot arm control module is to: and controlling a second mechanical arm which clamps the wine mixing pot through the quick-change clamp to execute wine shaking action in a working area of the wine mixing mechanical arm.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202310119461.XA CN115969223A (en) | 2023-02-13 | 2023-02-13 | Robot beverage preparation equipment |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202310119461.XA CN115969223A (en) | 2023-02-13 | 2023-02-13 | Robot beverage preparation equipment |
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| Publication Number | Publication Date |
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| CN115969223A true CN115969223A (en) | 2023-04-18 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN202310119461.XA Pending CN115969223A (en) | 2023-02-13 | 2023-02-13 | Robot beverage preparation equipment |
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- 2023-02-13 CN CN202310119461.XA patent/CN115969223A/en active Pending
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