KR102173073B1 - Gripping apparatus for extracting coffee using robot arm and controllong method thereof - Google Patents

Abstract

Disclosed are a gripping apparatus for extracting coffee using a robot arm and a control method thereof. According to an embodiment of the present invention, the gripping apparatus for extracting coffee using a robot arm comprises: a coupling member detachably coupled to a joint portion of a robot device; a grip power part coupled to the coupling member to supply power required to hold or place a porter filter; a pair of separation distance adjusting means adjusting a separation distance while being moved by the grip power part; and a pair of grippers respectively installed in the pair of separation distance adjusting means to grip or release the porter filter by using the separation distance adjusting means. According to the present invention, a porter filter can be simply mounted or removed from a coffee machine.

Description

Grip device for brewing coffee using a robot arm and its control method {GRIPPING APPARATUS FOR EXTRACTING COFFEE USING ROBOT ARM AND CONTROLLONG METHOD THEREOF}

The present invention relates to a grip device for coffee extraction using a robot arm and a control method thereof.

It is reported that the annual coffee consumption per adult in Korea has exceeded 400 cups, and the size of the coffee market has increased by an average of 9.3% over the past five years. The scale of exports has also more than doubled over the past decade, and the coffee shop market has grown 53% within two years compared to 2014.

In general, coffee is classified into espresso and hand drip coffee. Espresso is a coffee extract (espresso) that is quickly and thickly extracted using the artificial pressure of a coffee machine, and then water is added to dilute it to make it easier to drink.Hand-drip coffee is pulverized to a suitable size, then directly poured hot water and used gravity. It is a method of extracting the coffee liquid in a potable state by dropping it down.

The taste of coffee varies depending on the barista's ability.In addition to the type of coffee beans themselves, coffee tastes bitter and astringent when the barista pours hot water and is extracted. The taste of coffee changes according to the shape and speed of the water stream, that is, the shape and speed of the spiral drawn by the water when water is poured.

As described above, since the flavor of coffee is largely influenced by the barista's time and effort, especially the experience, even if coffee beans of the same quality are used, the taste of the coffee varies depending on the barista's ability or condition. Maintaining the taste and aroma of coffee is a difficult problem.

Korean Patent Publication No. 10-219-0113257 (published on Oct. 08, 2019)

Embodiments of the present invention are to provide a grip device for coffee extraction using a robot arm capable of automatically gripping a porter filter required for coffee extraction in a system for automatically extracting coffee using a robot arm, and a control method thereof. .

According to an embodiment of the present invention, a coupling member detachably coupled to a joint portion of a robot device; A grip power unit coupled to the coupling member and providing power required to hold or place the porter filter; A pair of separation distance adjustment means for adjusting the separation distance while being moved by the grip power unit; And a pair of grippers provided to each of the pair of spaced distance adjusting means, gripping or releasing the porter filter by the spaced distance adjusting means; including, a gripping device for coffee extraction using a robot arm is provided. Can be.

In addition, the coupling member may include a first coupling portion provided to be coupled to the other end of the joint portion; And a second coupling part connected to the first coupling part and provided to be coupled to the grip power part. A grip device for brewing coffee using a robot arm may be provided.

In addition, the separation distance adjusting means may include a guide rail provided on one side of the grip power unit and extending along a moving direction of the gripper; And a movable body that is independently installed on the guide rail and moves along the guide rail, the separation distance is adjusted by the movement, and the pair of grippers are respectively installed; containing, a grip for coffee extraction using a robot arm. An apparatus may be provided.

The gripper may include an upper block coupled to a lower portion of the separation distance adjusting means; A gripping portion extending downward from the upper block so as to surround and grip at least a portion of the outer surface of the handle of the porter filter; And a gripping jaw formed at a lower end of the gripping part to prevent the lower side of the handle of the porter filter from being separated downward, and forming an obtuse angle with the gripping part; including, a gripping device for coffee extraction using a robot arm Can be provided.

The gripping device further comprises a handler provided above the gripper, protruding toward the porter filter, and provided to push the handle of the porter filter toward at least one of both side surfaces. A grip device for coffee extraction using a can be provided.

The handler may include a vertical block coupled to at least one of the coupling member and the grip power unit; And a horizontal block protruding forward from the lower end of the vertical block toward the porter filter. A grip device for brewing coffee using a robot arm may be provided.

According to another embodiment of the present invention, when removing the porter filter from the coffee extraction unit, the porter filter is first pushed in the removing direction using a handler provided in front of the grip device by controlling the operation of the robot device. Allowing the coffee extraction unit to be pre-fastened; Controlling the operation of the gripping device to grip the porter filter; And removing the porter filter from the coffee extraction unit by controlling the operation of the robot device when the porter filter is gripped to rotate the porter filter at a predetermined angle with respect to the center of the filter holder. A method of controlling a grip device using an arm may be provided.

On the other hand, according to another embodiment of the present invention, when mounting the porter filter to the coffee extraction unit, controlling the operation of the robot device and the gripping device to grip the porter filter; Rotating the held porter filter by a predetermined angle in a direction in which the porter filter is mounted on the coffee extracting unit so that the porter filter is temporarily fastened to the coffee extracting unit; And controlling the operation of the robot device to push the porter filter in a completely mounting direction using a handler provided in front of the grip device so that the porter filter is completely mounted on the coffee brewing unit. A method of controlling a grip device using a robot arm for extraction may be provided.

Here, while the coffee liquid is extracted after the porter filter is fully mounted on the coffee extraction unit, one side of the handler contacts one side corresponding to the removal direction of the porter filter among both sides of the handle of the porter filter. A control method of a grip device using a robot arm for coffee extraction may be provided to control the operation of the robot device so as to wait for the operation of the robot device and the grip device until extraction of coffee liquid is completed.

On the other hand, according to another embodiment of the present invention, in order to perform a water washing operation of the porter filter, controlling the operation of a robot device to move the porter filter to the washing unit; Operating the washing unit to spray washing water; Shaking the porter filter in at least one of front/rear, left/right, up/down direction by controlling an operation of the robot device while the washing water is sprayed from the washing unit; A control method of a grip device using a robot arm for coffee extraction, including the step of discharging water contained by rotating the porter filter may be provided.

According to an embodiment of the present invention, there is an advantage in that the porter filter can be easily installed or removed from a coffee machine through a grip device capable of easily and easily gripping the porter filter and performing a pushing operation at times.

1 is a perspective view showing a relationship between a grip device for coffee extraction using a robot arm and a robot device according to an embodiment of the present invention.
2 is a perspective view showing the configuration of a grip device for coffee extraction using a robot arm according to an embodiment of the present invention.
3 is a side view of FIG. 2.
FIG. 4 is a bottom view of FIG. 3 as viewed from a direction "A".
5 is a front view of FIG. 3 as viewed from a direction "B".
6 to 9 are reference diagrams showing a process of removing or installing the porter filter by pushing the porter filter using a handler.
10 is a flow chart illustrating a process of removing a porter filter from a coffee extraction unit as a control method of a grip device using a robot arm according to another embodiment of the present invention.
11 is a flowchart illustrating a process of installing a porter filter in a coffee extraction unit as a control method of a grip device using a robot arm according to another embodiment of the present invention.
12 is a flowchart illustrating a process of cleaning a porter filter as a control method of a grip device using a robot arm according to another embodiment of the present invention.

Hereinafter, a configuration and operation according to an embodiment of the present invention will be described in detail with reference to the accompanying drawings. The following description is one of several aspects of the invention that are claimable, and the following description may form part of the detailed description of the invention.

However, in describing the present invention, detailed descriptions of known configurations or functions may be omitted to clarify the present invention.

Since the present invention can make various changes and include various embodiments, specific embodiments will be illustrated in the drawings and described in the detailed description. However, this is not intended to limit the present invention to a specific embodiment, it is to be understood to include all changes, equivalents, or substitutes included in the spirit and scope of the present invention.

Terms including ordinal numbers, such as first and second, may be used to describe various elements, but the corresponding elements are not limited by these terms. These terms are only used for the purpose of distinguishing one component from another.

When a component is referred to as being'connected' or'connected' to another component, it is understood that it may be directly connected or connected to the other component, but other components may exist in the middle. Should be.

The terms used in the present application are only used to describe specific embodiments, and are not intended to limit the present invention. Singular expressions include plural expressions unless the context clearly indicates otherwise.

Hereinafter, each embodiment of the present invention will be described in detail with reference to the accompanying drawings.

The gripping device 200 for coffee extraction using a robot arm according to an embodiment of the present invention includes a robot device 100 to freely grip the porter filter 1 in a system for automatically extracting coffee using a robot arm. ) May be applied to.

Here, the coffee extraction system using the robot arm includes a robot device 100 that moves by automatic control, a grip device 200 that is coupled to the robot device 100 to hold the porter filter 1, a coffee extraction unit, and coffee. A coffee machine including a liquid storage unit, a grinder, and a tamper may be included.

Referring to FIGS. 1 and 2, a grip device 200 for coffee extraction using a robot arm may be detachably coupled to the other end of the joint part 110 in which movement is free in the robot device 100. The gripping device 200 is provided to hold a porter filter 1 capable of holding coffee beans or ground coffee.

The porter filter 1 is a kind of coffee equipment that is generally widely used for extracting coffee, and may be mounted on a coffee machine and used to extract coffee. The porter filter 1 may include a filter holder 1-1 in which a predetermined receiving part is formed so as to hold coffee, and a handle 1-2 extending from the filter holder 1-1. The device 200 is configured to selectively grip the handle 1-2 of the porter filter 1 as necessary so that coffee liquid can be automatically extracted by the robot device 100.

On the other hand, the robot device 100 includes a plurality of joints 110 as shown in detail in FIG. 1, and one end of the joint 110 is fixed so as not to move, and the other end can be moved to have a plurality of degrees of freedom of movement. Can be provided.

The other end of the robot device 100 may be designed and controlled to have a plurality of degrees of freedom of movement as necessary, and the robot device 100 according to the present embodiment can perform all desired movements while having six independent degrees of freedom of movement. It may include six joints 110 so as to. However, the number of joints 110 of the robot apparatus 100 according to an embodiment of the present invention is not necessarily limited to six, and the number of joints may be appropriately increased or decreased as necessary.

The six degrees of freedom of motion implemented by the robot device 100 include three degrees of freedom for linear motion for front/back, left/right, and up/down, and each axis (eg, X-axis, Y-axis, Z Three (ie, rolling, pitching, yawing) rotational degrees of freedom for the axis) may be further included.

Accordingly, the robot device 100 can freely and appropriately perform all the operations required by the user. At this time, in order to freely perform all movements, each rotational part of the robot device 100 may have a configuration including a reducer, a motor, an encoder, a motor driver, and the like.

Here, the robot device 100 may further include a base unit 120 and an electric operation unit 130. The base portion 120 is provided so that one end of the joint portion 110 is fixedly installed, so as to support the entire plurality of joint portions 110.

The base portion 120 may be configured to withstand the load of the plurality of joint portions 110 and vibration when the joint portion 110 is operated. The base unit 120 may be provided to be fixed to the floor or side wall of the space in which the robot device 100 is disposed.

However, the base unit 120 is not necessarily fixed and may be provided with a moving means such as an electric wheel so that it can freely move from the bottom surface to another place as needed, which may be appropriately implemented according to the needs of the practitioner.

In addition, the electric operation unit 130 may be provided so that the plurality of joint units 110 perform joint movement in the robot apparatus 100 so that necessary movements can be freely performed. The electric operation unit 130 may be connected to any one of the joints 110 to enable a relative rotational motion with the neighboring joints 110 or base 120.

The electric operation unit 130 is a configuration that is driven as a preset operation by a control signal from an external (eg, control unit) through components such as a speed reducer, a motor, an encoder, and a motor driver described above, and the electric operation unit 130 Is generally widely known in the field of robotic arms, so further description will be omitted.

Here, the joint portion 110 may be configured to be connected in at least one of a linear direction and an intersecting direction with the other joint portion 110 or the base portion 120 neighboring through the electric operation portion 130, which must be It is not limited thereto, and may be implemented in a different form or structure.

In addition, the electric operation unit 130 may perform a rotational motion so that the angle of any one joint part 110 and the adjacent joint part 110 or the base part 120 can be adjusted, and the length can be extended as necessary. Linear reciprocating motion may also be performed. When the electric operation unit 130 is configured to perform a linear reciprocating motion, the electric operation unit 130 is composed of a cylinder structure in which a smaller tube is accommodated inside a large tube, and its length is expanded and contracted by hydraulic pressure. Can be.

2 and 3, the grip device 200 includes a coupling member 210, a grip power unit 220, a separation distance adjustment means 230, and a gripper 240, wherein the handler 250 It may further include.

The coupling member 210 is a configuration for coupling the grip device 200 to the joint portion 110 of the robot device 100 and may be detachably coupled to the other end of the joint portion 110 in which movement is free.

The coupling member 210 is integrally formed with the first coupling portion 211 formed to be coupled to the other end of the joint portion 110 and the first coupling portion 211 to be connected, and the grip power portion 220 is coupled. It may include a second coupling portion 212 formed to be.

The first coupling portion 211 may be formed in a shape corresponding to the shape of the joint portion 110 (eg, circular), and the second coupling portion 212 is a shape corresponding to the plane of the grip power unit 220 ( For example, it may be formed in a square).

The grip power unit 220 is coupled to the bottom surface of the second coupling unit 212 of the coupling member 210, and the grip device 200 may provide power required to hold or place the porter filter 1.

The grip power unit 220 may be implemented as a drive motor that generates power by electric power or a hydraulic cylinder that generates power by hydraulic pressure, which is appropriately selected and applied according to the needs of the implementer. I can.

In addition, the grip power unit 220 does not generate power by itself and may be configured only with a mechanical mechanism, and in this case, it is connected to a power line capable of transmitting power, and a separation distance adjusting means ( 230).

The separation distance adjustment means 230 is a pair of components separated to enable independent movements from each other, and the separation distance may be adjusted while being moved on the grip power unit 220 by the power of the grip power unit 220.

Referring to FIG. 4, the separation distance adjusting means 230 may include a guide rail 231 and a moving body 232.

The guide rail 231 is provided on one side (eg, a bottom surface) of the grip power unit 220 and may extend along the same direction as the moving direction of the gripper 240. In addition, the moving body 232 is a configuration that is provided with a pair and is independently installed on the guide rail 231, and may be moved in a direction moving away or closer to each other on the guide rail 231 by a control signal from an external (eg, control unit). I can.

The separation distance may be adjusted as the pair of moving bodies 232 move in a direction that moves away from or close to each other. In addition, the distance between the pair of grippers 240 coupled to the movable body 232 is also adjusted by the movable body 232 so that the gripper 240 grips or grips the handle 1-2 of the porter filter 1 One handle (1-2) can be released.

A pair of grippers 240 are provided so as to correspond to the pair of spaced distance adjusting means 230 on a one-to-one basis, respectively. The pair of grippers 240 grip or release the porter filter 1 while the separation distance is adjusted by the action of the separation distance adjusting means 230.

Specifically, as shown in FIG. 5, the gripper 240 may include an upper block 241, a gripping portion 242, and a locking projection 243.

The upper block 241 is coupled to the lower portion of the moving body 232 of the separation distance adjusting means 230 and can move together with the moving body 232 when the moving body 232 is moved.

In addition, the gripping portion 242 is a portion extending downward from the upper block 241 by a predetermined length, and substantially surrounds at least a part of the outer surface of the handle 1-2 of the porter filter 1 to substantially cover the handle 1-2 ) May be configured to hold.

In addition, the locking jaw 243 is formed to protrude inward at the lower end of the gripping portion 242, so that the lower side of the handle 1-2 of the porter filter 1 is prevented from being separated from the gripper 240 downward. I can support it. In this case, the locking projection 243 may be formed to form an obtuse angle with the gripping portion 242.

Therefore, when the grippers 240 having an approximately "c" shape are moved in a direction away from each other, the separation distance is increased so that the handle 1-2 of the porter filter 1 can be easily inserted therebetween, When the gripper 240 is moved in a direction closer again while the handle 1-2 is inserted, the handle 1-2 of the porter filter 1 is pressed by the gripper 240 and is gripped by the porter filter 1 ) May be restrained by the gripping device 200. Accordingly, the position of the porter filter 1 constrained by the grip device 200 may be changed according to the movement and operation of the robot device 100.

Meanwhile, referring to FIGS. 6 to 9, the handler 250 pushes the handle 1-2 of the porter filter 1 in a direction in which the gripper 240 does not grip the porter filter 1. The porter filter 1 may be rotated at a predetermined angle around the filter holder 1-1.

That is, as shown in Figs. 8 and 9, the porter filter 1 is rotated by using the handler 250 while the porter filter 1 is pre-fastened to the coffee extraction unit 310 ) May be completely mounted on the coffee extraction unit 310.

6 and 7, when removing the porter filter 1 from the coffee brewing unit 310, the handle 1-2 of the porter filter 1 is removed using the handler 250. After pushing in the direction so that the porter filter 1 is completely dismounted from the coffee brewing unit 310 and is in a pre-fastened state, the handle 1-2 is gripped with the gripper 240 to place the porter filter 1 into coffee. It can be completely removed in the extraction unit 310.

The handler 250 is for simply providing a force to push the handle 1-2 in any one direction to the porter filter 1 in a situation where the handle 1-2 is not necessarily gripped, and the gripper 240 It is possible to increase the service life of the gripper 240 by reducing the burden applied to the gripper 240. The operation of the handler 250 pushing the handle 1-2 and its effect will be described again later.

The handler 250 is provided above the gripper 240 and may protrude forward by a predetermined length toward the porter filter 1. In addition, the handler 250 is configured to push the handle 1-2 of the porter filter 1 toward at least one of both sides toward the side.

Specifically, as shown in FIG. 3, the handler 250 may include a vertical block 251 and a horizontal block 252.

The vertical block 251 may be fixedly coupled to at least one of the coupling member 210 and the grip power unit 220. Further, the horizontal block 252 may protrude by a predetermined length from the lower end of the vertical block 251 toward the porter filter 1.

The vertical block 251 and the horizontal block 252 are interconnected to form an approximately "b" shape, and when pushing the handle 1-2 of the porter filter 1 to the side, the horizontal block 252 It is configured to push using either side of both sides.

Meanwhile, a control method of a grip device using a robot arm for coffee extraction according to another embodiment of the present invention will be described with reference to FIGS. 6 to 9 and 10 to 12.

First, referring to FIG. 10, when removing the porter filter 1 from the coffee extraction unit, the grip device 200 is provided in the grip device 200 as shown in FIG. 6 without holding the porter filter 1. As shown in FIG. 7 from the state (a) in which the porter filter 1 is completely mounted on the coffee extraction unit 310 by first pushing the porter filter 1 to the side to be removed through the handler 250 It is possible to control the operation of the robot device 100 and the grip device 200 so as to be converted to the fastened state (b) (S10).

Subsequently, when the temporary fastening state as shown in FIG. 7 is reached, an operation of gripping the porter filter 1 by controlling the grip device 200 may be performed (S11),

Then, the porter filter 1 may be rotated about the filter holder 1-1 at a predetermined angle to completely remove the porter filter 1 from the coffee extraction unit (S12).

Meanwhile, referring to FIG. 11, when mounting the porter filter 1 in the coffee extraction unit, the control unit controls the operation of the robot device 100 and the grip device 200 to first grip the porter filter 1 Can be performed (S20).

Subsequently, the porter filter 1 is rotated by a predetermined angle to the other side where the porter filter 1 is mounted on the coffee brewing unit so that the porter filter 1 is temporarily fastened to the coffee brewing unit 310 (b) ( S21).

Then, the control unit pushes the porter filter 1 in the completely mounting direction (direction a) using the handler 250 as shown in FIG. 8 so that the porter filter 1 extracts coffee as shown in FIG. It is possible to control the robot device 100 so that it is completely mounted on the unit (a) (S22).

On the other hand, while the coffee liquid is being extracted after the porter filter 1 is completely mounted on the coffee extraction unit, as shown in FIG. 6, the porter filter 1 among both sides of the handle 1-2 of the porter filter 1 ), the operation of the robot device 100 is controlled so that the side portion of the handler 250 is in contact with one side corresponding to the removal direction (direction from a to b), and until extraction of the coffee liquid is completed, the handler ( The operation of the robot device 100 and the grip device 200 may be stopped in a state in which the side portion of 250) is in contact with the handle 1-2.

Meanwhile, referring to FIG. 12, when performing the water washing operation of the porter filter 1, the control unit controls the operation of at least one of the robot device 100 and the grip device 200 to control the porter filter 1. It is possible to perform the step of moving to the water detail unit 340 (S30).

In addition, when the porter filter 1 is moved to the washing unit 340, the control unit may perform a step of spraying the washing water by operating the washing unit 340 (S31).

In addition, while the washing water is sprayed, the control unit controls at least one of the robot device 100 and the grip device 200 to move the porter filter 1 in at least one of front/rear, left/right, and up/down directions. The step of washing by shaking can be performed (S32).

In addition, the step of discharging water contained in the filter holder 1-1 by rotating the porter filter 1 (S33) can be performed, and the shaking step and the operation of discharging water are repeated several times as necessary to Filter (1) can be cleaned cleanly.

In the above, a grip device for coffee extraction using a robot arm according to an embodiment of the present invention and a control method thereof have been described as specific embodiments, but this is only an example, and the present invention is not limited thereto, and the basis disclosed in the present specification It should be construed as having the widest scope according to ideas. A person skilled in the art may combine and replace the disclosed embodiments to implement a pattern of a shape not indicated, but this also does not depart from the scope of the present invention. In addition, those skilled in the art can easily change or modify the disclosed embodiments based on the present specification, and it is clear that such changes or modifications also belong to the scope of the present invention.

1: Porter filter
1-1: filter holder
1-2: handle
100: robot device
110: joint
120: base part
130: electric operation unit
200: grip device
210: coupling member
211: first coupling portion
212: second coupling portion
220: grip power unit
230: separation distance adjustment means
231: guide rail
232: moving object
240: gripper
241: upper block
242: holding part
243: locking jaw
250: handler
251: vertical block
252: horizontal block

Claims (7)

A coupling member detachably coupled to the joint portion of the robot device;
A grip power unit coupled to the coupling member and providing power required to hold or place the porter filter;
A pair of separation distance adjustment means for adjusting the separation distance while being moved by the grip power unit;
A pair of grippers each provided to the pair of separation distance adjusting means, and gripping or releasing the porter filter by the separation distance adjusting means; And
It is provided above the gripper, protrudes toward the porter filter, including a handler provided to push the handle of the porter filter toward at least one side of both sides toward the side,
A grip device for brewing coffee using a robot arm. The method of claim 1,
The gripper,
An upper block coupled to a lower portion of the separation distance adjusting means;
A gripping portion extending downward from the upper block so as to surround and grip at least a portion of an outer surface of the handle of the porter filter; And
Including; formed at the lower end of the gripping portion and supporting to prevent the lower side of the handle of the porter filter from being separated downward, but forming an obtuse angle with the gripping portion;
A grip device for brewing coffee using a robot arm. delete The method of claim 1,
The handler,
A vertical block coupled to at least one of the coupling member and the grip power unit; And
Including; a horizontal block protruding forward from the lower end of the vertical block toward the porter filter;
A grip device for brewing coffee using a robot arm. When removing the porter filter from the coffee brewing unit, by controlling the operation of the robot device, the porter filter is first pushed in the removing direction using a handler provided in the front of the grip device so that the porter filter is temporarily fastened to the coffee brewing unit. Making it possible;
Controlling the operation of the gripping device to grip the porter filter; And
Including, when the porter filter is gripped, controlling the operation of the robot device to rotate the porter filter at a predetermined angle with respect to the center of the filter holder to remove the porter filter from the coffee extraction unit
Control method of a grip device using a robot arm for coffee extraction. When mounting the porter filter to the coffee brewing unit, controlling the operation of the robot device and the gripping device to hold the porter filter;
Rotating the held porter filter by a predetermined angle in a direction in which the porter filter is mounted on the coffee extracting unit so that the porter filter is temporarily fastened to the coffee extracting unit; And
Including, by controlling the operation of the robot device by pushing the porter filter in a completely mounting direction using a handler provided in front of the grip device so that the porter filter is completely mounted on the coffee extraction unit; including,
Control method of a grip device using a robot arm for coffee extraction. delete

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