KR102640818B1 - Manufacturing and selling apparatus of customized liquid product and manufacturing method of customized liquid product using the same - Google Patents

Abstract

The present invention relates to a machine for automatically manufacturing and selling personalized liquid products and a method for manufacturing liquid products using the same. The automatic manufacturing and selling machine for liquid products includes a housing 100 and a table horizontally provided inside the housing 100 ( 190), a raw material supply unit 200 provided on one side of the interior of the housing 100 to supply liquid raw materials, and a container supply unit 300 provided on the table 190 to supply a container 310 into which the liquid raw materials will be injected. , a raw material injection unit 600 for injecting liquid raw materials into the container 310, an articulated robot 400 provided on the table 190 to hold the container and move it to the subsequent process, and injection of the liquid raw material. In the automatic manufacturing and selling machine for personalized liquid products, which includes a stirrer 700 for stirring the completed container 310 and an outlet 191 for discharging the completed liquid product to the outside of the housing 100, The jointed robot 400 is provided on one side of the table 190, the raw material supply unit 200 is provided vertically at a position opposite to the articulated robot 400, and the container supply unit 300 is It is provided at the rear of the joint robot 400, and a container detection unit 560 is further provided on the right side of the container supply unit 300 to detect the size of the container and the presence or absence of a cap, and the upper part of the container detection unit 560 A cap separation/fastening unit 900 is provided, and the stirrer 700 is provided on a table between the articulated robot 400 and the raw material injection unit 600.

Description

Automatic manufacturing and selling of personalized liquid products and manufacturing method of liquid products using the same

The present invention relates to the manufacturing of personalized liquid products installed in the form of vending machines at airports, terminals, department stores, shopping malls, etc., vending machines, and a method of manufacturing liquid products using the same. More specifically, the structure of each component is simplified, By minimizing the movement line of the articulated robot, the size and weight of the equipment are reduced, containers of different specifications can be used in one equipment, over tightening of the container cap can be prevented, and residual and leakage of raw materials can be prevented. It is about automatic manufacturing of personalized liquid products, vending machines, and liquid product manufacturing methods.

Generally, cosmetics are produced in large quantities by cosmetics manufacturers and sold to consumers through beauty stores.

In addition, cosmetics can only be manufactured by those who have certain manufacturing equipment and quality control facilities and have received permission from the authorities.

However, it can be said that it is realistically impossible for a cosmetics manufacturing company to manufacture cosmetics taking into account all the preferences and skin characteristics of numerous consumers.

As a result, cosmetics manufacturers tend to manufacture cosmetics to prevent problems such as skin problems, which limits their ability to meet the diverse needs of consumers.

Accordingly, consumers face the inconvenience of having to find and purchase cosmetics suitable for their skin on their own.

Recently, functional cosmetics with specific ingredients added to them have been manufactured and sold to manage acne, wrinkles, freckles, blemishes, etc.

However, it is difficult for the functional cosmetics mentioned above to satisfy all the needs of consumers with different skin characteristics.

In order to solve this problem, a personalized cosmetics manufacturing device has been proposed that allows consumers to manufacture cosmetics tailored to their skin characteristics.

One example is the “personalized cosmetics manufacturing device” disclosed in Korean Patent No. 10-2211803.

The above-described conventional cosmetic manufacturing apparatus includes a robot arm; A container supply department that supplies cosmetic containers; a nozzle unit for injecting cosmetic raw materials into the cosmetic container; A transfer unit that transfers the cosmetic container to the nozzle unit; A cap supply unit that supplies caps for the cosmetic containers; A stirring unit for stirring the cosmetic container into which the cosmetic raw material is injected; and a work table having an upper plate and a space below the upper plate.

The container supply unit, nozzle unit, transfer unit, cap supply unit, and stirring unit are arranged around the robot arm with the robot arm as the center.

And the cosmetic container is sequentially moved to the container supply unit, transfer unit, and stirring unit by the robot arm.

According to the above-described conventional cosmetic manufacturing apparatus, there is an advantage in that cosmetics tailored to the skin condition of the consumer can be manufactured.

However, the above-described conventional cosmetics manufacturing apparatus has the following problems.

First, since each cosmetic raw material is supplied by storing it in a raw material storage container, when the raw materials are used up, the raw materials must be filled one by one into the raw material storage container, and in this process, impurities may be mixed in or oxidation may occur.

Additionally, since the raw material storage container is provided at the bottom of the housing, it is inconvenient to visually check the amount of remaining raw material, and the remaining amount of raw material must be checked periodically.

Additionally, even when the operation of the raw material injection pump is stopped, the solution remaining in the raw material supply pipe flows toward the injection nozzle for a certain period of time.

Accordingly, when the injection of one type of cosmetic raw material is completed and the container is moved to the next injection nozzle, the raw material solution remaining in the previous raw material supply pipe and injection nozzle leaks and contaminates the area around the raw material injection part.

To prevent this, the operation of the raw material injection pump must be stopped and the container must be moved to the next nozzle after all of the raw material remaining in the injection nozzle has fallen. In this case, the cosmetics manufacturing time is delayed.

In addition, since the container and cap are supplied separately into the housing, impurities may be mixed into the container.

As a result, it is difficult to meet the cosmetics manufacturing standards stipulated in relevant laws and regulations, and quality control is also difficult.

In order to solve the above problems, the present applicant filed a patent application for "Personalized cosmetics manufacturing and sales machine and method of manufacturing and selling cosmetics using the same" and received registration as Patent No. 10-2351906.

As shown in FIGS. 1 to 8, the above-described personalized cosmetics manufacturing and selling machine includes a housing 100, a raw material supply unit 200 provided inside the housing to supply liquid cosmetic raw materials, and a cosmetic container. A container supply unit 300 for supplying, a raw material injection unit 600 for injecting cosmetic raw materials into the container, an articulated robot 400 for picking up a container from the container supply unit 300 and placing it in a predetermined position, and cosmetic raw materials It includes a stirrer 700 for stirring the container into which the product has been injected, and a cosmetics outlet 191 for discharging the manufactured cosmetics to the outside of the housing 100.

The housing 100 includes a table 190, a raw material supply door 110, a container supply door 120, and a lower door 130.

The table 100 is provided with a raw material supply unit 200, a container supply unit 300, a raw material injection unit 600, and a stirrer 700 around the articulated robot 400 provided in the center.

Additionally, on the front of the device, there is a touch screen 150 that allows consumers to select the type of cosmetics, raw materials, payment method, etc., a camera 160 to recognize the consumer's face, a card reader 170, and a receipt. An output unit 171 and a cosmetics outlet 191 for discharging the manufactured cosmetics to the outside of the housing 100 are provided.

In addition, in the space below the table 190, there is a receipt printer, a label printer, a barcode reader, a card calculator, a control unit for controlling each component of the manufacturing device, and communication equipment for communicating with a remote central control device. It is provided.

In addition, the central control device installed in a remote location includes a server and a computer that store data on the ingredients and composition ratio of cosmetic raw materials related to skin condition.

In addition, the server accumulates relevant data each time a consumer uses the manufacturing device, and the central control device is connected to the portable terminal of the manager who manages the manufacturing device.

Using the above-mentioned method, each manufacturing device can be remotely integrated and managed from a remote central control device, and in case of a shortage of raw materials or a breakdown of the manufacturing device, the contents are immediately transmitted to each device manager to quickly respond. You can deal with it.

Hereinafter, the raw material supply unit of the cosmetics manufacturing and sales machine according to the prior art will be described.

As shown in FIG. 3, the raw material supply unit 200 according to the prior art is for supplying various cosmetic raw materials, and includes a plurality of raw material pouches 220 containing liquid cosmetic raw materials, and each of the raw material pouches 220. A plurality of hooks 280 for hanging the upper part of the hooks 280, a plurality of load cells 210 provided on the top of each hook 280 to detect the remaining amount of raw materials in each raw material pouch 220, and a plurality of load cells 210 for detecting the remaining amount of raw materials in each raw material pouch 220. It is configured to include a plurality of pumps for transferring the raw materials inside the pouch 220 to the raw material injection unit 600 through a raw material supply pipe, and a plurality of drive motors for respectively driving the plurality of pumps.

The raw material pouch 220 is a plastic bag containing raw materials, and is provided as many as the number of raw materials to be used. In addition, load cells 210 and hooks 280 for checking the remaining amount are provided corresponding to the number of raw materials used.

The remaining amount confirmation load cell 210 detects a decrease in the weight of the raw material pouch 220 due to the use of raw materials, and determines the remaining amount of raw materials remaining inside the raw material pouch 220.

And the control unit 192 provided at the lower part of the housing 100 transmits the remaining ingredients of the raw material pouch 220 in real time to a remote central control device.

Next, the raw material injection part of a cosmetics manufacturing and selling machine according to the prior art will be described.

As shown in FIG. 4, the raw material injection unit 600 according to the prior art is for injecting each raw material into the container 310, and is connected to each raw material pouch 220 through a raw material supply pipe to inject the container 310. ) a plurality of injection nozzles 610 for injecting raw materials into the container, a container transfer member 630 provided below the injection nozzles 610 for injecting the raw materials while moving the empty container 310, and A liquid amount sensing load cell 620 provided on the top of the container transfer member 630 to detect the fixed amount of raw material injected into the container 310, and a container 310 seated on the top of the container transfer member 630. It is composed of a container detection sensor to detect.

The injection nozzle 610 is connected to each raw material pouch 220 through a raw material supply pipe, and is provided as many as the number of raw material pouches 220.

Then, the control unit 192 moves the empty container 310 to the lower part of the selected injection nozzle 610 and sequentially injects the selected raw materials into the empty container 310.

That is, when a plurality of raw materials are selected, the empty containers 310 sequentially move to the lower part of the corresponding injection nozzle 610 and the raw materials are injected.

Next, the container supply unit of the cosmetics manufacturing and selling machine according to the prior art will be described.

As shown in FIG. 5, the container supply unit 300 according to the prior art supplies containers for containing cosmetics, and is loaded with cartridges to accommodate a plurality of cartridges 320 loaded with a plurality of containers 310. A cartridge transfer device 340 for horizontally transferring the cartridge 320 loaded with the unit 330 and a plurality of containers 310, and pushing the empty cartridge 320 to the side from the cartridge loading unit 330. It includes a cartridge discharge device 360 for ejection, and a container separation member 350 for separating the container 310 located at the bottom of the cartridge 320.

That is, the conventional container supply unit is a method of laying down a plurality of containers 310 and loading them on the cartridge 320, and then manually inserting the plurality of cartridges 320 into the cartridge loading unit 330.

Additionally, when all of the containers 310 are discharged from each cartridge 320, the empty cartridges 320 are automatically pushed aside, and all remaining cartridges 320 are automatically moved to the side one click at a time.

Also, by supplying the container 310 with the cap 312 fastened without separating the container body 311 and the cap 312, it is possible to prevent impurities from being mixed into the container 310.

In addition, as shown in Figures 1 and 2, the prior art is an articulated robot 400 installed in the center of the table 190 to pick up the container 310 by a gripper 410 and transport it to a designated location. Equipped with

Hereinafter, the process of supplying a container from a container supply unit according to the prior art will be described with reference to FIG. 5.

In Figure 5, the containers 310 loaded on the rightmost cartridge 320 fall downward one by one and are seated on the container upright member 350, and the container upright member 350 is transferred in the horizontal direction by a certain amount and then rotated 90 degrees. Then, set the container 310 upright.

Then, the gripper 410 of the articulated robot 400 picks up the container 310 and places it into the cap separation/fastening device.

And when the gripper 410 of the articulated robot 400 picks up the container 310, the container upright member 350 returns to its original position and repeats the same operation to wait for the next container 310.

In FIG. 5 , when all the containers inside the cartridge 320 located on the far right are discharged, the cartridge discharge device 360 provided on the outside of the right side of the cartridge loading unit 330 moves the empty cartridge 320 into the cartridge loading unit 330. push it to the side.

And the cartridge transfer device 340 provided on the left side of the cartridge loading unit 330 moves the cartridge 320 one click to the right.

When all empty cartridges 320 are discharged to the outside of the cartridge loading unit 330, a new container 310 is manually inserted into the cartridge 320, and then a plurality of cartridges 320 are inserted into the cartridge loading unit 330. .

Next, the method of separating and fastening the container cap in a cosmetics manufacturing and selling machine according to the prior art will be explained.

As shown in FIGS. 6 and 7, the cap separation/fastening device according to the prior art, after seating the container 310 picked up by the gripper 410 of the articulated robot 400, separates the cap 312 and It includes a cap separation/fastening part 510 for fastening, and a cap storage part 520 for temporarily storing the cap 312 separated from the container body 311.

And the cap separation/fastening part 510 includes a rotation spindle 550 for rotating the container body 311 in the forward and reverse directions, and a reducer 540 provided at the lower part of the rotation spindle 550, It is configured to include a drive motor 530 provided at the lower part of the reducer 540.

Next, the stirrer 700 for manufacturing and selling cosmetics according to the prior art will be described.

As shown in FIG. 8, the stirrer 700 according to the prior art is composed of a ring shape with teeth formed on the inner peripheral surface and an outer internal gear 741 whose lower part is assembled with the main shaft 740, and the main shaft ( A motor 720 that is connected to 740 and a belt 730 to rotate the outer internal gear 741, and an inner spur gear 751 that is assembled on the inner peripheral surface of the outer internal gear 741 and makes planetary movement, It is configured to include a container fixing member 710 provided on the upper part of the inner spur gear 751 to allow the container 310 to be seated at an angle.

In addition, the lower part of the container fixing member 710 is assembled with an auxiliary shaft 750 on which an inner spur gear 751 is formed.

In addition, the central axis of the main shaft 740 and the central axis of the auxiliary shaft 750 are arranged to be offset from each other, and an outer internal gear 741 connected to the main shaft 740 and an inner spur gear connected to the auxiliary shaft 750 ( 751) are joined together.

When the outer internal gear 741 is rotated using the above structure, the inner spur gear 751 meshed with the inner peripheral surface of the outer internal gear rotates and rotates with the main shaft 740 as the central axis. I do it.

By the above-described rotational and orbital movements, various raw materials with different viscosity can be perfectly stirred, and the stirring time can be shortened to within a few seconds.

According to the prior art shown in Figures 1 to 8, each raw material is individually supplied using a raw material pouch, and the raw material pouch itself is replaced, thereby preventing the mixing of impurities and oxidation phenomenon that occurs during the replenishment process of raw materials. You can.

In addition, since the container is supplied with the container body and the cap fastened, and the cap is opened only when the raw materials are injected, the incorporation of impurities can be fundamentally prevented.

Additionally, since each manufacturing device is connected to a remote central control device through wireless communication, the remaining amount of each raw material can be checked in real time from the remote central control device.

In addition, since the central control device and the manager terminal of each manufacturing device are connected by wireless communication, the manager can be notified in real time whether there is a shortage of raw materials and whether an abnormality has occurred in each manufacturing device.

This allows managers of each manufacturing device to quickly replenish insufficient raw materials and perform prompt maintenance.

Additionally, by rotating the stirrer through a combination of rotational and orbital motions, the mixing of raw materials can be improved and the stirring time can be shortened.

However, while actually manufacturing and operating the above-mentioned cosmetics manufacturing and sales machine, the following shortcomings were discovered.

First, the overall device is large, takes up a lot of space, is heavy, makes transportation difficult, and maintenance is difficult.

Second, the container supply structure is complex, only one type of container must be used, and it is difficult to determine in advance the presence or absence of a cap and the loading direction of empty containers.

Third, since the raw material residue prevention device is composed of a mechanical method using balls and springs, the problem of raw material remaining in the raw material supply pipe and injection nozzle cannot be completely solved.

Fourth, leakage of raw materials may occur when injecting raw materials, and there are limits to precisely controlling the amount of discharged raw materials.

Fifth, a container mounted on a stirrer that rotates and orbits at high speed may come off during stirring.

Korean Patent No. 10-2392405 (announced on May 2, 2022) Korean Patent No. 10-2351906 (announced on January 19, 2022) Korean Patent No. 10-2351909 (announced on January 17, 2022)

The present invention is intended to solve the problems of the prior art described above, and its purpose is to simplify the structure of each component and minimize the movement line of the articulated robot, thereby reducing the overall size and weight of the equipment.

Another purpose of the present invention is to reduce the manufacturing cost of equipment and enable easy maintenance.

Another object of the present invention is to reduce the installation space by simply constructing the container supply unit.

Another purpose of the present invention is to enable the use of different types of containers in one equipment and to accurately determine the presence or absence of a container cap and the seating direction of an empty container.

Another object of the present invention is to improve the separation and fastening structure of the container cap to reduce space and shorten the time required to separate and fasten the cap.

Another purpose of the present invention is to solve the problem of raw materials remaining in the raw material supply pipe and injection nozzle and to precisely control the amount of discharged raw materials.

Another object of the present invention is to prevent the container mounted on the stirrer from being separated during high-speed rotation.

In order to achieve the above object, the automatic manufacturing and vending machine for personalized liquid products according to the present invention includes a housing, a table provided horizontally inside the housing, and raw materials provided on one side of the inside of the housing to supply liquid raw materials. A supply unit, a container supply unit provided on the table to supply a container into which the liquid raw material is to be injected, a raw material injection unit provided on the table to hold the container and move it to the subsequent process. In the automatic manufacturing and selling machine for personalized liquid products, which includes a joint robot, a stirrer provided on the table to stir the container into which the liquid raw material has been injected, and an outlet for discharging the finished liquid product to the outside of the housing, The articulated robot is provided on one side of the table, the raw material supply part is provided vertically at a position opposite to the articulated robot, the container supply part is provided at the rear of the articulated robot, and the container supply part is on the right side. A container detection unit is further provided to detect the size of the container and the presence or absence of a cap, a cap separation/attachment unit is provided on an upper part of the container detection unit, and the stirrer is provided on a table between the articulated robot and the raw material injection unit. It is characterized by

In addition, the raw material supply unit includes a plurality of raw material pouches containing liquid raw materials, a plurality of hooks for hanging the upper part of each raw material pouch, and a tubing pump for discharging the liquid raw materials contained in each raw material pouch through each injection nozzle. It is characterized by being composed of a.

In addition, the raw material supply unit includes a horizontal plate provided parallel to the arrangement direction of the hook, a support member provided at a predetermined distance apart from a lower portion of the horizontal plate, and horizontally provided in the space between the horizontal plate and the support member. , characterized in that it includes a spring plate whose end is assembled with a hook, and a knob bolt provided to correspond to the number of each hook on the upper surface of the horizontal plate.

In addition, the container supply unit is configured to include a plurality of container supply pipes provided at an angle, and a container seating portion provided at a lower end of the container supply pipe, and the plurality of supply pipes provided at an angle are arranged in a vertical line in a vertical direction. The container is characterized in that it slides inside each container supply pipe by its own weight and is seated on each container seating portion.

In addition, the container detection unit includes an upper member provided horizontally, a lower member provided at a predetermined distance from the upper member, a spring vertically connecting the upper member and the lower member, and an upper portion of the lower member. It is characterized by including a container detection device for detecting the size of the container and the presence or absence of a cap.

In addition, the container detection device includes a detection lever that rotates around a hinge provided at the top of the lower member, a slide pin provided at one end of the detection lever and moving in the vertical direction, and a slide pin provided at the other end of the detection lever. It is characterized by comprising a detection sensor.

In addition, the cap separation/fastening part includes a cap holding part for holding the cap of the container, a rotating member provided on an upper part of the cap holding part and rotating, a horizontal member provided on an upper part of the rotating member, and the horizontal member A sprocket is provided on the upper part and rotates with the rotating member, a belt pulley is disposed at a predetermined distance from the sprocket at the top of the horizontal member, a drive motor for driving the belt pulley, and the sprocket and the belt pulley. It is characterized by comprising a connecting circular belt and a rotation detection sensor provided on one side of the sprocket.

In addition, the raw material injection unit includes an injection nozzle connected to each raw material pouch, a container transfer member provided at a lower part of the injection nozzle to inject the raw material while moving the container body with the cap removed in the horizontal direction, and a container transfer member to transfer the container. It is configured to include a guide rail for guiding the member, and is characterized by a gripper holding portion provided in front of the container transport member.

In addition, the stirrer includes a container seating portion that allows the container into which the raw material is injected to be seated at an angle, an external internal gear whose lower part is assembled with the main shaft, a motor that rotates the external internal gear, and an inner peripheral surface of the external internal gear. It is composed of an inner spur gear that makes a planetary movement, and a container fixing member provided on an upper part of the inner spur gear to fix the container seated on the container seat, and the container fixing member rotates and rotates by the rotation and revolution movements. It is characterized by stirring the raw materials inside the container.

In addition, the container fixing member has an exterior formed with an inclined surface, a sliding door is further provided on the inclined surface, and a space portion is formed on one side of the sliding door to allow the gripper of the articulated robot holding the container to enter. It is characterized by

In addition, a spring connected to the sliding door is provided on the opposite side of the sliding door, and a counterweight is provided at the right end of the spring to prevent the sliding door from opening when the container fixing member rotates.

And the method for manufacturing a personalized liquid product according to the present invention includes (a) gripping an empty container with a gripper of an articulated robot (S10); (b) inspecting the type of container and the presence or absence of a cap at the container detection unit (S20); (c) separating the cap from the container body at the cap separation/fastening unit 900 (S30); (d) seating the container body with the cap removed on the container transport member (S40); (e) injecting the selected raw material while transporting the container transfer member along a plurality of injection nozzles (S50); (f) transporting the container body in which the raw material injection is completed to the cap separation/fastening unit and fastening the cap (S60); (g) inserting the container in which the raw material injection has been completed into a stirrer and stirring it (S70); (h) Discharging the stirred liquid product to the outside of the housing through an outlet (S80).

In addition, in step S50, the spring plate and horizontal plate assembled with each hook hanging the raw material pouch are contacted to determine that the raw material has been exhausted, and a warning sound or warning light is flashed.

In addition, in step S60, the belt pulley rotating by the drive motor and the sprocket rotating by holding the cap are connected by a circular belt, and the cap is connected by a rotation detection sensor that detects the rotation of the protrusion formed on the outer circumference of the sprocket. It is characterized by preventing excessive fastening to the container body.

Also, in step S70, the gripper of the articulated robot holding the container seats the container on the container seating portion while pushing the sliding door of the stirrer to the side, and when the gripper retracts after the container is seated on the container seating portion, the sliding The door is characterized in that it covers part of the outer surface of the container by the elastic force of the spring.

According to the present invention, by simplifying the structure of each component and minimizing the movement line of the articulated robot, the overall size and weight of the equipment can be significantly reduced.

Additionally, by simplifying the structure of each component, equipment manufacturing costs can be reduced and maintenance is simplified.

In addition, since the empty containers are arranged in a diagonal direction and supplied by a sliding method, a separate driving device is not required and the installation space of the container supply unit is reduced.

In particular, there is an effect of eliminating the need for a device for transporting cartridges loaded with containers, a device for discharging empty cartridges, and a device for separating containers located at the bottom of the cartridge.

Additionally, since the articulated robot can separate and fasten the cap while holding the container body, the time required to separate and fasten the cap can be shortened and installation space can be reduced.

In addition, since the cap separation/fastening device itself rotates and continues to hold the cap after removing it, there is no need to provide a separate space to temporarily store the separated cap.

In addition, since the container detection unit detects the presence or absence of a cap and the size and type of the container in advance, it is possible to use containers of different sizes and types in one device.

In addition, since the container detection unit is provided on one side of the lower part of the cap separation/fastening device, there is an effect of minimizing installation space and the movement line of the articulated robot.

In addition, each pouch is connected to a tubing pump to discharge raw materials through each injection nozzle, which has the effect of solving the problem of raw materials remaining in the raw material supply pipe and injection nozzle.

Additionally, it has the effect of precisely controlling the amount of raw material discharged through the injection nozzle.

In addition, when injecting raw materials into an empty container, the container transport member itself, on which the container is seated, is structured to lift upward toward the injection nozzle, which is effective in preventing leakage of raw materials when injecting raw materials.

In addition, since the articulated robot transfers the container transport member by holding the cylindrical grip provided in front of the container transport member, there is an effect of moving the container to the exact position of each injection nozzle.

In addition, since the stirrer is equipped with a door to cover the outer peripheral surface of the container, it is effective in preventing the container from leaving during high-speed rotation.

In addition, when placing a container on the stirrer, the gripper of the articulated robot pushes the door to the side, which has the effect of easily placing the container.

Additionally, when the stirrer rotates, there is an effect of preventing the sliding door from opening due to the centrifugal force of the counterweight provided on the opposite side of the sliding door.

Figure 1 is an overall perspective view of a cosmetics manufacturing and selling machine according to the prior art.
Figure 2 is a diagram showing each configuration of a cosmetics manufacturing and selling machine according to the prior art.
Figure 3 is a perspective view showing a raw material supply unit and a container supply unit according to the prior art.
Figure 4 is a perspective view showing a raw material injection unit according to the prior art.
Figure 5 is a perspective view of a container supply unit according to the prior art.
Figure 6 is a perspective view showing the cap separation/attachment portion according to the prior art.
Figure 7 is a cross-sectional view showing the cap separation/attachment portion according to the prior art.
Figure 8 is a perspective view showing a stirrer according to the prior art.
Figure 9 is a perspective view of a liquid product manufacturing and selling machine according to the present invention.
Figure 10 is a front view of a liquid product manufacturing and selling machine according to the present invention.
Figure 11 is an exploded perspective view of a liquid product manufacturing and selling machine according to the present invention.
Figure 12 is an exploded perspective view of a liquid product manufacturing and selling machine according to the present invention.
Figure 13 is an exploded plan view of a liquid product manufacturing and selling machine according to the present invention.
Figure 14 is an exploded front view of a liquid product manufacturing and selling machine according to the present invention.
Figure 15 is a view showing the container supply unit of the liquid product manufacturing and selling machine according to the present invention.
Figure 16 is a perspective view showing the container detection unit of the liquid product manufacturing and selling machine according to the present invention.
Figure 17 is a perspective view showing the container detection unit of the liquid product manufacturing and selling machine according to the present invention.
Figure 18 is a front view of the container detection unit of the liquid product manufacturing and selling machine according to the present invention.
Figure 19 is a side view of the container detection unit of the liquid product manufacturing and selling machine according to the present invention.
Figure 20 is a view showing a container used for manufacturing and selling liquid products according to the present invention.
Figure 21 is a perspective view of the cap separation/attachment portion of the liquid product manufacturing and vending machine according to the present invention.
Figure 22 is a perspective view of the cap separation/attachment portion of the liquid product manufacturing and vending machine according to the present invention.
Figure 23 is a plan view of the cap separation/attachment portion of the liquid product manufacturing and vending machine according to the present invention.
Figure 24 is a front view of the cap separation/attachment portion of the liquid product manufacturing and vending machine according to the present invention.
Figure 25 is a perspective view of the raw material supply unit and the raw material injection unit of the liquid product manufacturing and selling machine according to the present invention.
Figure 26 is a view showing the front of the raw material injection part of the liquid product manufacturing and selling machine according to the present invention.
Figure 27 is a view showing the raw material supply unit of the liquid product manufacturing and sales machine according to the present invention
Figure 28 is a perspective view showing the upper part of the raw material supply part of the liquid product manufacturing and selling machine according to the present invention.
Figure 29 is a diagram for explaining the operating state of the raw material supply unit of the liquid product manufacturing and selling machine according to the present invention.
Figure 30 is a perspective view of a container transfer member for a liquid product manufacturing and selling machine according to the present invention.
Figure 31 is a plan view of the container transfer member of the liquid product manufacturing and selling machine according to the present invention.
Figure 32 is a side view of the container transfer member of the liquid product manufacturing and selling machine according to the present invention.
Figure 33 is a perspective view of the raw material injection part of the liquid product manufacturing and selling machine according to the present invention.
Figure 34 is a side cross-sectional view of the raw material injection part of the liquid product manufacturing and selling machine according to the present invention.
Figure 35 is a perspective view of a stirrer for manufacturing and selling liquid products according to the present invention.
Figure 36 is a plan view of a stirrer for manufacturing and selling liquid products according to the present invention.
Figure 37 is a side cross-sectional view of a stirrer for manufacturing and selling liquid products according to the present invention.
Figure 38 is a perspective view of an articulated robot for manufacturing and selling liquid products according to the present invention.
Figure 39 is a flow chart showing the manufacturing process of the liquid product according to the present invention.

Hereinafter, a preferred embodiment of the present invention will be described in detail with reference to FIGS. 9 to 39.

The same components as those in the prior art of FIGS. 1 to 8 (Korean Patent No. 10-2351906) will be assigned the same reference numerals, and duplicate descriptions of the same components and functions will be omitted. And the explanation will focus on the configuration that differentiates it from the prior art.

As shown in Figures 9 to 14, the automatic manufacturing and selling machine for personalized liquid products according to the present invention (hereinafter simply referred to as 'this equipment') is installed horizontally inside the housing 100 and the housing 100. A table 190 is provided, a raw material supply unit 200 is provided on one inner side of the housing 100 to supply liquid raw materials, and a container 310 is provided on the table 190 into which the liquid raw materials are injected. A container supply unit 300 that injects liquid raw materials into the container 310, a raw material injection unit 600, and an articulated robot 400 provided on the table 190 to hold the container and move it to the subsequent process. ), a stirrer 700 provided on the table 190 to stir the container 310 into which the liquid raw material has been completely injected, and an outlet 191 for discharging the manufactured liquid product to the outside of the housing 100. In the automatic manufacturing and selling machine of personalized liquid products, the articulated robot 400 is provided on one side of the table 190, and the raw material supply unit 200 is opposite to the articulated robot 400. It is provided perpendicular to the position, and the container supply unit 300 is provided at the rear of the articulated robot 400, and a container detection unit ( 560) is further provided, and a cap separation/fastening unit 900 is provided on the upper part of the container detection unit 560, and the stirrer 700 is connected to the articulated robot 400 and the raw material injection unit 600. is provided on the table 190.

By the arrangement structure of each part described above, the movement line in which the gripper 410 of the articulated robot 400 moves after gripping the container 310 can be minimized.

In other words, the processes of holding the container 310, inspecting the container, removing the cap, injecting raw materials, tightening the cap, stirring, and discharging are performed in the minimum space. This makes it possible to compact the size of the equipment and reduce its weight.

First, the container supply unit of the present invention will be described.

As shown in FIGS. 11 to 15, the container supply unit 300 according to the present invention includes a plurality of container supply pipes 370 provided at an angle, and a container seating portion provided at the lower end of the container supply pipe 370 ( 380).

And a plurality of supply pipes 370 that are inclined are arranged in a row in the vertical direction.

With the above-described structure, the empty container 310 can be slid inside each container supply pipe 370 by its own weight and seated on each container seating portion 380.

In addition, as shown in FIG. 15, the container seating portion 380 is provided with a space portion for allowing the gripper 410 of the articulated robot 400 to grip the container 310 mounted on the container seating portion 380. (381) is formed.

With the above structure, the gripper 410 of the articulated robot 400 can enter the container seating portion 380 to easily grip the container 310.

The conventional container supply unit shown in FIGS. 3 and 5 is a structure for horizontally loading containers on cartridges, including a cartridge transfer device for transporting cartridges loaded with containers, a cartridge discharge device for pushing empty cartridges to the side, and a bottom of the cartridge. It is provided with a container separation member to separate the containers located in.

This has the advantage of being able to load a large number of containers at once, but has the disadvantage of requiring a separate driving device, taking up a lot of installation space, and making the process complicated.

In contrast, in the present invention, the gripper 410 of the articulated robot 400 immediately grips a container that has slid and fallen in an inclined direction.

This eliminates the need for a separate driving device to supply the container, thereby reducing costs and significantly reducing installation space.

Next, the container detection unit of the present invention will be described.

As shown in FIGS. 16 to 19, the container detection unit 560 according to the present invention includes an upper member 561 provided horizontally, and a lower member 562 provided at a certain distance from the upper member 561. ), a spring 564 vertically connecting the upper member 561 and the lower member 562, and a container provided on the upper part of the lower member 562 to detect the size of the container and the presence or absence of a cap. It consists of a sensing device.

Here, the lower member 562 is formed in an arc shape so that its lower surface is in close contact with the outer peripheral surface of the container 310, and a gripper entry space ( 563).

With the above structure, the size of the container and the presence or absence of a cap can be easily inspected while the gripper 410 of the articulated robot 400 holds the container 310 horizontally.

And the container sensing device according to the present invention includes a sensing lever 565 that rotates around a hinge portion 569 provided on the upper part of the lower member 562, and is provided at one end of the sensing lever 565 to move up and down. It is configured to include a slide pin 568 that moves in one direction and a detection sensor 566 provided on the other end of the detection lever 565.

And a weight 567 is further provided on the upper part of the slide pin 568.

According to the above structure, the sensing lever 565 rotates around the hinge portion 569 by the movement of the slide pin 568 that moves up and down according to the diameter of the container 310.

And the detection sensor 566 detects the rotation of the detection lever 566 to determine the size of the container 310 and the presence or absence of a cap.

16 to 19, three detection sensors 566 are shown in the vertical direction, but the number of detection sensors 566 may be further increased.

With the above-described structure, containers 310 having different diameters as shown in FIG. 20 can be identified in advance.

The conventional equipment shown in FIGS. 1 to 8 does not have such a container detection unit and therefore can only use one type of container.

In contrast, the present invention has a structure that detects the size of the container in advance using the container detection unit and responds to this, so different containers can be used with one device.

In other words, caps with different structures can be separated/attached and an appropriate amount of raw materials can be injected into containers with different capacities, so the equipment can be used universally.

Next, the cap separation/attachment part of the present invention will be described.

As shown in FIGS. 21 to 24, the cap separation/fastening unit 900 according to the present invention includes a cap gripper 910 for gripping the cap 312 of the container 310, and the cap gripper ( A rotating member 920 provided on an upper part of the rotating member 910 and rotating, a horizontal member 970 provided on an upper part of the rotating member 920, and a rotating member 920 provided on an upper part of the horizontal member 970. ), a sprocket 930 that rotates together, a belt pulley 940 disposed at a certain distance from the sprocket 930 at the top of the horizontal member 970, and a drive motor for driving the belt pulley 940 It is configured to include (960), a circular belt (950) connecting the sprocket (930) and the belt pulley (940), and a rotation detection sensor (931) provided on one side of the sprocket (930).

In addition, a plurality of protruding members 930a are provided radially on the outer peripheral surface of the sprocket 930, and a groove is formed in the rotation detection sensor 931 to allow the protruding members 930a to pass while rotating.

And the rotation detection sensor 931 counts the number of protruding members 930a passing through the groove.

That is, the present invention does not directly drive the rotating body 920 of the cap separation/attaching portion 900, but rotates the belt pulley 940 through the drive motor 960 and the reducer.

And the belt pulley 940 and the sprocket 930 provided on the upper part of the rotating body 920 are connected to the circular belt 950, so that the rotational force of the belt pulley 940 is transmitted to the rotating body through the circular belt 950. Make sure it is delivered to (920).

The above structure prevents the sprocket 930 from rotating excessively and prevents the cap 312 from being excessively fastened to the container body 311.

This allows consumers to easily open the cap of a liquid product that has been manufactured.

In the conventional cap separation/attachment method, as shown in FIGS. 6 and 7, the gripper of an articulated robot holds the cap 312 and rotates the container body 311.

When the cap 312 is separated, the separated cap 312 is temporarily placed in the cap storage unit, and then the gripper again grips the container body 311 and transfers it to the raw material injection unit.

In addition, when the injection of the raw material is completed, it is placed in the container body storage portion, and the gripper again grips and tightens the cap 312.

As a result, separate storage parts must be provided to temporarily store the container body 311 and the cap 312, and it takes a lot of time to separate/attach the cap.

In contrast, in the present invention, in a state in which the gripper 410 of the articulated robot 400 holds the container body 311, the cap gripper 910 of the cap separation/fastening portion 900 is rotated to hold the cap 312. ) is separated.

And the cap holding part 910 of the cap separation/fastening part 900 continues to hold the separated cap 312, and when the container body 311 in which the raw material injection is completed returns, it holds the cap 312 again. conclude.

That is, the present invention does not require a separate space for temporarily storing the container body 311 and the cap 312. As a result, the installation space of the cap separation/fastening portion 900 can be reduced.

In addition, in the present invention, a container detection unit 560 is provided immediately to the right of the container container supply unit 300, and a cap separation/fastening unit 900 is provided on top of the container detection unit 560.

As a result, the movement line of the articulated robot 400 holding the container can be minimized, and the time required to separate and fasten the cap can also be shortened.

Next, the raw material supply part of the present invention will be described.

First, as shown in FIGS. 25 to 34, the raw material supply unit 200 according to the present invention includes a plurality of raw material pouches 220 containing liquid raw materials and a plurality of pouches for hanging the upper part of each raw material pouch 220. It is configured to include a hook 280 and a tubing pump 636 for discharging the liquid raw material contained in each raw material pouch 220 through each injection nozzle 610.

Here, as shown in FIG. 34, the tubing pump 636 rotates forward and pushes the spool 633 until a space for discharging the raw material is created, thereby discharging the liquid raw material through the injection nozzle 610.

And when the discharge of the raw material is completed, the spool 633 is closed by reverse rotation.

By using the above method, it is possible to prevent raw materials from remaining in or leaking from the raw material supply pipe when injecting raw materials.

In addition, it is possible to fundamentally prevent the liquid raw material from coming into contact with air until it is discharged from the raw material pouch 220 through the injection nozzle 610.

And, as shown in FIGS. 28 to 29, the raw material supply unit 200 according to the present invention includes a horizontal plate 240 provided parallel to the arrangement direction of the hook 280, and a lower portion of the horizontal plate 240. A spring plate 242 is provided horizontally in the space between the horizontal plate 240 and the support member 244 and its end is assembled with the hook 280. ) and a knob bolt 241 provided to correspond to the number of each hook 280 on the upper surface of the horizontal plate 240.

Here, the horizontal plate 240, spring plate 242, and knob bolt 241 are each made of conductors.

With the above structure, as shown in FIG. 29, when the liquid raw material inside the raw material pouch 220 is exhausted, the upper surface of the spring plate 242 contacts the horizontal plate 240 to signal that the raw material has been exhausted. is passed to the controller.

This allows insufficient raw materials to be immediately replaced with new raw material pouches.

In addition, it is preferable that an air conditioner 23 is further provided below the raw material supply unit 200, as shown in FIG. 27.

Next, the raw material injection part of the present invention will be described.

As shown in FIGS. 30 to 33, the raw material injection unit 600 according to the present invention is provided with an injection nozzle 610 connected to each raw material pouch 220 and a lower portion of the injection nozzle 610, It includes a container transport member 630 for injecting raw materials while moving the container body 311 from which the cap 312 is separated in the horizontal direction, and a guide rail 632 for guiding the container transport member 630. It is configured, and a gripper holding part 631 is provided on one side of the container transport member 630.

Here, the gripper holding part 631 is provided in a cylindrical shape corresponding to the container 310.

As a result, the gripper 410 of the articulated robot 400 can easily move to the lower part of the injection nozzle 610 by holding the gripper holding part 631 of the container transport member 630.

In addition, the container transfer member 630 according to the present invention is configured to be able to move horizontally along the injection nozzle 610 and at the same time be lifted up and down a certain distance in the vertical direction.

This makes it possible to inject an appropriate amount of raw materials into containers of different heights.

In addition, a liquid amount sensing load cell 620 is provided at the lower part of the container 310 mounted on the container transfer member 630 to detect the amount of raw material injected into the container.

Meanwhile, although the number of injection nozzles 610 is shown in FIG. 33 as 20, the number of injection nozzles can be adjusted appropriately depending on the number of raw materials used.

In the conventional container transfer method, as shown in FIGS. 3 and 4, after the gripper 410 of the articulated robot 400 seats the empty container body 310 on the container transfer member 630, the gripper ( 410) releases the grip state of the container body 311 and retreats.

Then, the container transfer member 630 itself is transferred to the lower part of the selected injection nozzle 610 to inject the raw material into the container.

In contrast, in the present invention, the gripper 410 of the articulated robot 400 holds the gripper holding part 631 provided in front of the container transport member 630 and selects the container transport member 630 through the selected injection nozzle ( 610) is transferred directly to the lower part.

This allows the container body 311 to be accurately positioned below the selected injection nozzle 610.

In addition, in the present invention, when injecting raw materials, the gripper 410 of the articulated robot 400 holds the gripper holding part 630 and lifts the container transfer member 630 itself upward to remove the injection nozzle 610. Get as close to the exit as possible.

This makes it possible to inject a fixed amount of raw materials into containers of different heights, and prevents leakage when injecting raw materials.

Next, the stirrer of the present invention will be described.

As shown in FIGS. 35 to 37, the stirrer 700 according to the present invention includes a container seating portion 78O that allows the container 310 into which the raw material is injected to be seated at an angle, and the lower part is assembled with the main shaft 740. an outer internal gear 741, a motor 720 that rotates the outer internal gear 741, an inner spur gear 751 assembled on the inner peripheral surface of the outer internal gear 741 and making planetary movement, and It is provided on the upper part of the inner spur gear 751 and includes a container fixing member 710 that fixes the container 310 seated on the container seating part 780, and rotates and rotates the container fixing member 710. The raw materials inside the container are stirred by orbital motion.

The method of stirring the raw materials by the rotation and revolution of the container fixing member 710 is the same as the conventional method.

However, in the present invention, the structure and function of the container fixing member 710 are different from the conventional method.

The container fixing member 710 according to the present invention has an exterior formed with an inclined surface, and a sliding door 711 is further provided on the inclined surface.

And on one side of the sliding door 711, a space is formed to allow the gripper 410 of the articulated robot 400 holding the container 310 to enter.

With the above structure, when placing the container 310 on the container seating portion 780, the gripper 410 of the articulated robot 400 can seat the sliding door 711 while pushing it to the side.

Then, when the container 310 is seated on the container seating portion 780 and the gripper 410 is retracted, the sliding door 711 returns to its original position and covers a portion of the outer surface of the container 310.

The reason why the sliding door 711 does not cover the entire outer surface of the container 310 but only partially covers it is that the gripper 410 of the articulated robot 400 enters the container without separately opening the door after stirring is completed. 310) to make it easy to grip.

Additionally, a spring 712 connected to the sliding door 711 is provided on the opposite side of the sliding door 711, and a counterweight 713 is provided at the right end of the spring 712.

With the above structure, the sliding door 711 can be prevented from opening when the container fixing member 710 rotates at high speed.

That is, since the centrifugal force acting on the counterweight 713 is generated in the direction of closing the sliding door 711, the sliding door 711 can be maintained in a locked state without a separate locking device.

The conventional stirrer shown in FIG. 8 rotates and rotates, but has a structure in which only the lower part of the container 310 is inserted into the container fixing member 710.

That is, since a portion of the upper part of the container 310 is exposed, there is a risk of the container being separated when rotating at high speed.

In contrast, in the present invention, the container 310 is completely seated inside the inclined surface of the container fixing member 710, and once the container is seated, the sliding door 711 automatically covers a portion of the outer surface of the container.

Also, during rotation, the centrifugal force of the counterweight provided on the opposite side of the sliding door acts in the direction of closing the sliding door 711.

As a result, the sliding door 711 can be prevented from opening when the container fixing member 710 rotates and rotates.

In addition, the articulated robot 400 according to the present invention is composed of a six-axis robot, as shown in FIG. 38, and the gripper 410 is configured to grip two types of containers 310.

Next, the process of manufacturing a liquid product using an automatic liquid product manufacturing and vending machine according to the present invention will be described with reference to FIG. 39.

When an empty container 310 with a cap fastened is supplied to the container supply unit 300 and a raw material pouch 220 is supplied to the raw material supply unit 200, preparations for manufacturing a liquid product are completed.

Subsequently, when the consumer selects a raw material on the touch screen 150, the gripper 410 of the articulated robot 400 grips the empty container 310 seated at the bottom of the container supply unit 300, and then the container detection unit It is brought into horizontal contact with the lower part of (560).

At this time, while the gripper 410 is holding the container 310, the type, size, presence or absence of a cap, etc. of the container are detected by the detection lever 565 equipped with a slide pin 568 and a detection sensor 566. Detects and transmits this signal to the controller.

By the above method, different types of containers can be used in one equipment.

When the inspection of the container is completed, the gripper 410 of the articulated robot 400 transfers the container 310 to the lower part of the cap separation/fastening portion 900 and then maintains the stopped state.

Subsequently, after the cap gripping part 910 of the cap separation/fastening part 900 grips the cap 312, the rotating member 920 is rotated to separate the cap 312 from the container body 311.

When the cap 312 is separated from the container body 311, the cap holding part 910 of the cap separation/fastening part 900 continues to hold the separated cap 312 until it is fastened again.

By the above method, there is no need for a separate space to temporarily store the separated cap.

Next, the gripper 410 of the articulated robot 400 seats the container body 311 from which the cap 312 has been removed on the container transfer member 630.

Next, the gripper 410 of the articulated robot 400 grasps the gripper holding part 631 provided in front of the container transport member 630 and transfers it in the horizontal direction along the lower part of each injection nozzle 610. While doing so, the selected raw material is injected.

By the above method, the container body 311 can be positioned accurately below the injection nozzle 610.

Additionally, before injecting raw materials into the container body 311, the gripper 410 of the articulated robot 400 lifts the container transfer member 630 upward and brings it close to the injection nozzle 610.

This prevents leakage when injecting raw materials, and allows the proper amount of raw materials to be injected into containers of different heights.

Meanwhile, when the raw material is exhausted, the spring plate 242 assembled with each hook 280 hanging the raw material pouch 220 contacts the lower surface of the horizontal plate 240, indicating with a warning sound or warning light that the raw material has been exhausted. do.

In addition, when injecting raw materials, the raw materials are discharged toward the injection nozzle 610 by the forward rotation of the tubing pump 636 provided on the raw material supply line, and when the discharge of the raw materials is completed, the raw materials are discharged through the injection nozzle (610) by reverse rotation. 610) to move in the reverse direction.

This can prevent residual and leakage of raw materials when injecting them.

When the injection of the raw material into the container body 311 is completed, the gripper 410 of the articulated robot 400 again holds the container body 311 and transfers it to the lower part of the cap separation/fastening portion 900.

Next, the rotating member 920 of the cap separation/fastening part 900 is rotated to fasten the cap 312 held by the cap holding part 910 to the container body 311.

At this time, the belt pulley 940, which rotates by the drive motor 960, and the sprocket 930, which rotates by holding the cap 312, are connected by a circular belt 950, so that the cap 312 is connected to the container body 311. ) can prevent excessive fastening.

With the cap separation/attachment structure described above, the movement line of the articulated robot 400 can be minimized, the volume of the equipment can be reduced, and the time required to separate/attach the cap can be shortened.

Next, the gripper 410 of the articulated robot 400 transfers the container to the stirrer 700 and then pushes the sliding door 711 to the side to seat the container 310 on the container seating portion 780.

When the container 310 is seated on the container seating portion 780, the gripper 410 is retracted so that the sliding door 711 covers a portion of the outer surface of the container 310 by the elastic force of the spring.

Next, the drive motor 960 of the stirrer 700 is rotated so that the container seating portion 780 rotates and rotates to stir the raw materials.

When stirring is completed, the gripper 410 of the articulated robot 400 discharges the manufactured liquid product to the outside of the housing 100 through the discharge port 191.

The above is an exemplary description of preferred embodiments of the present invention, and the scope of the present invention is not limited to the specific embodiments described above. Those skilled in the art to which the present invention pertains will understand that various modifications and changes can be made without departing from the scope of the technical idea of the present invention.

For example, the present invention can be applied not only to the manufacture of personalized liquid cosmetics, but also to the manufacture of liquid cigarettes or equipment for mixing and stirring various types of liquid raw materials.

100: Housing 110: Raw material supply door
120: container supply door 130: lower door
140: Skin measuring device 15O: Touch screen
160: Camera 170: Card Reader
171: Receipt output unit 180: Moving wheel
190: Table 191: Outlet
192: Control unit
200: Raw material supply unit 210: Load cell to check remaining quantity
220: Raw material pouch 240: Horizontal plate
241: Knob Bolt 242: Spring plate
244: Support member 280: Hook (Hook)
300: Container supply unit 310: Container
311: Container body 312: Cap
320: Cartridge 330: Cartridge loading unit
340: Cartridge transfer device 350: Container upright member
360: Cartridge discharge device 370: Container supply pipe
380: container seating portion 381: space portion
400: Jointed robot (Robot) 410: Gripper (Gripper)
420: Robot driving part 510: Cap separation/fastening part
520: Cap storage unit 530: Drive motor
540: Reducer 550: Rotating spindle
560: container detection unit 561: upper member
562: Lower member 563: Gripper entry space
564: Spring 565: Sensing lever
566: Sensor 567: Weight
568: Slide Pin 569: Hinge portion
600: Raw material injection part 610: Injection nozzle (Nozzle)
620: Liquid amount sensing load cell (Load Cell) 630: Container transfer member
631: Gripper holding part 632: Guide rail
633: Spool 634: Spring
635: Raw Material Block 636: Tubing Pump
700: Agitator 710: Container fixing member
711: Sliding Door 712: Spring
713: Counterweight 720: Motor
730: Belt 731: Timing Pulley
732: Timing Belt 740: Main Shaft
741: External internal gear 750: Auxiliary shaft
751: Inner spur gear 780: Container seating portion
900: Cap separation/fastening part 910: Cap holding part
920: Rotating member 930: Sprocket
930a: Protruding member 931: Rotation detection sensor
940: Belt pulley 950: Circular belt
960: Drive motor 970: Horizontal member

Claims (23)

A housing 100, a table 190 provided horizontally inside the housing 100, a raw material supply unit 200 provided on one side of the inside of the housing 100 to supply liquid raw materials, and the table ( A container supply unit 300 provided in 190 to supply a container 310 into which the liquid raw material will be injected, a raw material injection unit 600 for injecting the liquid raw material into the container 310, and provided on the table 190. an articulated robot 400 that holds the container and moves it to a subsequent process; a stirrer 700 provided on the table 190 to stir the container 310 into which the liquid raw material has been injected; and a liquid material that has been manufactured. In an automatic manufacturing and vending machine for personalized liquid products including an outlet 191 for discharging the product to the outside of the housing 100,
The articulated robot 400 is provided on one side of the table 190,
The raw material supply unit 200 is provided vertically in a position opposite to the articulated robot 400,
The container supply unit 300 is provided at the rear of the articulated robot 400,
A container detection unit 560 is further provided on the right side of the container supply unit 300 to detect the size of the container and the presence or absence of a cap,
A cap separation/fastening unit 900 is provided on the container detection unit 560,
The stirrer 700 is provided on a table between the articulated robot 400 and the raw material injection unit 600,
The raw material supply unit 200,
A plurality of raw material pouches (220) containing liquid raw materials,
A plurality of hooks 280 for hanging the upper part of each raw material pouch 220,
It is configured to include a tubing pump 636 for discharging the liquid raw material contained in each raw material pouch 220 through each injection nozzle 610,
The raw material supply unit 200,
A horizontal plate 240 provided parallel to the placement direction of the hook 280,
A support member 244 provided at a certain distance apart from the lower part of the horizontal plate 240,
A spring plate 242 provided horizontally in the space between the horizontal plate 240 and the support member 244, the end of which is assembled with the hook 280,
An automatic manufacturing and vending machine for personalized liquid products, characterized in that it includes knob bolts (241) provided on the upper surface of the horizontal plate (240) to correspond to the number of hooks (280). delete delete According to claim 1,
The container supply unit 300,
A plurality of container supply pipes 370 provided at an angle,
It is configured to include a container seating portion 380 provided at the lower end of the container supply pipe 370,
A plurality of supply pipes 370 that are inclined are arranged in a vertical line,
An automatic manufacturing and selling machine for personalized liquid products, characterized in that the empty containers (310) slide inside each container supply pipe (370) by their own weight and are seated on each container seating portion (380). According to claim 1,
The container detection unit 560,
An upper member 561 provided horizontally,
A lower member 562 provided at a certain distance from the upper member 561,
A spring 564 vertically connecting the upper member 561 and the lower member 562,
A machine for automatically manufacturing and selling personalized liquid products, which is provided on the upper part of the lower member 562 and includes a container detection device for detecting the size of the container and the presence or absence of a cap. According to claim 1,
The cap separation/fastening portion 900,
A cap gripper 910 for gripping the cap 312 of the container 310,
A rotating member 920 provided on the upper part of the cap holding part 910 and rotating,
A horizontal member 970 provided on the upper part of the rotating member 920,
A sprocket 930 provided on the upper part of the horizontal member 970 and rotating together with the rotating member 920,
A belt pulley 940 disposed at a certain distance from the sprocket 930 at the top of the horizontal member 970,
A drive motor 960 for driving the belt pulley 940,
A circular belt 950 connecting the sprocket 930 and the belt pulley 940,
A machine for automatically manufacturing and selling personalized liquid products, characterized in that it includes a rotation detection sensor (931) provided on one side of the sprocket (930). According to claim 6,
A plurality of protruding members 930a are provided radially on the outer peripheral surface of the sprocket 930,
A groove is formed in the rotation detection sensor 931 to allow the protruding member 930a to pass while rotating,
An automatic manufacturing and vending machine for personalized liquid products, wherein the rotation detection sensor (931) counts the number of protruding members (930a) passing through the groove. According to claim 1,
The raw material injection unit 600,
An injection nozzle 610 connected to each raw material pouch 220,
A container transfer member 630 provided below the injection nozzle 610 to inject the raw material while moving the container body 311 from which the cap 312 is separated in the horizontal direction;
It is configured to include a guide rail 632 for guiding the container transfer member 630,
A machine for automatically manufacturing and selling personalized liquid products, characterized in that a gripper holding part (631) is provided on one side of the container transfer member (630). According to claim 8,
The gripper holding part 631 is,
It is provided in a cylindrical shape corresponding to the container 310, and the gripper 410 of the articulated robot 400 holds the gripper holding portion 631 of the container transport member 630 and moves to the lower part of each injection nozzle 610. An automatic manufacturing and selling machine for personalized liquid products. According to claim 1,
The stirrer 700,
A container seating portion 78O that allows the container 310 into which the raw material is injected to be seated at an angle,
An outer internal gear 741 whose lower part is assembled with the main shaft 740,
A motor 720 that rotates the outer internal gear 741,
An inner spur gear (751) assembled on the inner peripheral surface of the outer internal gear (741) and performing planetary movement,
It is provided on the upper part of the inner spur gear 751 and includes a container fixing member 710 that fixes the container 310 seated on the container seating portion 780,
An automatic manufacturing and vending machine for personalized liquid products, characterized in that the raw materials inside the container are stirred by rotation and revolution of the container fixing member (710). According to claim 10,
The container fixing member 710 is,
The exterior is formed as an inclined surface, and a sliding door 711 is further provided on the inclined surface,
An automatic manufacturing and vending machine for personalized liquid products, characterized in that a space is formed on one side of the sliding door 711 to allow the gripper 410 of the articulated robot 400 holding the container 310 to enter. In the method of manufacturing a personalized liquid product using the automatic liquid product manufacturing and vending machine according to any one of claims 1, 4 to 11,
(a) gripping the empty container 310 with the gripper 410 of the articulated robot 400 (S10);
(b) inspecting the type of container and the presence or absence of a cap at the container detection unit 560 (S20);
(c) separating the cap 312 from the container body 311 at the cap separation/fastening unit 900 (S30);
(d) seating the container body 311 from which the cap has been removed on the container transport member 630 (S40);
(e) injecting the selected raw material while transporting the container transfer member 630 along the plurality of injection nozzles 610 (S50);
(f) transferring the container body 311 in which the raw material injection is completed to the cap separation/fastening unit 900 and fastening the cap 312 (S60);
(g) inserting the container 310 in which the raw material injection has been completed into the stirrer 700 and stirring it (S70);
(h) A method of manufacturing a personalized liquid product, comprising the step (S80) of discharging the stirred liquid product to the outside of the housing 100 through the outlet 191. According to claim 12,
Before step S10,
A method of manufacturing a personalized liquid product, characterized in that it further comprises the step of allowing the container 310 loaded inside the plurality of container supply pipes 370 to slide by its own weight and be seated on the container seating portion 380. According to claim 12,
In step S20,
The gripper 410 of the articulated robot 400 inspects the container while holding the container 310 horizontally,
A method of manufacturing a personalized liquid product, characterized in that the size and direction of the container and the presence or absence of a cap are determined by detecting the rotation angle of a detection lever (565) equipped with a slide pin (568) at one end. According to claim 12,
In step S30,
The gripper 410 holding the container 310 remains stationary, and the cap holding part 910 of the cap separation/fastening part 900 rotates to separate the cap 312. Method for manufacturing liquid products. According to claim 15,
In step S30,
A method of manufacturing a personalized liquid product, characterized in that the cap holding part 910 of the cap separation/fastening part 900 continues to hold the separated cap 312 until it is fastened again. According to claim 12,
In step S50,
When transferring the container transfer member 630 on which the container body 311 is seated along the direction of the injection nozzle 610, the gripper 410 of the articulated robot 400 is provided in front of the container transfer member 630. A method of manufacturing a personalized liquid product characterized by holding and transferring a cylindrical gripper holding part (631). According to claim 12,
In step S50,
When injecting raw materials into the container body 311, the gripper 410 of the articulated robot 400 lifts the container transfer member 630 and connects the inlet of the container body 311 to the outlet of the injection nozzle 610. A method of manufacturing a personalized liquid product characterized by approximation. According to claim 12,
In step S50,
An individual device characterized in that it determines that the raw material is exhausted by contacting the spring plate 242 and the horizontal plate 240 assembled with each hook 280 hanging the raw material pouch 220 and emits a warning sound or flashes a warning light. Manufacturing method of customized liquid products. According to claim 12,
In step S50,
The raw material is discharged toward the injection nozzle 610 by the forward rotation of the tubing pump 636 provided on the raw material supply line, and when the injection of the raw material is completed, the raw material is rotated in reverse so that the raw material moves in the reverse direction of the injection nozzle 610. A method of manufacturing a personalized liquid product, characterized in that it prevents residual and leakage of raw materials when injecting raw materials. According to claim 12,
In step S60,
The belt pulley 940, which rotates by the drive motor 960, and the sprocket 930, which rotates by holding the cap 312, are connected with a circular belt 950,
Characterized in that the cap 312 is prevented from being excessively fastened to the container body 311 by a rotation detection sensor 931 that detects the rotation of the protrusion 930a formed on the outer periphery of the sprocket 930. Manufacturing method of customized liquid products. According to claim 12,
In step S70,
The gripper 410 of the articulated robot 400 holding the container seats the container 310 on the container seating portion 780 while pushing the sliding door 711 of the stirrer 700 to the side,
When the gripper 410 is retracted after the container 310 is seated on the container seating portion 780, the sliding door 711 covers a portion of the outer surface of the container 310 by the elastic force of the spring. Manufacturing method of personalized liquid products. According to claim 12,
In step S70,
When the container fixing member 710 of the agitator stirs the raw materials while rotating and rotating, the sliding door 711 is opened by centrifugal force acting on the counterweight 713 provided on the opposite side of the sliding door 711. A method of manufacturing a personalized liquid product characterized by preventing.

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