KR102640825B1 - Manufacturing and selling apparatus of customized liquid product and manufacturing method of customized liquid product - Google Patents

Abstract

The present invention relates to a personalized liquid product manufacturing, vending machine, and liquid product manufacturing method, and includes a housing 100, a table 190, a raw material supply unit 200, and a container supply unit 300 that supplies the container 310. and a raw material injection unit 600, an articulated robot 400, a stirrer 700 for stirring the container into which the raw material has been injected, and an outlet 191 for discharging the liquid product to the outside of the housing 100. In the personalized liquid product manufacturing and selling machine, the articulated robot 400 is provided on one side of the table 190, and the raw material supply unit 200 is positioned opposite the articulated robot 400. is provided vertically, the container supply unit 300 is provided at the rear of the articulated robot 400, and a first cap separation part 900 is provided at a position opposite to the container supply unit 300, The stirrer 700 is provided on a table between the articulated robot 400 and the raw material injection unit 600, and a second cap supply unit 390 is provided between the articulated robot 400 and the container supply unit 300. ) is further provided, and a second cap fastening part 800 is further provided in front of the articulated robot 400, and the first cap 312a is separated from the container body 311 in the first cap separation part 900. ) is separated, the raw material is injected from the raw material injection part 600, and then the second cap 312b is fastened to the container body 311 at the second cap fastening part 800.

Description

Personalized liquid product manufacturing, sales machine, and liquid product manufacturing method

The present invention relates to personalized liquid product manufacturing, vending machines, and liquid product manufacturing methods installed in the form of vending machines at airports, terminals, department stores, shopping malls, etc., and more specifically, to increase the number of raw materials used while reducing the size of the equipment. It can reduce the movement of the articulated robot, minimize the movement line of the articulated robot, prevent over-tightening of the container cap, prevent residual and leakage of raw materials when injecting raw materials, and reduce manufacturing costs by simplifying the structure of the stirrer. It concerns 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-mentioned 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 problem of raw materials remaining in the raw material supply pipe and injection nozzle cannot be completely solved, and there are limitations in precisely controlling the amount of raw materials discharged.

Third, a container mounted on a stirrer that rotates and rotates may be separated 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 improve the container supply structure and cap supply structure. The goal is to reduce space and shorten the time required to separate and fasten the cap.

Another object of the present invention is to increase the types of raw materials used while reducing the size of the equipment.

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 personalized liquid product manufacturing and selling machine comprising 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 manufactured 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 the articulated robot, and the container supply part is provided at the rear of the articulated robot, and is opposed to the container supply part. A first cap separator is provided at the position, the stirrer is provided on a table between the articulated robot and the raw material injection part, and a second cap supply part is further provided between the articulated robot and the container supply part, and the multi-joint joint A second cap fastening part is further provided in front of the robot to separate the first cap from the container body at the first cap separating part, inject the raw material from the raw material injection part, and then add the material to the container body from the second cap fastening part. It is characterized by fastening 2 caps.

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 on the upper surface of the horizontal plate to correspond to the number of each hook.

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 pipes, and the empty container to which the first cap is fastened supplies each container by its own weight. It is characterized in that it slides inside the pipe and is seated on each container seating portion.

In addition, the second cap supply unit is configured to include a plurality of second cap supply pipes provided at an angle, and a second cap seating portion provided at a lower end of the second cap supply pipes, and the second cap is held at each of the angles by its own weight. It is characterized in that it slides inside the second cap supply pipe and is seated on each second cap seating portion.

In addition, the first cap separation unit includes a cap holding part for holding the first cap fastened to the container, a rotating member provided on an upper part of the cap holding part and rotating, and a horizontal member provided on an upper part of the rotating member. , a sprocket provided on the upper part of the horizontal member and rotating together with the rotating member, a belt pulley disposed at a predetermined distance from the sprocket on the upper part of the horizontal member, a drive motor for driving the belt pulley, and the sprocket, and It is characterized by comprising a timing belt connecting the belt pulley 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, and a container transfer member for injecting the raw material while moving the container body from which the first cap is separated, and a gripper holding unit on one side of the container transfer member. It is characterized by being provided.

In addition, the second cap fastening part includes a lower gripper for gripping the container body into which the raw material is injected, an upper gripper for gripping the second cap and fastening it to the container body, and is provided at the lower part of the lower gripper to rotate the container body. It is characterized in that it includes a driving device for doing so.

In addition, the stirrer includes a container fixing member that allows the container into which the raw material is injected to be seated at an angle, a sliding door provided on the container fixing member, an external internal gear whose lower part is assembled with the main shaft, and a container that rotates the external internal gear. It is configured to include a motor and an inner spur gear that is assembled on the inner peripheral surface of the outer internal gear and makes planetary movement, and stirs the raw materials inside the container by rotation and revolution of the container fixing member, and the stirrer is multi-joint. It is characterized by being provided on the table between the robot and the raw material injection part.

And the method for manufacturing a personalized liquid product according to the present invention includes the steps of (a) gripping an empty container with a first cap fastened with a gripper of an articulated robot (S10); (b) separating the first cap from the container body at the first cap separation unit (S20); (c) seating the container body from which the first cap is separated on the container transport member (S30); (d) injecting the selected raw material while transferring the container transfer member to the gripper of the articulated robot (S40); (e) fixing the container body in which the raw material injection is completed to the lower gripper of the second cap fastening part (S50); (f) gripping the second cap with the gripper of the articulated robot and fixing it to the upper gripper of the second cap fastening portion (S60); (g) rotating the lower gripper to fasten the second cap to the container body (S70); (h) inserting the container into a stirrer and stirring it (S80); (i) Discharging the stirred liquid product to the outside of the housing through an outlet (S90).

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

Additionally, by configuring the raw material injection section in two stages, there is an effect of increasing the type of raw materials without increasing the size of the equipment.

Additionally, by simplifying the structure of each component, there is an effect of reducing equipment manufacturing costs.

In addition, by forming the front door of the equipment in a structure that can be fully opened, 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.

In addition, by providing a second cap supply part and a second cap fastening part, it is possible to separate the existing first cap, inject raw materials, and then easily replace it with a new second cap.

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 is structured to transfer 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 a perspective view of the door opened in the 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 perspective view of a liquid product manufacturing and selling machine according to the present invention.
Figure 14 is an exploded plan view of a liquid product manufacturing and selling machine according to the present invention.
Figure 15 is an exploded side view of a liquid product manufacturing and selling machine according to the present invention.
Figure 16 is a perspective view of the container supply part of the liquid product manufacturing and selling machine according to the present invention.
Figure 17 is a front view of the container supply part of the liquid product manufacturing and selling machine according to the present invention.
Figure 18 is a perspective view of the second cap supply unit of the liquid product manufacturing and selling machine according to the present invention.
Figure 19 is a view showing a container and a first cap used in the liquid product manufacturing and vending machine according to the present invention.
Figure 20 is a view showing a container and a second cap used for manufacturing and selling liquid products according to the present invention.
Figure 21 is a perspective view of the first cap separation part of the liquid product manufacturing and selling machine according to the present invention.
Figure 22 is a plan view of the first cap separation part of the liquid product manufacturing and selling machine according to the present invention.
Figure 23 is a side cross-sectional view of the first cap separation part of the liquid product manufacturing and selling machine according to the present invention.
Figure 24 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 25 is a plan 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 front view 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 front view of the container transfer member of the liquid product manufacturing and selling machine according to the present invention.
Figure 32 is a diagram showing the moving direction of the container transfer member in the liquid product manufacturing and selling machine according to the present invention.
Figure 33 is a cross-sectional view of the raw material injection part of the liquid product manufacturing and selling machine according to the present invention.
Figure 34 is a perspective view of the second cap fastening portion of the liquid product manufacturing and selling machine according to the present invention.
Figure 35 is a side view of the second cap fastening part of the liquid product manufacturing and selling machine according to the present invention.
Figure 36 is a cross-sectional view showing the driving part of the second cap fastening part of the liquid product manufacturing and selling machine according to the present invention.
Figure 37 is a perspective view of a stirrer for manufacturing and selling liquid products according to the present invention.
Figure 38 is a perspective view of a stirrer for manufacturing and selling liquid products according to the present invention.
Figure 39 is a plan view of a stirrer for manufacturing and selling liquid products according to the present invention.
Figure 40 is a side cross-sectional view of a stirrer for manufacturing and selling liquid products according to the present invention.
Figure 41 is a perspective view showing the gear portion of the agitator for the liquid product manufacturing and selling machine according to the present invention.
Figure 42 is a diagram showing the rotation status of the container fixing member of the liquid product manufacturing and selling machine according to the present invention.
Figure 43 is a perspective view of an articulated robot for manufacturing and selling liquid products according to the present invention.
Figure 44 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 44.

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 15, 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 personalized liquid product manufacturing and selling machine, the articulated robot 400 is provided on one side of the table 190, and the raw material supply unit 200 is positioned opposite the articulated robot 400. is provided vertically, the container supply unit 300 is provided at the rear of the articulated robot 400, and a first cap separation part 900 is provided at a position opposite to the container supply unit 300, The stirrer 700 is provided on a table between the articulated robot 400 and the raw material injection unit 600, and a second cap supply unit 390 is provided between the articulated robot 400 and the container supply unit 300. ) is further provided, and a second cap fastening portion 800 is further provided in front of the articulated robot 400.

Then, the first cap 312a is separated from the container body 311 at the first cap separation part 900, the raw material is injected from the raw material injection part 600, and then the container is separated from the second cap fastening part 800. The second cap 312b is fastened to the body 311.

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.

That is, the processes of holding the container 310, removing the first cap, injecting raw materials, fastening the second 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. 16 and 17, 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).

Here, the plurality of supply pipes 370 provided at an angle may be arranged in two rows in the vertical direction.

With the above-described structure, the empty container 310 to which the first cap 312a is fastened 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. 17, 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 second cap supply part of the present invention will be described.

As shown in FIG. 18, the second cap supply unit 390 according to the present invention includes a plurality of second cap supply pipes 391 that are inclined, and a lower end of the second cap supply pipe 391. It is configured to include a second cap seating portion 392.

And like the container supply part described above, the second cap 312b slides inside each second cap supply pipe 391 by its own weight and is seated on each second cap seating part 392.

In addition, a space is formed in the lower part of the second cap seating portion 392, so that the second cap 312b can be easily gripped by the gripper 410 of the articulated robot 400.

In the present invention, when supplying a container, it is supplied with the first cap (312a), which serves as a temporary cap, fastened, the first cap is removed, the raw material is injected, and a new second cap (312b) is fastened. .

This can prevent impurities from being mixed into the container, and can be usefully applied to the manufacture of liquid products that require a cap of a specific structure, such as the manufacture of liquid cigarettes.

Meanwhile, Figure 19 shows the first cap (312a) and the container body 311 used in the present invention, and Figure 20 shows the second cap (312b) and the container body 311.

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

As shown in FIGS. 21 to 23, the first cap separator 900 according to the present invention includes a cap gripper 910 for gripping the first cap 312a fastened to the container 310, and A rotating member 920 provided on the upper part of the cap holding part 910 and rotating, a horizontal member 970 provided on an upper part of the rotating member 920, and provided on an upper part of the horizontal member 970, A sprocket 930 that rotates together with the rotating member 920, a belt pulley 940 disposed at a predetermined distance from the sprocket 930 at the top of the horizontal member 970, and driving the belt pulley 940 It includes a drive motor 960 for this purpose, a timing 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. do.

And, on the outer peripheral surface of the sprocket 930, a plurality of protruding members 930a are provided radially.

Additionally, a groove is formed in the rotation detection sensor 931 through which the protruding member 930a passes while rotating.

With the above structure, the rotation detection sensor 931 can count the number of protruding members 930a passing through the groove.

Additionally, the first cap separation unit 900 separates the first cap 312a from the container body 311 and causes it to fall downward.

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 dropped.

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.

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

As shown in FIGS. 24 to 33, 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 hooks for hanging the upper part of each raw material pouch 220. It is configured to include (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, the tubing pump 636 is provided as many as the number of raw material pouches 220. That is, if there are 80 types of raw materials, 80 tubing pumps 636 are provided.

As shown in FIG. 33, the tubing pump 636 rotates forward and pushes the spool 633 provided inside the raw material block 635 until a raw material discharge space is created, thereby allowing the liquid raw material to enter the injection nozzle 610. Ensure that it is discharged through.

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

Here, a spring 634 is provided inside the raw material block 635 to provide elastic force to the spool 633.

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 and 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 on the upper surface of the horizontal plate 240 to correspond to the number of each hook 280.

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.

And when the raw material is used up, an alarm sounds or a warning light flashes so that the missing raw material can be immediately replaced with a new raw material pouch.

Next, the raw material injection unit 600 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.

In addition, the raw material injection unit 600 is preferably composed of two stages, upper and lower, as shown in FIG. 30.

This allows the use of 80 types of raw materials without increasing the size of the equipment.

And 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, as shown in FIG. 31, 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.

This can prevent over-injection of raw materials.

In addition, as shown in FIG. 32, the container transport 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.

As a result, the container can be transferred to the lower part of the injection nozzle 610 arranged in two stages, and the raw material selected by the consumer can be injected.

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.

As a result, the container transfer member 630 can be easily transferred to the lower part of the injection nozzle arranged in two stages, and leakage can be prevented when the raw material is injected.

Next, the second cap fastening part of the present invention will be described.

The second cap fastening unit 800 according to the present invention is for fastening a new second cap 312b to the container after removing the first cap 312a fastened to the empty container and injecting the raw material into the container. As shown in FIGS. 34 to 37, a lower gripper 830 for holding the container body 311 into which the raw material is injected, and a second cap 312b for fastening to the container body 311. It includes an upper gripper 820 and a driving device provided below the lower gripper 830 to rotate the container body 311.

Here, the driving device includes a driving pulley 840 rotating by a driving motor, a driven pulley 850 connected and rotating by the driving pulley 840 and a timing belt 950, and the driven pulley 850. It is configured to include a sprocket 880 provided on the upper part of the sprocket 880, and a rotation detection sensor 870 that counts the rotation of the protruding member provided on the outer peripheral surface of the sprocket 880. The protruding member of the sprocket 880 is provided with a groove that allows it to pass while rotating.

With the above-described structure, the rotation detection sensor 870 can detect the rotation amount of the sprocket 880 rotating together with the driven pulley 850.

Additionally, the lower gripper 830 and the upper gripper 820 are each configured as a three-point contact gripper. As a result, the container body 311 and the second cap 312b can be firmly fixed.

And, as shown in FIG. 36, the second cap fastening part 800 has a rotation axis 890e vertically coupled to the driven pulley 850, and supports the rotation axis 890e on the upper part of the sprocket 880. A support member 890c is provided for, and an internal rod 890 is provided in the vertical direction inside the rotation shaft 890e.

Additionally, two rotating members 890d through which the internal rod 890 passes are provided inside the support member 890c.

And a leaf spring 890e is further provided on the outer periphery of the rotation shaft 890e protruding from the lower part of the driven pulley 850.

Additionally, the lower end of the internal rod 890 is fixed by a rod fixing member 890b.

That is, the present invention does not directly drive the lower gripper 830 to which the container is fixed, but rather transmits the rotational force of the driving pulley 840 to the lower gripper 830 indirectly through the driven pulley 850.

At the same time, the rotation detection sensor 870 detects the rotation amount of the sprocket 880 rotating together with the driven pulley 850.

The above structure can prevent the lower gripper 830 from rotating excessively and excessively fastening the second cap 312b to the container.

Meanwhile, a second cap inspection unit 810 is further provided on the upper part of the upper gripper 820 to inspect the second cap 312b.

The second cap inspection unit 810 inspects the size and direction of the second cap 312b before fastening it to the container body 311.

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

As shown in FIGS. 37 to 42, the stirrer 700 according to the present invention is provided inside the housing of a personalized liquid product manufacturing and vending machine, and is used to stir the liquid raw material injected into the container. , a container fixing member 710 that allows the container 310 into which the raw material is injected to be seated at an angle, a sliding door 711 provided on the container fixing member 710, and an outer lower portion assembled with the main shaft 740. It includes an internal gear 741, a motor 720 that rotates the external internal gear 741, and an internal spur gear 751 that is assembled on the inner peripheral surface of the external internal gear 741 and makes planetary movement. , the raw materials inside the container 310 are stirred by the rotation and revolution of the container fixing member 710.

Additionally, the stirrer 700 is provided on a table between the articulated robot 400 and the raw material injection unit 600.

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 shape with an inclined surface, and a container seating portion 780 corresponding to the shape of the container is formed inside.

And the sliding door 711 is provided on the inclined surface of the container fixing member 710.

Here, as shown in FIGS. 37 to 39, the sliding door 711 has a slot 711a formed to allow movement a certain distance in the horizontal direction in an inclined state, and a slot on one side of the inclined surface of the container fixing member 710. It is provided and configured to include a guide bolt (711b) that guides the movement of the sliding door (711).

In addition, the slot 711a and the guide bolt 711b are provided with two upper and lower slots, respectively, and the gripper 410 of the articulated robot 400 holding the container 310 enters between the two slots. A space portion is formed to do so.

That is, the sliding door 711 of the present invention is not completely sealed, but is formed with a part of the middle open.

Due to the space formed in the sliding door 711 itself, the gripper 410 of the articulated robot 400 can easily seat the container 310 on the container seating portion 780, and after stirring is completed, The container 310 can be easily taken out from the container seating portion 780.

Additionally, at the rear of the container seating portion 780, a counterweight shaft 712 is provided that passes horizontally through the container fixing member 710.

And one end of the counterweight shaft 712 is assembled by a connecting member and a fixing bolt 714 provided on one end of the sliding door 711, and a counterweight 713 is provided at the other end of the counterweight shaft 712.

Additionally, an elastic spring is provided on the outer periphery of the counterweight shaft 712.

With the above-described structure, when the container 310 is seated 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.

Additionally, when the container 310 is seated on the container seating portion 780 and the gripper 410 is retracted, the sliding door 711 returns by the elastic force of the spring to cover the outer surface of the container.

And when the container fixing member 710 rotates, the sliding door 711 is pulled in the locking direction by centrifugal force acting on the counterweight 713 provided on the opposite side of the sliding door 711.

This can prevent the sliding door 711 from opening when the container fixing member 710 rotates at high speed.

And a driving device for rotating the container fixing member 710 is provided at the lower part of the container fixing member 711.

As shown in FIG. 40, the driving device is provided with a main shaft 740 below the ring-shaped external internal gear 741.

In addition, a timing pulley 731 is provided at the lower part of the main shaft 740, and the main shaft 740 is connected to the rotation axis of the motor 720 and the timing belt 730 and rotates.

Additionally, an auxiliary shaft 750 is coupled to the lower part of the container fixing member 710, and an inner spur gear 751 is formed on the upper part of the auxiliary shaft 750.

And the teeth of the inner spur gear 751 engage with and rotate with the teeth formed on the inner surface of the ring-shaped outer internal gear 741.

Additionally, the central axis of the auxiliary shaft 750 is arranged to be offset from the central axis of the main shaft 740.

With the above-described structure, when the outer internal gear 751 is rotated, the inner spur gear 751 meshed with it rotates and rotates, as shown in FIGS. 41 and 42.

This allows liquid raw materials with different viscosities to be perfectly mixed within a short period of time.

The conventional stirrer shown in FIG. 8 has a structure in which the container fixing member 710 rotates and rotates, but only a 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 high risk that the container will be separated when rotating at high speed.

To prevent this, a separate container clamping device, air cylinder, and air compressor may be installed.

However, in this case, the structure of the stirrer becomes complicated and takes up a lot of space, and the manufacturing cost of the stirrer increases.

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 the outer surface of the container.

As a result, the container 310 can be firmly fixed at low cost, and the installation space of the stirrer can also be reduced.

In particular, in order to firmly fix the container, there is no need to provide parts such as clamping devices, air cylinders, and air compressors as in the past, so the manufacturing cost of the stirrer can be greatly reduced.

Also, during rotation, the centrifugal force acting on the counterweight 713 provided on the opposite side of the sliding door pulls the sliding door 711 in the closing direction.

As a result, even if the container fixing member 710 rotates and orbits at high speed, the sliding door 711 can be prevented from opening.

In addition, the articulated robot 400 according to the present invention is composed of a six-axis robot, as shown in FIG. 43, and the gripper 410 is configured to grip containers 310 of different sizes.

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. 44.

A plurality of empty containers 310 with first caps 312a fastened thereto are supplied to the container supply unit 300, and a plurality of second caps 312b are supplied to the second cap supply unit 390.

Then, when the raw material pouch 220 is supplied to the raw material supply unit 200, preparations for manufacturing the liquid product are completed.

Subsequently, when the consumer selects the raw material on the touch screen 150, the gripper 410 of the articulated robot 400 grips the container 310 seated at the bottom of the container supply unit 300, and then separates the first cap. Move to section 900.

Then, after the cap gripping part 910 of the first cap separating part 900 grips the first cap 312a, the rotating member 920 is rotated to remove the first cap 312a from the container body 311. After separating, drop it to the bottom.

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

Next, the gripper 410 of the articulated robot 400 holds the gripper holding part 631 provided in front of the container transport member 630, and moves along the lower part of each injection nozzle 610 in the horizontal and vertical directions. The raw materials selected by the consumer are injected while being transported in one direction.

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

Additionally, before injecting the raw material 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 second cap fastening portion 800.

And the container body 311 is fixed to the lower gripper 830.

Next, the gripper 410 of the articulated robot 400 grips the second cap 312b in the second cap supply unit 390 and places it at the lower part of the second cap inspection unit 810, and then types and fastens the cap. Check direction.

Next, the second cap 312b is fixed to the upper gripper 820 and maintained in a fixed state.

Next, the driving pulley 840 is rotated to rotate the driven pulley 850, and the rotational force is transmitted to the lower gripper 830 on which the container body 311 is seated, so that the second cap 312b is connected to the container body ( 311).

Next, the container with the second cap fastened to it is transferred to the stirrer 700 using the gripper 410 of the articulated robot 400, and then the container 310 is moved to the container seating portion 780 while pushing the sliding door 711 to the side. It settles in.

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 has illustratively described preferred embodiments of the present invention, and the scope of the present invention is not limited to the specific embodiments described above. Anyone 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.

In particular, in a liquid cigarette manufacturing device, it can be usefully applied when the first cap fastened to the container is removed, raw materials are injected, and then a new second cap is fastened to the container.

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
312a: first cap 312b: second 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
390: Second cap supply unit 391: Second cap supply pipe
392: Second cap seating 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
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
800: 2nd cap fastening part 810: 2nd cap inspection part
820: upper gripper 830: lower gripper
840: driving pulley 850: driven pulley
860: Timing belt 870: Rotation detection sensor
880: Sprocket 890: Internal Rod (Rod)
890a: leaf spring 890b: rod fixing member
890c: Support member 890d: Rotating member
890e: Rotation axis
900: first cap separation part 910: first cap holding part
920: Rotating member 930: Sprocket
930a: Protruding member 931: Rotation detection sensor
940: belt pulley 950: timing belt
960: Drive motor 970: Horizontal member

Claims (20)

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 a personalized liquid product manufacturing and selling machine 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 first cap separation unit 900 is provided at a position opposite to the container supply unit 300,
The stirrer 700 is provided on a table between the articulated robot 400 and the raw material injection unit 600,
A second cap supply unit 390 is further provided between the articulated robot 400 and the container supply unit 300,
A second cap fastening part 800 is further provided in front of the articulated robot 400,
The first cap 312a is separated from the container body 311 at the first cap separation part 900, the raw material is injected from the raw material injection part 600, and then the container body is separated from the second cap fastening part 800. A personalized liquid product manufacturing and selling machine characterized by fastening the second cap (312b) to (311). According to claim 1,
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 tubing pump 636,
By pushing the spool 633 until a raw material discharge space is created by normal rotation, the liquid raw material is discharged through the injection nozzle 610,
A personalized liquid product manufacturing and sales machine characterized in that, when discharging of raw materials is completed, the spool (633) is retracted by reverse rotation to prevent residual raw materials. According to claim 2,
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,
A personalized liquid product manufacturing and selling machine, characterized in that it includes knob bolts 241 provided on the upper surface of the horizontal plate 240 to correspond to the number of each hook 280. According to claim 3,
The horizontal plate 240, spring plate 242, and knob bolt 241 are each composed of an electrical conductor,
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 transmit a signal to the controller that the raw material has been exhausted, and generate a warning sound or flash a warning light. A personalized liquid product manufacturing and sales machine characterized by ordering. 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 personalized liquid product characterized in that the empty container 310 to which the first cap 312a is fastened slides inside each container supply pipe 370 by its own weight and is seated on each container seating portion 380. Manufacturing, sales machine. According to claim 1,
The second cap supply unit 390,
A plurality of second cap supply pipes 391 provided at an angle,
It is configured to include a second cap seating portion 392 provided at the lower end of the second cap supply pipe 391,
A personalized liquid product manufacturing and selling machine, characterized in that the second cap (312b) slides inside each second cap supply pipe (391) by its own weight and is seated on each second cap seating portion (392). According to claim 1,
The first cap separation part 900,
A cap gripper 910 for gripping the first cap 312a fastened to 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 timing belt 950 connecting the sprocket 930 and the belt pulley 940,
It is configured to include a rotation detection sensor 931 provided on one side of the sprocket 930,
A personalized liquid product manufacturing and selling machine, characterized in that the first cap (312a) is separated from the container body (311) and then dropped into the first cap storage unit at the bottom. 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 for injecting raw materials while moving the container body 311 from which the cap 312 is separated,
It is configured to include a gripper holding portion 631 provided on one side of the container transfer member 630,
The raw material injection unit 600 is provided in two stages, upper and lower,
A personalized liquid product manufacturing and selling machine, characterized in that the gripper 410 of the articulated robot 400 holds the gripper holding part 631 of the container transport member 630 and moves in the horizontal and vertical directions. According to claim 1,
The second cap fastening part 800,
A lower gripper 830 that grips the container body 311 into which the raw material is injected,
An upper gripper 820 for gripping the second cap 312b and fastening it to the container body 311,
A personalized liquid product manufacturing and selling machine, characterized in that it is provided at the lower part of the lower gripper (830) and includes a driving device for rotating the container body (311). According to clause 9,
The driving device is,
A driving pulley 840 rotated by a driving motor,
A driven pulley (850) connected and rotated by the driving pulley (840) and a timing belt (950),
A sprocket 880 provided on the upper part of the driven pulley 850,
It is configured to include a rotation detection sensor 870 that counts the rotation of the protruding member provided on the outer peripheral surface of the sprocket 880,
The rotation detection sensor (870) is a personalized liquid product manufacturing and selling machine, characterized in that it is provided with a groove that allows the protruding member of the sprocket (880) to pass while rotating. According to clause 9,
A personalized liquid product manufacturing and selling machine, characterized in that a second cap inspection unit 810 is further provided on the upper gripper 820 to inspect the second cap 312b. According to clause 9,
The lower gripper 830 and the upper gripper 820 are each configured as a three-point contact gripper,
A personalized liquid product manufacturing and selling machine, characterized in that when the second cap (312b) is fastened to the container (310), only the lower gripper (830) rotates and the upper gripper (820) remains stationary. According to claim 10,
A rotating shaft 890e is vertically coupled to the driven pulley 850,
A support member 890c is provided on the top of the sprocket 880 to support the rotating shaft 890e,
A personalized liquid product manufacturing and selling machine, characterized in that an internal rod (890) is provided in a vertical direction inside the rotating shaft (890e). According to claim 1,
The stirrer 700,
A container fixing member 710 that allows the container 310 into which the raw material is injected to be seated at an angle,
A sliding door 711 provided on the container fixing member 710,
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,
It is configured to include an inner spur gear 751 that is assembled on the inner peripheral surface of the outer internal gear 741 and makes planetary movement,
The raw materials inside the container 310 are stirred by the rotation and revolution of the container fixing member 710,
The stirrer (700) is a personalized liquid product manufacturing and selling machine, characterized in that it is provided on a table between the articulated robot (400) and the raw material injection unit (600). According to claim 14,
The container fixing member 710 has an exterior shape with an inclined surface, and a container seating portion 780 corresponding to the shape of the container is formed inside,
A personalized liquid product manufacturing and selling machine, characterized in that a sliding door (711) is provided on the inclined surface of the container fixing member (710). According to claim 15,
The sliding door 711,
A slot 711a formed to allow movement a certain distance in the horizontal direction in an inclined state,
A personalized liquid product manufacturing and selling machine, characterized in that it includes a guide bolt (711b) provided on one side of the inclined surface of the container fixing member (710) to guide the movement of the sliding door (711). According to claim 15,
At the rear of the container seating portion 780, a counterweight shaft 712 is provided that passes horizontally through the container fixing member 710,
One end of the counterweight shaft 712 is assembled by a connecting member and a fixing bolt 714 provided on one end of the sliding door 711,
A counterweight 713 is provided at the other end of the counterweight shaft 712,
A personalized liquid product manufacturing and selling machine, characterized in that an elastic spring is provided on the outer circumference of the counterweight shaft (712). 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 to 17,
(a) gripping the empty container 310 to which the first cap 312a is fastened with the gripper 410 of the articulated robot 400 (S10);
(b) separating the first cap 312a from the container body 311 at the first cap separation unit 900 (S20);
(c) seating the container body 311 from which the first cap 312a is separated on the container transfer member 630 (S30);
(d) injecting the selected raw material while transferring the container transfer member 630 to the gripper 410 of the articulated robot 400 (S40);
(e) fixing the container body 311 into which the raw material injection has been completed to the lower gripper 830 of the second cap fastening part 800 (S50);
(f) gripping the second cap 312b with the gripper 410 of the articulated robot 400 and fixing it to the upper gripper 830 of the second cap fastening part 800 (S60);
(g) fastening the second cap 312b to the container body 311 by rotating the lower gripper 830 (S70);
(h) inserting the container 310 into the stirrer 700 and stirring it (S80);
(i) A method of manufacturing a personalized liquid product, comprising the step (S90) of discharging the stirred liquid product to the outside of the housing 100 through the outlet 191. According to claim 18,
Before step S60,
A method of manufacturing a personalized liquid product, comprising inspecting the second cap (312b) in the second cap inspection unit (810) and then fixing it to the upper gripper (820) of the second cap fastening unit (800). According to claim 18,
In step S70,
A method of manufacturing a personalized liquid product, characterized in that the upper gripper (820) remains stationary and the lower gripper (830) is rotated to fasten the second cap (312b) to the container body (311).

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