KR20210024956A - automated manufacturing system for beverage using gripper of robot - Google Patents

Abstract

The present invention relates to an automated beverage producing system using a robotic gripper. The system according to an aspect of the present invention comprises: a filter; a dripper station to hold the filter and a cup; a gripper which moves materials for producing beverage to the filter fixed to the dripper station, moves a container containing liquid to the top of the filter, and changes the position and direction of the container so that the liquid contained in the container is introduced into the filter; and a control unit controlling the gripper to move the cup containing the beverage to a user supply unit when the beverage is produced by making the liquid injected into the filter in contact with the materials, and the produced beverage is injected into the cup.

Description

Automatic beverage manufacturing system using a robot gripper {automated manufacturing system for beverage using gripper of robot}

The present invention relates to an automated beverage manufacturing system using a robot gripper. Specifically, the present invention uses a robot gripper to remove the filter from the dispenser, arrange the filter on the dripper station, move the coffee to the dripper, and then move the kettle from the mounting jig, and pour water into the filter. It extracts, and when coffee extraction is complete, it relates to a beverage manufacturing system that automates the process of providing the corresponding coffee to the user.

Regarding the size of the domestic coffee market and the amount of coffee consumption per capita, the size of the domestic coffee market announced by ACNielsen, a market research institute, increased by about 2.5 times from 1.558 trillion won in 2007 to 4.3 trillion won in 2012.

The result of the survey of coffee consumption per capita shows that in Northern Europe, where coffee consumption is the largest, the consumption of coffee beans is as high as 80%, and the ratio of coffee beans in the coffee consumption per capita decreases in the order of Northern Europe-Japan-Korea. On the contrary, the more coffee consumption increases, the more coffee beans are expected to be preferred.

In addition, according to Coffee Trend consumer analysis, consumers who visit coffee shops and enjoy coffee are gradually changing toward enjoying coffee through a coffee machine in their home.

The biggest reason consumers want to buy a coffee machine is that they can drink coffee whenever they want, they can make coffee themselves, and they can drink coffee at the level of coffee shops.

Recently, as coffee has spread more and more into the home, it is about high quality coffee with good quality?? Consumer demand is growing, and as an alternative, Dutch coffee or cold brew is emerging.

Dutch coffee or cold brew is coffee that is brewed over a long period of time using water at room temperature.

Since Dutch coffee is brewed at room temperature, it is advantageous for distribution because it does not lose its flavor longer than other coffees, and it is also sold as an undiluted solution, so you can simply add water, milk, syrup, etc. to your liking. It is completed and is evaluated as more convenient than capsule coffee.

However, since the manufacturing process must be performed manually by a person, it takes a long time, and even if it is manufactured, it is difficult to expand because it cannot be mass-produced.

In addition to coffee, consumers are paying great attention to various teas, such as green tea and black tea, that is, beverages.

Therefore, there is a growing need for a device that automatically manufactures beverages such as coffee, green tea, and black tea having a flavor desired by consumers without taking a long time as in the prior art.

(1) Korean Intellectual Property Office Registration No. 10-1593982 (2) Korean Intellectual Property Office Registration No. 10-1323217 (3) Korean Intellectual Property Office Registration No. 10-1048762

The present invention relates to an automated beverage manufacturing system using a robot gripper, wherein the present invention uses a robot gripper to remove a filter from a dispenser, place a filter on a dripper station, move coffee to a dripper, and then use a kettle from a holding jig. It is intended to solve the conventional problem by providing a beverage manufacturing system that automates the process of providing coffee to a user when the coffee is extracted by moving and pouring water into the filter, and when the coffee extraction is completed.

On the other hand, the technical problems to be achieved in the present invention are not limited to the technical problems mentioned above, and other technical problems that are not mentioned are clearly to those of ordinary skill in the technical field to which the present invention belongs from the following description. It will be understandable.

A system according to an aspect of the present invention for achieving the above technical problem includes: a filter; A dripper station for fixing the filter and cup; The liquid contained in the container is introduced into the filter by moving the material for beverage production to the filter fixed to the dripper station, moving the container containing the liquid to the top of the filter, and changing the position and direction of the container. Gripper to enable; And a control unit for controlling the gripper to move the cup containing the beverage to the user supply unit when the beverage is manufactured by contact between the liquid injected into the filter and the material, and the manufactured beverage is injected into the cup. Can include.

In addition, the gripper, a plurality of finger portions; A palm part connected to the plurality of finger parts and changing a separation distance between the plurality of finger parts and a direction of at least some of the plurality of fingers; A fixing part connecting the gripper and the system; And a body having one end connected to the fixing part, the other end connected to the palm part, and capable of changing the position of the other end while being fixed to the system through the fixing part.

In addition, it is possible to grip the object by using a change in the separation distance between the plurality of finger parts, each of the plurality of finger parts in a state in which one end connected to the palm part is fixed, the other end at a predetermined angle in the outward direction. It is possible to rotate, and the other ends of the plurality of finger portions rotated at a predetermined angle in the outward direction may grip the object through an operation of rotating in the inward direction.

In addition, the material may include a coffee material and a tea material, and the object may include the filter, the cup, and the container.

In addition, the dripper station may include a filter fixing part for fixing the filter; A jig fixing the cup; A dripper proximity sensor for determining whether the cup is fixed on the jig; And a load cell for measuring the weight of the prepared beverage fed into the cup, wherein the control unit receives the beverage only when the weight of the beverage measured through the load cell is greater than or equal to a preset value. It can be controlled to move one cup to the user's supply.

In addition, a container system for accommodating the container and supplying the liquid into the container, the container system further comprises: a container jig for accommodating the container and determining a position and orientation of the container; A container proximity sensor for determining whether the container is accommodated in the container jig; And a supply unit for supplying the liquid to the container when it is determined that the container is accommodated through the container proximity sensor.

In addition, the container jig is implemented using at least a portion of a tapered shape, an inclined shape, and a pin shape, and the location and direction of the container may be determined according to the shape and position of the container jig.

In addition, the filter, a filter unit that provides a filtering function for the production of the beverage; And a stacking unit provided in a predetermined area so as to have a predetermined strength or higher for stacking; wherein the filter is plural, and the plurality of filters are stacked by overlapping through the stacking unit, and the stacked plurality of filters are It may further include a; dispenser to accommodate.

In addition, there may be a plurality of cups, and the user supply unit may have a plurality of converging structures in the form of a taper for inserting at least one cup accommodating the beverage among the plurality of cups.

The present invention relates to an automated beverage manufacturing system using a robot gripper, wherein the present invention uses a robot gripper to remove a filter from a dispenser, place a filter on a dripper station, move coffee to a dripper, and then use a kettle from a holding jig. By moving and pouring water into the filter, coffee is extracted, and when the coffee extraction is completed, a beverage manufacturing system that automates the process of providing the corresponding coffee to the user can be provided.

In the present invention, since the manufacturing process must be performed manually by a person, a long time is required, and even if manufacturing is performed, the conventional problem that expansion is difficult because it cannot be mass-produced can be solved through automation.

In addition, recently, consumers are interested in various teas, such as green tea and black tea, in addition to coffee, and there is an advantage of being able to automatically manufacture and provide a beverage having a desired flavor even at a cold temperature for a short period of time regardless of the type.

On the other hand, the effects obtainable in the present invention are not limited to the above-mentioned effects, and other effects not mentioned will be clearly understood by those of ordinary skill in the art from the following description. I will be able to.

1 shows an example of a block diagram illustrating a beverage manufacturing system that can be applied to the present invention.
2 shows an example of a beverage manufacturing system that can be applied to the present invention.
3 shows an example of a robot gripper applied to the beverage manufacturing system according to the present invention.
4 shows an example of a gripper applied to the robot gripper according to the present invention,
5 and 6 are views for explaining the function of the gripper according to the present invention.
7 shows an example of a drip station according to the present invention.
8 shows an example in which a cup and a filter are combined in the drip station of FIG. 7.
9 shows an example of a system for a kettle according to the present invention.
10 shows an example in which the system for a kettle of FIG. 9 and a kettle are combined.
11 shows examples of a filter according to the present invention.
12 shows an example of a state in which the filter of FIG. 11 is accumulated in the dispenser through the stacking portion.
13 shows an example of a flow chart illustrating a beverage manufacturing and dispensing method proposed by the present invention.

Beverage manufacturing system

1 shows an example of a block diagram illustrating a beverage manufacturing system that can be applied to the present invention.

Referring to FIG. 1, the beverage manufacturing system 1 proposed by the present invention includes a robot gripper 10, a drip station 20, a filter 30, a cup 40, a kettle system 10, a kettle ( 60), a user supply unit 70, a command input unit 80, a control unit 90, and the like.

However, since the components shown in FIG. 1 are not essential, a beverage manufacturing system having more components or fewer components may be implemented.

Hereinafter, the above components will be described in order.

First, the robot gripper 10 is also referred to as a robot hand, and refers to a hand of a machine that restrains or moves an object by a plurality of fingers.

The robot arm (arm) is used to determine a general position within a wide work area, whereas the robot gripper 10 is used to perform fine manipulations or grasp an object within a limited area.

The robot gripper 10 according to the present invention may include a gripper 11, a body portion 12, and a fixing portion 13.

First, the gripper 11 may largely include a palm portion and a finger portion.

Here, the finger portion may be configured in a structure having at least one node, and may move at the same speed with respect to the object through a distance sensor (not shown).

A plurality of such grippers 11 may be provided in the system 1, and it is possible to perform a task having a specific sequence and direction as well as a simple gripping operation through the plurality of robot hands 11. .

The gripper 11 may be provided at the end of the body 12, the other end of the body 12 is composed of a fixing part 13, and the fixing part 13 is a robot gripper 10 in the system 1 ) Can be fixed.

Here, the trunk portion 12 may be implemented to include a plurality of joints so as to move in the vertical, left and right directions while being fixed to the system 1 through the fixing portion 13.

Next, the drip station 20 may include a filter fixing part 210, a support part 220, a load cell 230, a stationion proximity sensor 240, a cup jig 250, and the like.

The filter fixing part 210 refers to a structure in which a filter 30 that serves as a strainer can be disposed so that coffee can be extracted.

In addition, the support part 220 refers to a structure capable of supporting the filter fixing part 210 upwardly.

In addition, the load cell (230) is also referred to as a load meter, a load sensor, or a force sensor, and is a converter for measuring a force or a load, and refers to an output that can be taken out electrically.

The load cell 230 according to the present invention is used to determine the presence or absence of a cup, the degree of coffee extraction, etc. by using the change in weight.

In addition, proximity sensor (240) is a generic term for a sensor that detects the proximity of an object without contact, and is a combination of a Hall element and a permanent magnet whose internal current changes under the influence of magnetism, and a lamp or light emitting diode and light. There is a combination of a sensor, detection of a change in capacitance, and the like.

The proximity sensor 240 according to the present invention is used for the purpose of finding out that the cup 4, the kettle 60, the filter 30, etc. have entered a certain distance.

Examples of the proximity sensor include a transmission type photoelectric sensor, a direct reflection type photoelectric sensor, a mirror reflection type photoelectric sensor, a high frequency oscillation type proximity sensor, a capacitive type proximity sensor, a magnetic type proximity sensor, an infrared proximity sensor, and the like. When the touch screen is capacitive, it is configured to detect the proximity of the pointer by a change in an electric field according to the proximity of the pointer.

In addition, the cup jig 250 is a structure for fixing the cup 40 and may include a tapered structure for positioning the cup 40.

On the other hand, the filter 30 according to the present invention has a solid strength so that the filter unit 32 and a plurality of filters 30 are stacked on a dispenser (not shown) to provide a sieve so that coffee can be extracted. It may include a stacking portion 31 to have.

In addition, the kettle system 50 is a system for accommodating the kettle 60 and supplying a fluid such as water to the kettle 60.

The kettle system 50 may include a jig part 51, a proximity sensor 52 for a kettle, a water supply part 53, and the like.

Here, the jig portion 51 is a structure for accommodating and fixing the kettle 60, and may be used to determine the location and direction of the kettle 60.

In addition, the proximity sensor 52 for the kettle is a proximity sensor for determining the presence or absence of the kettle 60.

In addition, the water supply unit 53 is for supplying a fluid such as water to the kettle 60, the kettle 60 is present through the proximity sensor 52 for the kettle, and the position and direction through the jig portion 51 After this is determined, water or the like may be supplied to the kettle 60.

On the other hand, the user supply unit 70 according to the present invention is a structure capable of accommodating a plurality of cups 40, and may have a tapered, wedge, inclined, pin shape, and the like.

That is, the user supply unit 70 is a space and structure that supports the user to visit the corresponding coffee by receiving a plurality of final cups 40 accommodating the extracted coffee.

In addition, the command input unit 80 generates input data for controlling the operation of the beverage manufacturing system 1.

The command input unit 80 may be composed of a key pad, a dome switch, a touch pad (positive pressure/electrostatic), a jog wheel, a jog switch, and the like.

Although not shown, an additional sensing unit may be provided, and the sensing unit displays the current state of the beverage manufacturing system such as the opening and closing state of the beverage manufacturing system, the location of the beverage manufacturing system, the presence or absence of user contact, the orientation of the beverage manufacturing system, and acceleration/deceleration of the beverage manufacturing system. By detecting the state, a sensing signal for controlling the operation of the beverage manufacturing system may be generated.

Also, although not shown, a display unit may be further included, and the display unit displays (outputs) information processed by the beverage manufacturing system. For example, a user interface (UI) or a graphical user interface (GUI) related to beverage production is displayed. In addition, a captured or/and received image, or a UI or GUI may be displayed.

The display unit is a liquid crystal display (LCD), a thin film transistor-liquid crystal display (TFT LCD), an organic light-emitting diode (OLED), a flexible display, 3 It may include at least one of 3D displays.

Some of these displays may be configured as a transparent type or a light-transmitting type so that the outside can be seen through it. This may be referred to as a transparent display, and a representative example of the transparent display is TOLED (Transparant OLED). The rear structure of the display unit 151 may also be configured as a light-transmitting structure.

In addition, two or more display units 151 may be present depending on the implementation form of the beverage manufacturing system.

Also, although not shown, a memory may be additionally used.

The memory according to the present invention includes a flash memory type, a hard disk type, a multimedia card micro type, a card type memory (for example, SD or XD memory, etc.), RAM (Random Access Memory, RAM), SRAM (Static Random Access Memory), ROM (Read-Only Memory, ROM), EEPROM (Electrically Erasable Programmable Read-Only Memory), PROM (Programmable Read-Only Memory), magnetic memory, It may include at least one type of storage medium among magnetic disks and optical disks.

The controller 90 typically controls the overall operation of the beverage manufacturing system.

For example, it carries out related controls and processing for beverage production and the like.

The control unit 90 may also include a multimedia module for playing multimedia.

The multimedia module may be implemented in the control unit 90 or may be implemented separately from the control unit 90.

The control unit 90 may be implemented in a recording medium that can be read by a computer or a similar device using software, hardware, or a combination thereof.

According to hardware implementation, the control unit 90 includes application specific integrated circuits (ASICs), digital signal processors (DSPs), digital signal processing devices (DSPDs), programmable logic devices (PLDs), field programmable gate arrays (FPGAs), and processors. processors), controllers, micro-controllers, microprocessors, and electrical units for performing other functions.

According to software implementation, the control unit 90 described in the present specification may be implemented as separate software modules. Each of the software modules may perform one or more functions and operations described herein. The software code can be implemented with a software application written in an appropriate programming language.

On the other hand, Figure 2 shows an example of a beverage manufacturing system that can be applied to the present invention.

2, a robot gripper 10 is shown.

The robot gripper 10 according to the present invention includes a gripper 11, a trunk portion 12, and a fixing portion 13, and the gripper 11 may largely include a palm portion and a finger portion.

A plurality of such grippers 11 may be provided in the system 1, and it is possible to perform a task having a specific sequence and direction as well as a simple gripping operation through the plurality of robot hands 11. .

The gripper 11 may be provided at the end of the body 12, the other end of the body 12 is composed of a fixing part 13, and the fixing part 13 is a robot gripper 10 in the system 1 ) Can be fixed.

Here, the trunk portion 12 may be implemented to include a plurality of joints so as to move in the vertical, left and right directions while being fixed to the system 1 through the fixing portion 13.

Next, the drip station 20 may include a filter fixing part 210, a support part 220, a load cell 230, a stationion proximity sensor 240, a cup jig 250, and the like.

The filter fixing part 210 refers to a structure in which a filter 30 that serves as a sieve so that coffee can be extracted can be disposed, and the support part 220 is a structure capable of supporting the filter fixing part 210 upwardly. In other words, the load cell 230 is used to determine the presence or absence of a cup and the degree of coffee extraction by using the change in weight.

In addition, the proximity sensor 240 according to the present invention is used for the purpose of finding out that the cup 4, the kettle 60, the filter 30, etc. have entered a certain distance.

In addition, the cup jig 250 is a structure for fixing the cup 40 and may include a tapered structure for positioning the cup 40.

On the other hand, the filter 30 according to the present invention has a solid strength so that the filter unit 32 and a plurality of filters 30 are stacked on a dispenser (not shown) to provide a sieve so that coffee can be extracted. It may include a stacking portion 31 to have.

In addition, the kettle system 50 is a system for accommodating the kettle 60 and supplying a fluid such as water to the kettle 60, and the kettle system 50 includes a jig portion 51 and a close proximity to the kettle. It may include a sensor 52, a water supply unit 53, and the like.

In addition, the user supply unit 70 according to the present invention is a structure capable of accommodating a plurality of cups 40, and may have a taper, wedge, bevel, pin shape, etc., and a final cup containing the extracted coffee ( It is a space and structure that supports a user to visit the coffee by accommodating a plurality of 40).

In addition, the command input unit 80 generates input data for controlling the operation of the beverage manufacturing system 1.

The command input unit 80 may be composed of a key pad, a dome switch, a touch pad (positive pressure/electrostatic), a jog wheel, a jog switch, and the like.

Robot gripper

3 shows an example of a robot gripper applied to the beverage manufacturing system according to the present invention.

The robot gripper 10 shown in FIG. 3 is also referred to as a robot hand, and is a mechanical hand that constrains or moves an object by a plurality of fingers, and a robot arm is replaced within a wide working area. Whereas the robot gripper 10 is used for fine manipulation or grasping an object within a limited area, the robot gripper 10 is used to determine the proper position.

The robot gripper 10 according to the present invention may include a gripper 11, a body portion 12, and a fixing portion 13.

First, the gripper 11 may largely include a palm portion and a finger portion.

Here, the finger portion may be configured in a structure having at least one node, and may move at the same speed with respect to the object through a distance sensor (not shown).

A plurality of such grippers 11 may be provided in the system 1, and it is possible to perform a task having a specific sequence and direction as well as a simple gripping operation through the plurality of robot hands 11. .

The gripper 11 may be provided at the end of the body 12, the other end of the body 12 is composed of a fixing part 13, and the fixing part 13 is a robot gripper 10 in the system 1 ) Can be fixed.

Here, the trunk portion 12 may be implemented to include a plurality of joints so as to move in the vertical, left and right directions while being fixed to the system 1 through the fixing portion 13.

4 shows an example of a gripper applied to the robot gripper according to the present invention,

Referring to FIG. 4, the structure of the gripper 11 is shown, and the gripper 11 may include a finger part 130, a palm part 120, and a connection part 110.

First, the connection part 110 supports to couple the gripper 11 with the body part 12.

Next, the palm part 120 may change the positions and directions of the plurality of finger parts 130 to perform a specific task.

In FIG. 4, two finger portions 130a and 130b are illustrated, but the configuration of the present invention is not limited thereto, and a larger number of finger portions may be included.

5 and 6 are views for explaining the function of the gripper according to the present invention.

First, referring to the upper and lower figures of FIG. 5, the separation distance between the two finger parts 130a and 130b is narrowed according to the control of the palm part 120, so that it can be used to grip a specific object.

That is, the gripper 11 according to the present invention is basically in a form in which two finger portions 130a and 130b are opened and closed in parallel on both sides, and the gripper 11 is capable of holding a relatively large circular workpiece such as a cup. It can be divided into a designed end part, and a part designed to hold another work piece inside.

This structure has the advantage that it is possible to handle the cup 40 and the kettle 60 at the same time by using the two finger portions 130a and 130b.

In addition, referring to FIG. 6, under the control of the palm part 120, the other end may be used to grip a larger object through an open motion while the ends of the two finger parts 130a and 130b are in contact. have.

It is not limited to the angle shown in FIG. 6, and the angle at which the ends of the two finger portions 130a and 130b are opened can be adjusted by the control unit 90 according to a necessary case.

Drip station

7 shows an example of a drip station according to the present invention.

Referring to FIG. 7, the drip station 20 may include a filter fixing part 210, a support part 220, a load cell 230, a stationion proximity sensor 240, a cup jig 250, and the like.

The filter fixing part 210 refers to a structure in which a filter 30 that serves as a strainer can be disposed so that coffee can be extracted.

In addition, the support part 220 refers to a structure capable of supporting the filter fixing part 210 upwardly.

In addition, the load cell (230) is also referred to as a load meter, a load sensor, or a force sensor, and is a converter for measuring a force or a load, and refers to an output that can be taken out electrically.

The load cell 230 according to the present invention is used to determine the presence or absence of a cup, the degree of coffee extraction, etc. by using the change in weight.

In addition, proximity sensor (240) is a generic term for a sensor that detects the proximity of an object without contact, and is a combination of a Hall element and a permanent magnet whose internal current changes under the influence of magnetism, and a lamp or light emitting diode and light. There is a combination of a sensor, detection of a change in capacitance, and the like.

The proximity sensor 240 according to the present invention is used for the purpose of finding out that the cup 4, the kettle 60, the filter 30, etc. have entered a certain distance.

Examples of the proximity sensor include a transmission type photoelectric sensor, a direct reflection type photoelectric sensor, a mirror reflection type photoelectric sensor, a high frequency oscillation type proximity sensor, a capacitive type proximity sensor, a magnetic type proximity sensor, an infrared proximity sensor, and the like. When the touch screen is capacitive, it is configured to detect the proximity of the pointer by a change in an electric field according to the proximity of the pointer.

In addition, the cup jig 250 is a structure for fixing the cup 40 and may include a tapered structure for positioning the cup 40.

8 shows an example in which a cup and a filter are combined in the drip station of FIG. 7.

Referring to FIG. 8, in the filter fixing part 210, a filter 30 that serves as a sieve so that coffee can be extracted is disposed, and a cup 40 is disposed on the cup jig 250.

That is, it is possible to build an integrated dripper station 20 capable of measuring the presence or absence of the cup 40 and the weight using the load cell 230 and the proximity sensor 240.

The coffee dripper station 20 can check the presence or absence of the cup 40 that receives the coffee to be extracted with the proximity sensor 240, and includes a load cell 230 that can accurately measure the amount of coffee to be extracted. Can have.

In addition, a cup jig 250 having an inclination may be used to accurately position the cup 40 to receive the coffee extract.

Kettle system

9 shows an example of a system for a kettle according to the present invention.

The kettle system 50 illustrated in FIG. 9 is a system for accommodating the kettle 60 and supplying a fluid such as water to the kettle 60.

Referring to FIG. 9, the system 50 for a kettle may include a jig part 51, a proximity sensor 52 for a kettle, a water supply part 53, and the like.

Here, the jig portion 51 is a structure for accommodating and fixing the kettle 60, and may be used to determine the location and direction of the kettle 60.

In addition, the proximity sensor 52 for the kettle is a proximity sensor for determining the presence or absence of the kettle 60.

10 shows an example in which the system for a kettle of FIG. 9 and a kettle are combined.

As illustrated in FIG. 10, in a state in which the kettle 60 is disposed, the water supply unit 53 may supply a fluid such as water to the kettle 60.

filter

11 shows examples of a filter according to the present invention.

Referring to FIG. 11, in the filter 30 according to the present invention, a filter unit 32 and a plurality of filters 30 that serve as a strainer to extract coffee may be stacked and stored in a dispenser (not shown). It may include a stacking portion 31 having a solid strength so that.

As shown in (a) of FIG. 11, the filter unit 32 may have a blunt shape at the lower end, or may be implemented in a pointed shape, as shown in (b).

In addition, FIG. 12 shows an example of a state in which the filter of FIG. 11 is accumulated in the dispenser through the stacking portion.

Referring to FIG. 12, a plurality of filters 30a, 30b, and 30c may be stacked and stored in a dispenser (not shown) based on the stacking portion 31.

Beverage manufacturing and dispensing method

On the other hand, on the basis of the structure of the present invention described above will be described in detail the beverage production and distribution method proposed by the present invention.

13 shows an example of a flow chart illustrating a beverage manufacturing and dispensing method proposed by the present invention.

Referring to FIG. 13, first, the gripper 10 pulls the dripper (filter) 30 from the dispenser (not shown) (S10).

Thereafter, the gripper 10 places the pulled filter 30 on the filter fixing part 210 of the dripper station 20 (S20).

In addition, the robot gripper 10 moves the ground coffee to the filter 30 disposed on the filter fixing part 210 (S30), and moves the kettle 60 containing water from the kettle system 50, A step of pouring water into the filter 30 is performed (S40).

Accordingly, when coffee is extracted into the cup 40 and coffee extraction is completed, the robot gripper 10 performs a process of moving the corresponding cup 40 to the user supply unit 70 (S50).

Accordingly, the present invention relates to a beverage manufacturing system, in which the filter is removed from the dispenser using a robot gripper, the filter is placed in the dripper station, and the coffee is moved to the dripper, and then the kettle is moved from the mounting jig, By pouring water into the filter, coffee is extracted, and when the coffee extraction is completed, a beverage manufacturing system that automates the process of providing the coffee to the user can be provided.

In the present invention, since the manufacturing process must be performed manually by a person, a long time is required, and even if manufacturing is performed, the conventional problem that expansion is difficult because it cannot be mass-produced can be solved through automation.

In addition, recently, consumers are interested in various teas, such as green tea and black tea, in addition to coffee, and there is an advantage of being able to automatically manufacture and provide a beverage having a desired flavor even at a cold temperature for a short period of time regardless of the type.

The above-described embodiments of the present invention can be implemented through various means. For example, embodiments of the present invention may be implemented by hardware, firmware, software, or a combination thereof.

In the case of hardware implementation, the method according to embodiments of the present invention includes one or more Application Specific Integrated Circuits (ASICs), Digital Signal Processors (DSPs), Digital Signal Processing Devices (DSPDs), and Programmable Logic Devices (PLDs). , Field Programmable Gate Arrays (FPGAs), processors, controllers, microcontrollers, microprocessors, and the like.

In the case of implementation by firmware or software, the method according to the embodiments of the present invention may be implemented in the form of a module, procedure, or function that performs the functions or operations described above. The software code may be stored in a memory unit and driven by a processor. The memory unit may be located inside or outside the processor, and may exchange data with the processor through various known means.

Detailed description of the preferred embodiments of the present invention disclosed as described above has been provided to enable those skilled in the art to implement and practice the present invention. Although the above has been described with reference to preferred embodiments of the present invention, those skilled in the art will understand that various modifications and changes can be made to the present invention without departing from the scope of the present invention. For example, a person skilled in the art may use the components described in the above-described embodiments in a manner that combines with each other. Accordingly, the present invention is not intended to be limited to the embodiments shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.

The present invention may be embodied in other specific forms without departing from the spirit and essential features of the present invention. Therefore, the detailed description above should not be construed as restrictive in all respects and should be considered as illustrative. The scope of the present invention should be determined by reasonable interpretation of the appended claims, and all changes within the equivalent scope of the present invention are included in the scope of the present invention. The invention is not intended to be limited to the embodiments shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein. In addition, the embodiments may be configured by combining claims that do not have an explicit citation relationship in the claims, or may be included as new claims by amendment after filing.

Claims (2)

In the system,
filter;
A dripper station for fixing the filter and cup;
The liquid contained in the container is introduced into the filter by moving the material for beverage production to the filter fixed to the dripper station, moving the container containing the liquid to the top of the filter, and changing the position and direction of the container. Gripper to enable; And
A control unit for controlling the gripper to move the cup containing the beverage to the user supply unit when the beverage is manufactured by contact between the liquid injected into the filter and the material, and the manufactured beverage is injected into the cup. But,

The gripper,
A plurality of finger portions;
A palm part connected to the plurality of finger parts and changing a separation distance between the plurality of finger parts and a direction of at least some of the plurality of fingers;
A fixing part connecting the gripper and the system; And
Including; one end is connected to the fixing portion, the other end is connected to the palm portion, the body portion capable of changing the position of the other end in a state fixed to the system through the fixing portion; includes,
It is possible to grip an object by using a change in the separation distance between the plurality of finger parts,
Each of the plurality of finger parts may have one end connected to the palm part fixed, and the other end may rotate at a certain angle in the outer direction, and the other end of the plurality of finger parts rotated at a certain angle in the outer direction is inside It is possible to grip the object through the motion of rotating in the direction,

The dripper station,
A filter fixing part fixing the filter;
A jig fixing the cup;
A dripper proximity sensor for determining whether the cup is fixed on the jig; And
Including; a load cell for measuring the weight of the prepared beverage put into the cup,
The control unit controls the gripper to move the cup containing the beverage to the user supply unit only when the weight of the beverage measured through the load cell is greater than or equal to a preset value,

A container system for receiving the container and supplying the liquid into the container;
The container system,
A container jig for accommodating the container and determining a position and direction of the container;
A container proximity sensor for determining whether the container is accommodated in the container jig; And
Includes; when it is determined that the container is accommodated through the container proximity sensor, a supply unit for supplying the liquid to the container,

The container jig,
It is implemented using at least some of a tapered shape, an inclined shape, and a pin shape,
The position and direction of the container is determined according to the shape and position of the container jig,

The filter,
A filter unit that provides a filtering function for manufacturing the beverage; And
For stacking, a stacking portion provided in a predetermined area to have a strength greater than or equal to a preset; further includes,
The filter is plural,
The plurality of filters are stacked by overlapping through the stacking portion,
A dispenser for accommodating the plurality of stacked filters; further comprising,

The cup is plural,
The user supply unit,
And a plurality of converging structures in the form of a taper for inserting at least one cup containing the beverage among the plurality of cups.
The method of claim 1,
The ingredients include coffee ingredients and tea ingredients,
Wherein the object comprises the filter, the cup and the container.

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