Automated station including edible liquid processing tools and assembly method thereof

Abstract

An automated station is provided with a tool (11) comprising: a linear actuator (16) having a power input adapted to be releasably connected to a supply line; a container (13) for an edible liquid; a closure (14) movable by the linear actuator (16) between a closed position and an open position, wherein in the closed position the edible liquid is in the container so that, for example, the liquid is shaken by the action of the automated station, and in the open position the edible liquid is poured out of the container in a controlled manner by the action of the automated station; and a pivoting lever arm (17) connected between the linear actuator (16) and the closure (14) so ​​as to reduce a load applied by the actuator, thereby reducing a first resultant force applied by the closure on a fluid seal (32) in the closed position relative to a second force applied by the actuator to the pivoting lever arm.

Description

Technical Field

[0001] The present invention relates to a robot arm or other automated station for handling edible fluids, for example for preparing alcoholic or non-alcoholic beverages in an automated bar, for example by computer control. Background Art

[0002] The use of robotic arms to prepare beverages or other edible fluid foods is known.

[0003] There is also a need to create a preparation tool (or end effector) that increases service life and reduces construction and replacement costs in the event of damage, as well as a tool that ensures liquid tightness or at least limits dripping / liquid dripping during all stages of preparation. Summary of the invention

[0004] The object of the present invention is to provide a robot arm or other automated station capable of at least partially meeting the above requirements.

[0005] The objects of the present invention are achieved by an automated station, which preferably comprises a robot arm having a tool, which comprises: a releasable mechanical connector, which is suitable for being carried to the free end of the robot arm; a linear actuator, which has a power input, such as pneumatic or hydraulic, suitable for being releasably connected to a power line, preferably carried by the robot arm; a container for edible liquid; a closure, which can be moved between a closed position and an open position by the linear actuator, wherein in the closed position, the edible liquid is in the container so that the liquid is shaken, for example, by the action of the robot arm, and in the open position, the edible liquid is poured out of the container in a controlled manner by the action of the robot arm; and a lever arm, which is pivotable and connected between the linear actuator and the closure so as to reduce the load applied by the actuator, thereby reducing the first force generated by the closure on the fluid seal in the closed position relative to the second force applied to the lever arm from the actuator.

[0006] The pivoting lever arm is easy to manufacture and maintain, which also leads to a reduction in the associated costs. In addition, the reduction in force allows the use of actuators available in the product catalogue, which are therefore relatively cheap and widely available on the market.

[0007] According to a preferred embodiment, the pivoting lever arm comprises a first end connected to the closure and a second end connected to the linear actuator, thereby forming a second-stage lever, the first end being connected to the closure so that the closure can rotate and / or translate relative to the first end, i.e. there is at least one degree of freedom, so as to adapt to the top edge of the container in the closed position.

[0008] The closure is not rigidly connected to the first end, but allows relative movement, which can be achieved in various ways, for example by a deformable rubber connecting rod, a rigid connecting rod with at least one detent hinge, wherein the detent hinge maintains the angular position of the closure when only the weight of the closure acts on the hinge. On the contrary, when a limit load is applied to the closure via a linear actuator, for example by contact with the top edge, the detent hinge allows the closure to adapt to the top edge.

[0009] According to a preferred embodiment of the invention, the linear actuator has a sleeve and a rod movable relative to the sleeve, the rod being fixed to a support of the container and the sleeve being fixed to the arm.

[0010] In this way, the linear actuator is mounted upside down, for example when the container is in a substantially vertical position to accommodate the liquid and the closure is open, the sheath is upward and the rod is downward. This facilitates the discharge of any drops of edible liquid by gravity without the drops entering the gap between the rod and the sheath. In fact, in particular when the container is in a vertical position upward and the closure is open, the edible liquid has already fallen onto the sheath, for example during the stirring process of the container when the closure is closed, the edible liquid also moves downward on the rod and does not pass through the gap between the rod and the sheath. The gap is protected by the seal that is thus protected. In addition, the liquid is usually sugar-based, and the above avoids contamination of the internal components of the sheath and therefore avoids their degradation due to corrosion.

[0011] According to a preferred embodiment of the invention, the closure has a wetted surface arranged to face towards the interior of the container when the closure is closed, wherein the wetted surface comprises one or more protrusions.

[0012] When the closure is opened, depending on the shape of the protrusion, it slows down or blocks the movement of the drops due to gravity. In this way, when the closure is opened, the drops falling from the closure due to gravity are reduced and soil the surface arranged under the tool, requiring a subsequent cleaning operation.

[0013] According to a preferred embodiment, the protrusion and the corresponding groove have a tangential path relative to the axis of the closure and are preferably concentric or helical.

[0014] In this way, a downward movement of liquid drops under the effect of gravity is particularly effectively impeded when the closure is opened.

[0015] According to a preferred embodiment, the container is releasably connected to a frame of the tool, the frame defining a fulcrum for the lever arm.

[0016] In this way, when the container needs to be replaced, for example due to damage after a collision, a new container is easily assembled, while the other interfaces of the tool, such as the power supply for the linear actuator, the pivoting lever arm, etc., remain mounted on the end of the robot arm.

[0017] According to a preferred embodiment, the container has at least one transparent portion.

[0018] In this way, a visual check can be performed during the preparation of the liquid food, for example when the end is moved for shaking.

[0019] According to a preferred embodiment, the container is made of a material having a first breaking load which is lower than a second breaking load of the frame material.

[0020] In this way, in the event of a collision, a container having relatively low replacement and construction costs is damaged by protecting other more expensive components of the tool, while the tool has been stopped by its automatic control system.

[0021] According to a preferred embodiment of the invention, the container comprises a bottom having a hole, and the releasable connection comprises a screw or other releasable clamping element passing through the hole, a fluid seal being interposed between the screw and the bottom and being at least partially compressed when the screw is tightened to securely connect the container to the frame.

[0022] Further advantages of the invention are discussed in the description and recited in the dependent claims. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] The invention is described below based on non-limiting examples illustrated in the accompanying drawings, which respectively relate to:

[0024] - Figure 1 is a front view of an automated station for preparing beverages including a robotic arm according to the invention;

[0025] - Figure 2 Reason Figure 1 An exploded view of a tool carried on the end of a robotic arm;

[0026] - Figure 3 for Figure 2 A side view of a tool;

[0027] - Figure 4 for Figure 2 A partial enlarged side view of the upper portion of ; and

[0028] - Figure 5 for Figure 2 Magnified detail photo of the tool in. DETAILED DESCRIPTION

[0029] Figure 1The robotic station is indicated as a whole by 1 and comprises first and second articulated robotic arms R1, R2 placed on a counter 4. A plurality of supports 5 are provided above the counter 4 to hold bottles of edible fluids, such as ingredients for beverages or drinks, in an inverted position. The robotic arms R1, R2 and the counter 4 are visible from the outside of the robotic station through an opening 6. Figure 1 In the embodiment of the present invention, the opening 6 is a through window which is bounded up and down and fully opened left and right. In this way, individuals near the mechanical station can fully see the preparation process of the food.

[0030] On the opposite side of the opening 6 to the robotic arms R1, R2, there is a partition wall 7 which delimits the counter 4 and defines a plurality of inlets 9 which are approached by one or both arms R1, R2 during the execution of the food preparation procedure. Each inlet 9 corresponds to a corresponding functional module 10, which comprises an electromechanical or pneumatic device for processing or releasing food raw materials. Preferably, one or more functional modules 10 also comprise sensors or containers connected to the electromechanical or pneumatic device to perform the processing operation of the relevant raw materials. For example, the functional modules comprise slicers, ice grinders, dispensers, in particular dispensers of fluids (but not liquid or granular raw materials). For example, the fluid but not liquid raw materials are sauces, pasta, cream, whipped cream. In addition, some functional modules are provided to perform operations on objects, such as a cup dispenser or a cleaning and disinfection module of an end tool 11 carried by at least one of the robotic arms R1, R2. Preferably, further functional modules are arranged in the area below the working surface of the counter 4. The partition wall 7 and the counter 4 block observation and / or protect the functional module 10 from tampering and / or access by unauthorized persons.

[0031] According to the embodiment of the figures, the tool 11 is used to seal the container and to allow mixing operations such as mixing, stirring, etc.

[0032] Figure 2 The tool 11 is shown in more detail. The tool 11 comprises a support structure 12 releasably connected to the free end of the robot arm R1, a container 13 for a liquid to be consumed, for example shaped like a cup and carried by the support structure 12, a movable closure 14 to selectively close the container 13, and a lever mechanism 15 for moving the closure 14 between an open position shown in the figure and a closed position in which the liquid is retained in the container 13, in order to perform one or more mixing operations. The mechanism is operated by a preferably pneumatic linear actuator 16 and is functionally connected to the compressed air system of the robot station.

[0033] Preferably ( Figure 3) mechanism 15 is an unfavorable lever with respect to the linear actuator 16, i.e. the force of the actuator when applied to the closure 14 is reduced due to the geometry of the lever. In this respect, the lever mechanism 15 comprises an arm 17 pivoted asymmetrically on the support structure 12, such that a first distance between the fulcrum F and the point of application of the linear actuator on the arm is smaller than a second distance between the fulcrum F and the connection point between the closure 14 and the arm 17. Preferably, the support structure 12 has an inverted T-shape with a left lower branch 18 configured to be connected to the free end of the robot arm R1, a right lower branch 19 carrying the container 13 and an elongated central body 20 defining the fulcrum F of the lever mechanism 15 at the opposite longitudinal portions of the branches 18 and 19.

[0034] Starting from a portion of the elongated central body 20, the arm 17 preferably carries the closure 14 by a connection having at least one degree of freedom, so that the closure can move relative to the arm so that it can best adapt to the top edge 21 of the container 13 when closed. Even more preferably, said degree of freedom is angled around a substantially transverse axis, preferably perpendicular to the axis of the closure. According to the embodiment of the figures, the elongated connection element, such as a screw V, is coaxial with the axis A of the closure 14 and is housed in the arm 17 with radial play. This play is preferably provided by one or more elastic elements, such as an O-ring E ( Figure 2 ) is closed.

[0035] Longitudinally opposite to the edge 21, the container 13 comprises a bottom 22 rigidly connected to the lower right branch 19. This connection is releasable and preferably comprises a screw 23 passing through the bottom 22 in a hole. In order to avoid leakage of liquid through the releasable connection, a fluid seal 24 ( Figure 2 ), which is activated when the connection is tightened. In the example shown, the fluid seal 24 is an O-ring, which is compressed by the head of the screw 23 when the screw is tightened on the lower right branch 19. Similarly, it is also possible to use a bayonet connection, a snap-on connection, etc. The container can also have a bracket or other protrusion without any holes, and the container can be fixed to the branch 19 or the body 20 by such a bracket, for example by form coupling.

[0036] According to a preferred embodiment, when the container 13 is made of glass or other fragile and transparent material, the bottom 22 is penetrated so that at least the level of the liquid contained in the container 13 can be seen from the outside. More generally, the container is made of a material with a lower breaking load than the support structure 12, so that in the event of an accidental impact, the container 13 is damaged or even unusable before further damage is caused to the support structure and / or the actuator of the robot arm R1. By means of a releasable connection, even an irreparably damaged container 13 can be quickly and inexpensively replaced.

[0037] On the opposite side of the container 13 from the elongated central body 20, a linear actuator 16 is mounted in a manner that limits or prevents drops of edible liquid from entering between the moving parts. The actuator includes a sheath 25 and a rod 26 that can be removed from the sheath 25. The actuator can be fluidic and electromechanical, such as a rotary motor connected by a sprocket to a rack carried by the rod. As shown, the sheath 25 is connected to the mechanism 15 and the rod 26 is connected to the support structure 12. In this way, when the tool 11 is in a position with the top edge 21 facing upward ( Figure 3 ), the droplets move under the action of gravity without penetrating into the gap between the rod and the sheath.

[0038] Figure 5 The wetted face 30 of the closure 14 is shown, i.e. the face facing the liquid in the container 13 when the container 13 is closed and full. In order to avoid that the drops of the edible liquid are dispersed due to gravity when the closure 14 is opened, the wetted face 30 defines at least one protrusion 31, which is arranged in a convex manner in the same direction as the axis of the closure 14. When the closure is opened, the protrusion hinders the gravity fall of the drops. Moreover, preferably, the protrusion 31 protrudes when the closure is in the open position, so that the drops that are not retained when the tool 11 is in the static position with respect to the axis of the container 13 fall into the container 13 by gravity, so that the maximum allowed amount of liquid in the container remains in the container 13 even when the closure 14 is opened. With reference to the accompanying drawings, an example of this static position is a position in which the axis of the container 13 is in a vertical position, i.e. Figure 5 In this figure a preferred embodiment is shown, in which a plurality of protrusions 31 are provided, each protrusion 31 having a top along a tangential path relative to the axis of the container 13, in particular a circular and concentric path.

[0039] The figures also show that a fluid seal 32 , for example a ring preferably made of a material based on silicone or other elastomeric material for food products, is pressed against the top edge 21 by the linear actuator 16 when the container 13 is closed.

[0040] Finally, it is obvious that changes or modifications may be made to the robotic arm R1 described and illustrated herein, without departing from the scope of protection defined in the appended claims.

[0041] For example, container 13 may be completely transparent or only partially transparent.

[0042] Furthermore, the tool 11 may be releasably connected to a non-anthropomorphic robotic arm, e.g. Figure 1 , but moves with at least one degree of freedom, such as by translation along three orthogonal Cartesian axes. In general, tool 11 can be mounted on an automated station that includes mechanisms for collecting ingredients and performing one or more cocktail operations.

Claims

1. An automated station having a tool (11), the tool comprising: a releasable mechanical connector for connecting to a movable portion of said automated station; a linear actuator (16) having a power input adapted to be releasably connected to a power cord; A container (13) for edible liquid; a closure (14) which is movable between a closed position and an open position via a linear actuator (16), wherein in the closed position the edible liquid is in the container so that the liquid is shaken by the action of the movable part, and in the open position the edible liquid is poured out of the container in a controlled manner by the action of the movable part; and a lever arm (17) which is pivoted and connected between the linear actuator (16) and the closure (14) so ​​as to reduce the load applied by the actuator, thereby reducing a first resultant force applied by the closure on a first fluid seal (32) in the closed position relative to a second force applied by the actuator to the lever arm.

2. The automated station according to claim 1, wherein: The lever arm (17) comprises a first end connected to the closure (14) and a second end connected to the linear actuator (16), the first end being connected to the closure (14) such that the closure has at least one degree of freedom relative to the first end to accommodate a top edge (21) of a container in a closed position.

3. The automated station according to any one of the preceding claims, wherein: The linear actuator (16) has a sheath (25) and a rod (26) movable relative to the sheath, the rod being fixed to a support (12) of the container (13), the sheath being fixed to the lever arm (17).

4. The automation station according to claim 1, wherein: The closure (14) has a wetted surface (30) arranged to face the interior of the container (13) when the closure is in the closed position, wherein the wetted surface comprises one or more protrusions (31).

5. The automated station according to claim 4, wherein: At least one of the protrusions (31) projects so that when the closure (14) is in the open position and the container (13) is full in the rest position, a drop of liquid falls from the protrusion into the container (13) by gravity.

6. The automated station according to claim 4 or 5, wherein: The protrusions (31) have respective edges, each edge having a tangential pattern relative to the axis (A) of the closure.

7. The automated station according to claim 1, wherein: The container (13) is releasably connected and can be replaced independently of the linear actuator (16) and the lever arm (17).

8. The automated station according to claim 1, said container having at least one transparent portion for observing the level of the edible liquid when said container (13) is closed.

9. The automated station according to claim 1, wherein: The container (13) is made of a material having a first breaking load which is lower than a second breaking load of the material of a support (12) of the tool (11), the container (13), the linear actuator (16) and the lever arm (17) being carried by the support (12).

10. The automated station according to claim 1, wherein: The container (13) comprises a bottom (22) having a hole, and the releasable connection comprises a clamping element (23) located in the hole, a second fluid seal (24) being interposed between the clamping element (23) and the bottom (22) and being at least partially compressed when the clamping element (23) is tightened.

11. An assembly method comprising the following steps: An automated station having a movable part is provided, and a tool (11) is releasably mounted on the movable part, the tool comprising: a linear actuator (16) having a power input suitable for releasably connecting to a power cord; a container (13) for an edible liquid; a closure (14) movable between a closed position and an open position via the linear actuator (16), wherein in the closed position the edible liquid is in the container so that the liquid is shaken by the action of the movable part, and in the open position the edible liquid is poured out of the container in a controlled manner by the action of the movable part; and a lever arm (17) pivotally connected between the linear actuator (16) and the closure (14) so ​​as to reduce a load applied by the actuator, thereby reducing a first resultant force applied by the closure on a first fluid seal (32) in the closed position relative to a second force applied by the actuator to the lever arm.

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