Multi-arm cooperative robot beverage making structure and implementation method

Abstract

The invention provides a multi-arm cooperation robot beverage making structure and an implementation method, the structure is applied to an automatic coffee machine and comprises a beverage containing mechanical arm, a garland carrying mechanical arm and a multi-kind beverage making mechanical arm which are sequentially connected in a transmission mode, a base of at least one of the three mechanical arms is installed on the lower portion of the coffee machine, and a base of at least one of the three mechanical arms is installed on the lower portion of the coffee machine; the base is arranged on an arm claw of a mechanical arm at the lower part of the coffee machine, and the arm claw extends from bottom to top from the base. According to the invention, the structural movement mode of part of the mechanical arms adopts a bottom-mounted mode, the top-mounted mechanical arms and the bottom-mounted mechanical arms are combined, the beverage making track of the robot is redefined, the operation track in the up-down movement direction is realized, the robot is closer to the actual posture state of a coffee maker, and the operation space is saved; the pulled pattern is better close to the effect of manual pattern pulling and is closer to the actual making mode of the actual state, and the use experience feeling of a user on the coffee robot beverage making effect is greatly improved.

Description

Technical Field

[0001] The present invention relates to the technical field of coffee robot beverage making; specifically, to a multi-arm collaborative robot beverage making structure and an implementation method. Background Art

[0002] Coffee robots have been increasingly used in real-life scenarios, replacing humans in coffee shops and the production of coffee drinks. Existing coffee robots have increasingly simulated human coffee craftsmanship and the presentation of the coffee making process, such as grinding beans, extraction, latte art, and other processes.

[0003] Existing coffee robots usually use a single robotic arm upright installation (the base of the robotic arm is installed at the bottom of the coffee machine, and the arm claw is top-mounted) to make drinks; or use a double robotic arm upright installation method, the bases of the two robotic arms are installed in the same plane, and the arm claws of the two robotic arms are also roughly in the same plane to make drinks.

[0004] However, in the prior art, when a single robotic arm is used to make drinks, the display form is too monotonous, and usually only the drinks can be received and delivered, which is not enough for commercial implementation. When two robotic arms are used to make drinks in one plane, the latte art trajectory is in the same plane, which is very different from the actual posture of the barista when making the latte art manually, and cannot achieve the pattern display effect of manual latte art in the real state.

[0005] Since the beverage making method of the existing coffee robot mechanical arm structure has a large error compared with the actual making method of the beverage chef, the user experience of the coffee robot beverage making effect is low. Summary of the invention

[0006] In view of this, the purpose of the present invention is to propose a multi-arm collaborative robot beverage making structure and implementation method, in which the structural movement mode of some of the robotic arms adopts a bottom-mounted structural form, and a new beverage making structure combining an upper-mounted robotic arm and a bottom-mounted robotic arm is designed to redefine the trajectory of robot beverage making, and realize the operation trajectory in the up and down movement directions to be close to the actual posture state of the barista and save operating space; the beverage making method is made closer to the actual production method in the real state, and the pulled flower pattern is better close to the effect of manual pull flower, thereby enhancing the user experience of the coffee robot beverage making effect.

[0007] The present invention provides a multi-arm collaborative robot beverage making structure, which is applied to an automatic coffee machine and includes three robotic arms, wherein the three robotic arms include: a beverage receiving robotic arm, a latte art conveying robotic arm, and a multi-category beverage making robotic arm, wherein the beverage receiving robotic arm, the latte art conveying robotic arm, and the multi-category beverage making robotic arm are sequentially connected;

[0008] The base of at least one of the three robotic arms, namely, the beverage receiving robotic arm, the latte art transporting robotic arm, and the multi-category beverage making robotic arm, is installed at the bottom of the coffee machine. The arm claw of the robotic arm whose base is installed at the bottom of the coffee machine is top-mounted, and the arm claw extends from the base from bottom to top.

[0009] Specifically, the beverage receiving robotic arm can be used to clamp the coffee cup, and the latte art handling robotic arm can be used to clamp the milk jug; the beverage receiving robotic arm clamps the coffee cup to complete the action of filling the coffee liquid, and the latte art handling robotic arm clamps the milk jug to complete the action of latte art.

[0010] This setting saves space for latte art making and is closer to the actual manual operation posture of a barista.

[0011] Furthermore, the base of the beverage receiving robotic arm is installed at the lower part of the coffee machine, and the arm claw of the beverage receiving robotic arm is top-mounted; the base of the latte art handling robotic arm is installed at the upper part of the coffee machine, and the arm claw of the latte art handling robotic arm is bottom-mounted, and the arm claw extends from the base from top to bottom; the base of the multi-category beverage making robotic arm is installed at the lower part of the coffee machine, and the arm claw of the multi-category beverage making robotic arm is top-mounted, and the arm claw extends from the base from bottom to top.

[0012] Furthermore, the beverage receiving robot arm includes 5 rotating joints and has 5 rotational degrees of freedom, which can better complete the movement methods such as rotation and tilting to complete the receiving of coffee liquid.

[0013] Furthermore, the latte art handling robot arm includes 4 rotating joints and has 4 rotational degrees of freedom, which can better complete movement, rotation and other movements and smoothly complete the operation of milk latte art.

[0014] Furthermore, the multi-category beverage making robot arm includes 5 rotating joints and has 5 rotational degrees of freedom, which can better complete movement methods such as rotation and tilt to complete the production of multiple categories of beverages.

[0015] Furthermore, the front ends of the beverage receiving robot arm and the multi-category beverage making robot arm are both provided with a holding claw, and the holding claw comprises: two claw fingers, the claw fingers are arc-shaped, the angle of the arc formed by the two claw fingers is greater than 270°, and the diameter of the arc formed by the two claw fingers is smaller than the diameter of the beverage cup mouth. The structure of the holding claw fits the actual posture of the palm of the beverage chef, lays a good foundation for the high-quality completion of beverage making, and is conducive to improving the effect of beverage making.

[0016] Furthermore, a claw is connected to the front end of the latte art handling robot arm, and the claw includes two calipers. The two calipers can move toward each other, and a jaw is formed between the two calipers. The jaw changes size as the calipers move, thereby firmly clamping containers such as milk jugs.

[0017] The present invention also provides a method for implementing a multi-arm collaborative robot beverage making method, which is applied to the multi-arm collaborative robot beverage making structure as described above, and comprises the following steps:

[0018] S1. Setting the receiving points of the beverage receiving robot arm, calculating the receiving time of the beverage receiving robot arm according to the ratio of the raw materials required for the receiving points, and designing the motion trajectory of the beverage receiving robot arm;

[0019] S2, setting the transfer points between the beverage receiving robot arm and the latte art handling robot arm, calculating the latte art operation time of the latte art handling robot arm according to the ratio of raw materials required for the transfer points, and calculating and setting the initial position and end position of the latte art movement;

[0020] The method for setting the initial position and the end position of the latte art movement comprises: designing the spatial position and the angular posture of the beverage receiving robot arm and the latte art conveying robot arm at the initial position and the end position of the latte art movement, and planning the motion trajectory between the initial position and the end position;

[0021] S3, according to the motion trajectory between the initial position and the end position, executing the collaborative latte art operation between the beverage receiving robot arm and the latte art transporting robot arm to generate a latte art pattern;

[0022] S4. Set the delivery points between the latte art transporting robotic arm and the multi-category beverage making robotic arm, calculate the beverage making time of the multi-category beverage making robotic arm according to the ratio of raw materials required for the delivery points, design the motion trajectory of the multi-category beverage making robotic arm, and execute and complete the production of multi-category beverages.

[0023] Specifically, multi-category beverage preparation includes preparation of a variety of beverages other than coffee, such as soda, orange juice, etc.

[0024] The multi-arm collaborative beverage making adopted by the present invention can be closer to the beverage working method and trajectory, the bottom-mounted mechanical arm can be closer to the posture state of human operation, and saves operating space, which can better approach the effect of artificial beverage making in the real state.

[0025] The present invention also provides a computer-readable storage medium having a computer program stored thereon, and when the program is executed by a processor, the steps of the method for implementing beverage making of a multi-arm collaborative robot as described above are implemented.

[0026] The present invention also provides a computer device, which includes a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein when the processor executes the program, the steps of the method for implementing a multi-arm collaborative robot beverage making method as described above are implemented.

[0027] Compared with the prior art, the present invention has the following beneficial effects:

[0028] The multi-arm collaborative robot beverage making structure and implementation method provided by the present invention adopts a bottom-mounted structural movement mode of some of the robotic arms, combines the top-mounted robotic arm with the bottom-mounted robotic arm, redefines the trajectory of the robot's beverage making, and realizes the operation trajectory in the up and down movement directions. Compared with the existing coffee robots, it is closer to the actual posture state of the barista and saves operating space; the beverage making method is closer to the actual production method in the real state, and the pulled flower pattern is better close to the effect of manual pull flower, which greatly improves the user experience of the coffee robot's beverage making effect. BRIEF DESCRIPTION OF THE DRAWINGS

[0029] Various other advantages and benefits will become apparent to those of ordinary skill in the art by reading the following detailed description of the preferred embodiment.The drawings are only for the purpose of illustrating the preferred embodiments and are not to be construed as limiting the invention.

[0030] In the attached picture:

[0031] Figure 1 A schematic diagram of the basic assembly structure of a multi-arm collaborative robot beverage making structure provided by an embodiment of the present invention;

[0032] Figure 2 A flowchart of a method for implementing a beverage making method using a multi-arm collaborative robot provided in an embodiment of the present invention;

[0033] Figure 3 The figure is a schematic diagram of the structure of a computer device according to an embodiment of the present invention.

[0034] The symbols in the accompanying drawings are:

[0035] 1. Beverage receiving robot arm, 2. Latte art handling robot arm, 3. Multi-category beverage making robot arm, 4. Beverage cup, 5. Serving claw, 6. Clamping claw. DETAILED DESCRIPTION

[0036] Exemplary embodiments will be described in detail herein, examples of which are shown in the accompanying drawings. When the following description refers to the drawings, the same numbers in different drawings represent the same or similar elements unless otherwise indicated. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with the present disclosure. Instead, they are merely examples of devices and products consistent with some aspects of the present disclosure as detailed in the appended claims.

[0037] The terms used in this disclosure are for the purpose of describing specific embodiments only and are not intended to limit the disclosure. The singular forms of "a", "said" and "the" used in this disclosure and the appended claims are also intended to include plural forms unless the context clearly indicates otherwise. It should also be understood that the term "and / or" used herein refers to and includes any or all possible combinations of one or more associated listed items.

[0038] It should be understood that although the terms first, second, third, etc. may be used in the present disclosure to describe various information, such information should not be limited to these terms. These terms are only used to distinguish the same type of information from each other. For example, without departing from the scope of the present disclosure, the first information may also be referred to as the second information, and similarly, the second information may also be referred to as the first information. Depending on the context, the word "if" as used herein may be interpreted as "at the time of" or "when" or "in response to determining".

[0039] The embodiments of the present invention are described in further detail below.

[0040] The embodiment of the present invention provides a multi-arm collaborative robot beverage making structure, which is applied to an automatic coffee machine, see Figure 1 As shown, it includes three robotic arms, which are a beverage receiving robotic arm 1, a latte art handling robotic arm 2, and a multi-category beverage making robotic arm 3. The beverage receiving robotic arm 1, the latte art handling robotic arm 2, and the multi-category beverage making robotic arm 3 are sequentially connected;

[0041] The three robotic arms can all hold beverage cups 4, among which the beverage receiving robotic arm 1 is mainly used to hold coffee cups, the latte art handling robotic arm 2 is mainly used to hold milk jugs, and the multi-category beverage making robotic arm 3 is mainly used to hold beverage cups of other types of beverages except coffee; the beverage receiving robotic arm 1 holds the coffee cup to complete the action of filling the coffee liquid, and the latte art handling robotic arm 2 holds the milk jug to complete the action of latte art. This setting method saves space for latte art operation and is closer to the actual manual operation posture of the barista.

[0042] The base of the beverage receiving robotic arm 1 is installed at the lower part of the coffee machine, and the arm claw of the beverage receiving robotic arm 1 is top-mounted; the base of the latte art handling robotic arm 2 is installed at the upper part of the coffee machine, and the arm claw of the latte art handling robotic arm 2 is bottom-mounted, and the arm claw extends from top to bottom on the base; the base of the multi-category beverage making robotic arm 3 is installed at the lower part of the coffee machine, and the arm claw of the multi-category beverage making robotic arm 3 is top-mounted, and the arm claw extends from bottom to top on the base.

[0043] The beverage receiving robot arm 1 includes 5 rotating joints and 5 rotational degrees of freedom, which can realize the motion methods such as rotation and tilting to complete the coffee liquid receiving. The latte art handling robot arm 2 includes 4 rotating joints and 4 rotational degrees of freedom, which can realize the motion methods such as movement and rotation to complete the operation of milk latte art. The multi-category beverage making robot arm 3 includes 5 rotating joints and 5 rotational degrees of freedom, which can realize the motion methods such as rotation and tilting to complete the production of multi-category beverages.

[0044] The front ends of the beverage receiving robot arm 1 and the multi-category beverage making robot arm 3 are both provided with a receiving claw 5, which includes: two claw fingers, the claw fingers are arc-shaped, the angle of the arc formed by the two claw fingers is greater than 270°, and the diameter of the arc formed by the two claw fingers is smaller than the diameter of the beverage cup mouth. The structure of the receiving claw 5 fits the actual posture of the palm of the beverage chef, lays a good foundation for the high-quality completion of beverage making, and is conducive to improving the effect of beverage making.

[0045] The front end of the latte art handling robot arm 2 is connected with a clamping claw 6, which includes two calipers that can move toward each other, and a jaw is formed between the two calipers. The jaw changes size as the calipers move, thereby firmly clamping containers such as milk jugs.

[0046] The embodiment of the present invention also provides a method for implementing a multi-arm collaborative robot beverage making method, which is applied to the multi-arm collaborative robot beverage making structure as described above, see Figure 2 As shown, the following steps are included:

[0047] S1. Setting the receiving points of the beverage receiving robot arm, calculating the receiving time of the beverage receiving robot arm according to the ratio of the raw materials required for the receiving points, and designing the motion trajectory of the beverage receiving robot arm;

[0048] S2, setting the transfer points between the beverage receiving robot arm and the latte art handling robot arm, calculating the latte art operation time of the latte art handling robot arm according to the ratio of raw materials required for the transfer points, and calculating and setting the initial position and end position of the latte art movement;

[0049] The method for setting the initial position and the end position of the latte art movement comprises: designing the spatial position and the angular posture of the beverage receiving robot arm and the latte art conveying robot arm at the initial position and the end position of the latte art movement, and planning the motion trajectory between the initial position and the end position;

[0050] S3, according to the motion trajectory between the initial position and the end position, executing the collaborative latte art operation between the beverage receiving robot arm and the latte art transporting robot arm to generate a latte art pattern;

[0051] S4. Set the delivery points between the latte art transporting robotic arm and the multi-category beverage making robotic arm, calculate the beverage making time of the multi-category beverage making robotic arm according to the ratio of raw materials required for the delivery points, design the motion trajectory of the multi-category beverage making robotic arm, and execute and complete the production of multi-category beverages.

[0052] The multi-arm collaborative beverage making adopted in this embodiment can be closer to the beverage working technique and trajectory. The bottom-mounted robotic arm can be closer to the posture state of human operation, and saves operating space, which can better approach the effect of artificial beverage making in the real state.

[0053] The multi-arm collaborative robot beverage making structure and implementation method of the present embodiment adopts a bottom-mounted structural movement mode of some of the robotic arms, combines the top-mounted robotic arm with the bottom-mounted robotic arm, redefines the trajectory of the robot's beverage making, and realizes the operation trajectory in the up and down movement directions. Compared with the existing coffee robots, it is closer to the actual posture state of the barista and saves operating space; it makes the beverage making method closer to the actual production method in the real state, and the pulled flower pattern is closer to the effect of manual pull flower, which improves the user experience of the coffee robot's beverage making effect.

[0054] An embodiment of the present invention further provides a computer device, Figure 3 is a schematic diagram of the structure of a computer device provided by an embodiment of the present invention; see the accompanying drawings Figure 3 As shown, the computer device includes: an input device 23, an output device 24, a memory 22 and a processor 21; the memory 22 is used to store one or more programs; when the one or more programs are executed by the one or more processors 21, the one or more processors 21 implement the multi-arm collaborative robot beverage making method provided in the above embodiment; wherein the input device 23, the output device 24, the memory 22 and the processor 21 can be connected by a bus or other means, Figure 3 The example of connecting through bus is taken in the following.

[0055] The memory 22 is a readable and writable storage medium of a computing device, which can be used to store software programs and computer executable programs, such as program instructions corresponding to the method for implementing the beverage making of a multi-arm collaborative robot described in an embodiment of the present invention; the memory 22 can mainly include a program storage area and a data storage area, wherein the program storage area can store an operating system and at least one application required for a function; the data storage area can store data created according to the use of the device, etc.; in addition, the memory 22 can include a high-speed random access memory, and can also include a non-volatile memory, such as at least one disk storage device, a flash memory device, or other non-volatile solid-state storage device; in some instances, the memory 22 can further include a memory remotely arranged relative to the processor 21, and these remote memories can be connected to the device via a network. Examples of the above-mentioned network include, but are not limited to, the Internet, an intranet, a local area network, a mobile communication network, and combinations thereof.

[0056] The input device 23 may be used to receive input digital or character information, and to generate key signal input related to user settings and function control of the device; the output device 24 may include a display device such as a display screen.

[0057] The processor 21 executes various functional applications and data processing of the device by running the software programs, instructions and modules stored in the memory 22, that is, realizes the above-mentioned multi-arm collaborative robot beverage making method.

[0058] The computer device provided above can be used to execute the multi-arm collaborative robot beverage making implementation method provided in the above embodiment, and has corresponding functions and beneficial effects.

[0059] The embodiment of the present invention also provides a storage medium containing computer executable instructions, which are used to execute the multi-arm collaborative robot beverage making implementation method provided by the above embodiment when executed by a computer processor. The storage medium is any of various types of memory devices or storage devices, and the storage medium includes: installation media, such as cD-ROM, floppy disk or tape device; computer system memory or random access memory, such as DRaM, DDRRaM, SRaM, EDO RaM, Rambus RaM, etc.; non-volatile memory, such as flash memory, magnetic media (such as hard disk or optical storage); registers or other similar types of memory elements, etc.; the storage medium may also include other types of memory or combinations thereof; in addition, the storage medium may be located in the first computer system in which the program is executed, or may be located in a different second computer system, the second computer system is connected to the first computer system via a network (such as the Internet); the second computer system may provide program instructions to the first computer for execution. The storage medium includes two or more storage media that can reside in different locations (for example, in different computer systems connected via a network). The storage medium can store program instructions (for example, specifically implemented as a computer program) that can be executed by one or more processors.

[0060] Of course, the storage medium containing computer executable instructions provided in an embodiment of the present invention is not limited to the multi-arm collaborative robot beverage making implementation method as described in the above embodiment, and can also execute related operations in the multi-arm collaborative robot beverage making implementation method provided in any embodiment of the present invention.

[0061] So far, the technical solutions of the present invention have been described in conjunction with the preferred embodiments shown in the accompanying drawings. However, it is easy for those skilled in the art to understand that the protection scope of the present invention is obviously not limited to these specific embodiments. Without departing from the principle of the present invention, those skilled in the art can make equivalent changes or substitutions to the relevant technical features, and the technical solutions after these changes or substitutions will fall within the protection scope of the present invention.

[0062] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. For those skilled in the art, the present invention may have various modifications and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention shall be included in the protection scope of the present invention.

Claims

1. A multi-arm collaborative robot beverage making structure, characterized in that: Applied to automatic coffee machines, including three robotic arms, including: a beverage receiving robotic arm, a latte art handling robotic arm, and a multi-category beverage making robotic arm, the beverage receiving robotic arm, the latte art handling robotic arm, and the multi-category beverage making robotic arm are sequentially connected; The base of at least one of the three robotic arms, namely, the beverage receiving robotic arm, the latte art transporting robotic arm, and the multi-category beverage making robotic arm, is installed at the bottom of the coffee machine. The arm claw of the robotic arm whose base is installed at the bottom of the coffee machine is top-mounted, and the arm claw extends from the base from bottom to top.

2. The multi-arm collaborative robot beverage making structure according to claim 1, characterized in that: The base of the beverage receiving robotic arm is installed at the lower part of the coffee machine, and the arm claw of the beverage receiving robotic arm is top-mounted; the base of the latte art handling robotic arm is installed at the upper part of the coffee machine, and the arm claw of the latte art handling robotic arm is bottom-mounted, and the arm claw extends from the base from top to bottom; the base of the multi-category beverage making robotic arm is installed at the lower part of the coffee machine, and the arm claw of the multi-category beverage making robotic arm is top-mounted, and the arm claw extends from the base from bottom to top.

3. The multi-arm collaborative robot beverage making structure according to claim 2, characterized in that: The beverage receiving mechanical arm comprises five rotational joints and has five rotational degrees of freedom.

4. The multi-arm collaborative robot beverage making structure according to claim 2, characterized in that: The lace art handling robot arm includes four rotating joints and has four rotational degrees of freedom.

5. The multi-arm collaborative robot beverage making structure according to claim 2, characterized in that: The multi-category beverage making robotic arm includes 5 rotational joints and has 5 rotational degrees of freedom.

6. The multi-arm collaborative robot beverage making structure according to claim 1, characterized in that: The front ends of the beverage receiving robotic arm and the multi-category beverage making robotic arm are both provided with a catching claw, and the catching claw comprises: two claw fingers, the claw fingers are arc-shaped, the angle of the arc formed by the two claw fingers is greater than 270°, and the diameter of the arc formed by the two claw fingers is smaller than the diameter of the beverage cup mouth.

7. The multi-arm collaborative robot beverage making structure according to claim 1, characterized in that: The front end of the lace-carrying robot arm is connected with a clamping claw, which includes two calipers. The two calipers can move toward each other, and a jaw is formed between the two calipers. The size of the jaw changes as the calipers move.

8. A method for implementing a beverage making method of a multi-arm collaborative robot, applied to the beverage making structure of a multi-arm collaborative robot as claimed in any one of claims 1 to 7, characterized in that: The following steps are involved: S1. Setting the receiving points of the beverage receiving robot arm, calculating the receiving time of the beverage receiving robot arm according to the ratio of the raw materials required for the receiving points, and designing the motion trajectory of the beverage receiving robot arm; S2, setting the transfer points between the beverage receiving robot arm and the latte art handling robot arm, calculating the latte art operation time of the latte art handling robot arm according to the ratio of raw materials required for the transfer points, and calculating and setting the initial position and end position of the latte art movement; The method for setting the initial position and the end position of the latte art movement comprises: designing the spatial position and the angular posture of the beverage receiving robot arm and the latte art conveying robot arm at the initial position and the end position of the latte art movement, and planning the motion trajectory between the initial position and the end position; S3, according to the motion trajectory between the initial position and the end position, executing the collaborative latte art operation between the beverage receiving robot arm and the latte art transporting robot arm to generate a latte art pattern; S4. Set the delivery points between the latte art transporting robotic arm and the multi-category beverage making robotic arm, calculate the beverage making time of the multi-category beverage making robotic arm according to the ratio of raw materials required for the delivery points, design the motion trajectory of the multi-category beverage making robotic arm, and execute and complete the production of multi-category beverages.

9. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the program is executed by the processor, the steps of the method for making beverages using a multi-arm collaborative robot are implemented as described in claim 8.

10. A computer device, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, characterized in that: When the processor executes the program, the steps of the method for implementing a multi-arm collaborative robot beverage making method as described in claim 8 are implemented.

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