Beverage producing and selling device with operation area safety detection function

Abstract

The utility model provides a beverage producing and selling device with an operation area safety detection function, aiming at a closed structure, the beverage producing and selling device is provided with a cabinet body, a mechanical arm is arranged in the cabinet body, one side of the cabinet body is provided with a movable cabinet door, a door moving switch is arranged from the cabinet door to the cabinet body, and when the cabinet door is opened, the door moving switch outputs a door opening signal to a main control module; and the main control module outputs a redundancy control signal, so that a power supply circuit from the main control module to the mechanical arm is disconnected, the mechanical arm stops moving, or the mechanical arm enters a cooperation mode. For an open structure, the mechanical arm and the monitoring module are arranged, and when the monitoring module monitors that a physical entity enters the movement range of the mechanical arm and / or the mechanical arm moves out of the safe movement range set by software, the main control module outputs a movement stopping signal to the mechanical arm, and the mechanical arm stops moving. According to the utility model, the use safety of the beverage producing and selling device can be improved.

Description

Technical Field

[0001] This utility model belongs to the technical field of beverage production and sales equipment, and in particular relates to a beverage production and sales equipment with a safety detection function for the work area. Background Technology

[0002] A beverage production and vending machine is an automated device that automates the entire process from beverage preparation to sales. Beverages include various types such as coffee, tea, juice, and milkshakes. These machines typically integrate multiple functions, including but not limited to raw material storage, beverage blending, preparation, packaging, and sales. Users can select their desired beverage and specifications via a touchscreen, and the machine will automatically prepare it according to a preset program and deliver it to the customer through a dispensing channel.

[0003] Under current technology, beverage production and vending devices include both closed and open structures. For closed structures, a movable cabinet door connects the internal and external spaces of the device, facilitating users to retrieve prepared beverages or maintenance personnel to maintain the internal equipment. However, when the internal mechanical structure is in motion, opening the cabinet door can easily cause injury to personnel and damage to the robotic arm itself. Existing redundant control methods for starting and stopping the robotic arm are insufficient, making it difficult to fully guarantee the safety of the beverage production and vending device. For open structures, since there is no external cabinet protection, users can easily enter the operating range of the robotic arm, or the robotic arm itself can malfunction and exceed the preset safety range, also easily causing injury to personnel and damage to the robotic arm. Utility Model Content

[0004] This utility model provides a beverage production and sales device with a work area safety detection function to solve the technical problem that conventional closed or open beverage production and sales devices under the existing technology cannot fully guarantee user safety and cannot achieve automatic monitoring and safety control of the start and stop of the robotic arm.

[0005] To solve the above problems, the technical solution of this utility model is: a beverage production and sales device with a work area safety detection function, characterized in that it includes:

[0006] A closed cabinet, the interior of which has storage space;

[0007] A beverage production and sales assembly is located inside the cabinet's internal storage space. The beverage production and sales assembly includes a mobile robotic arm and a beverage raw material storage mechanism. The robotic arm is used to prepare and transport beverages within the cabinet's internal storage space.

[0008] The cabinet has a movable cabinet door on one side, which connects the internal storage space of the cabinet to the external space.

[0009] The main control module is used to provide control signals to the robotic arm;

[0010] A door switch is provided between the cabinet door and the cabinet body. It is configured such that when the cabinet door is opened, the door switch outputs a door open signal to the main control module. The main control module outputs a redundant control signal to disconnect the power supply line from the main control module to the robotic arm. The robotic arm adjusts to a stop state through incremental changes, or the main control module controls the robotic arm to enter a cooperative mode.

[0011] Preferably, the main control module is provided with a first power supply output terminal, a first door movement signal output terminal and a second door movement signal output terminal, and the power supply line from the main control module to the robotic arm is provided with a first relay and a second relay configured in series;

[0012] The first power supply output terminal is connected to the contact group of the first and second relays, the first door movement signal output terminal is connected to the coil of the first relay, and the second door movement signal output terminal is connected to the coil of the second relay. It is configured such that when the door movement switch outputs a door open signal to the main control module, the first control signal and the redundant second control signal output by the first door movement signal output terminal and the second door movement signal output terminal respectively de-energize the coils of the first and second relays, thereby driving the contact group of the first and second relays to disconnect respectively, enabling the power supply line from the main control module to the robotic arm to be disconnected, and the robotic arm to stop moving.

[0013] Preferably, the door switch includes a contact sensor, a photoelectric sensor, a visual recognition sensor, a Hall effect sensor, an angle sensor, or an ultrasonic sensor.

[0014] Preferably, a beverage production and sales device with a work area safety detection function includes a refrigerant sensor and an exhaust fan. The refrigerant sensor and the exhaust fan are electrically connected to the main control module. The refrigerant sensor is arranged outside the compressor of the beverage raw material storage mechanism to detect the refrigerant gas content in the internal storage space of the cabinet. The exhaust fan is arranged on the side wall of the cabinet. When the refrigerant gas content in the internal storage space of the cabinet exceeds a preset threshold, the exhaust fan is activated to ventilate the internal storage space of the cabinet.

[0015] Preferably, the main control module is provided with a second power supply output terminal, a first refrigerant signal output terminal and a second refrigerant signal output terminal, and a third relay and a fourth relay are connected in series in the power supply line from the main control module to the compressor;

[0016] The second power supply output terminal is connected to the contact group of the third and fourth relays, the first refrigerant signal output terminal is connected to the coil of the third relay, and the second refrigerant signal output terminal is connected to the coil of the fourth relay. It is configured such that when the refrigerant gas content in the internal space environment of the cabinet exceeds a preset threshold, the third control signal and the redundant fourth control signal output by the first and second refrigerant signal output terminals respectively de-energize the coils of the third and fourth relays, thereby driving the contact groups of the third and fourth relays to disconnect respectively, enabling the power supply line from the main control module to the compressor to be disconnected, and the compressor to stop working.

[0017] Preferably, a beverage production and sales device with a work area safety detection function includes a camera module, which is electrically connected to the main control module. The camera module is located in the internal storage space of the cabinet and is used to detect the activity of ants and insects in the internal storage space of the cabinet. It is configured such that when the camera module detects the presence of ants and insects in the internal storage space of the cabinet, the main control module actively outputs a motion stop signal to the robotic arm through a first control line.

[0018] Based on the same concept, this utility model also provides a beverage production and sales device with a work area safety detection function, comprising:

[0019] An open-type beverage production and sales assembly includes a mobile robotic arm and a beverage raw material storage mechanism. The robotic arm is used to prepare and transport beverages.

[0020] In the horizontal direction, the safe range of motion of the robotic arm is a first area, the cross-sectional area of ​​the beverage production and sales component is a second area, and the direction in which the external physical entity moves toward the center of the beverage production and sales component is a first direction, while the direction in which the robotic arm moves away from the center of the beverage production and sales component is a second direction.

[0021] A monitoring module is disposed at the circumferential boundary of the first region and the second region, and is used to monitor the physical entity passing through the vertical boundary of the second region along the first direction, and the robotic arm passing through the vertical boundary of the first region along the second direction.

[0022] The main control module is used to provide control signals to the robotic arm;

[0023] Configured such that when the monitoring module detects that a physical entity passes through the boundary of the second region along a first direction, and / or the robotic arm passes through the boundary of the first region along a second direction, the main control module outputs a motion stop signal to the robotic arm, and the robotic arm stops moving.

[0024] Preferably, the monitoring module includes several photoelectric sensors or laser sensors.

[0025] Preferably, the robotic arm is a collaborative robotic arm with a collision self-check function, and the surface of the robotic arm is redundantly equipped with touch sensors. The touch sensors are electrically connected to the main control module and are configured such that when the robotic arm touches a non-preset object, in addition to the robotic arm's own collision self-check, the main control module outputs a motion stop signal to the robotic arm, and the robotic arm stops moving.

[0026] Preferably, the beverage production and vending device is equipped with an emergency stop button, which is used to control the robotic arm to stop moving urgently from outside the beverage production and vending device.

[0027] Because of the adoption of the above technical solution, this utility model has the following advantages and positive effects compared with the prior art:

[0028] This utility model provides a beverage production and vending device with a safety detection function for the work area, including a closed structure and an open structure. For the closed beverage production and vending device, a cabinet is provided, inside which a movable robotic arm is installed. A movable cabinet door is also provided on the side wall of the cabinet. A door switch is configured between the cabinet door and the cabinet body. When the cabinet door is opened, the door switch outputs a door open signal to the main control module. Two sets of redundant relays are provided in the power supply line from the main control module to the robotic arm. By de-energizing the coils of the two sets of relays, the power supply line from the main control module to the robotic arm is disconnected, thereby stopping the robotic arm's movement or putting it into a cooperative mode. Through the relay redundancy, even if any relay fails or any door open signal output terminal malfunctions, the start and stop control of the robotic arm can still be achieved, improving the safety of the beverage production and vending device. For open-type beverage production and vending devices, the maximum safe operating range of the robotic arm is set as the first area, and the cross-sectional range of the beverage production and vending components is set as the second area. By monitoring the vertical boundaries of the first and second areas, when a physical entity crosses the boundary of the second area from the outside in, and / or when the robotic arm crosses the boundary of the first area from the inside out, the main control module outputs a motion stop signal to the robotic arm to prevent personnel from accidentally entering the robotic arm's operating area, and to prevent the robotic arm from exceeding its safe operating area due to malfunction, thereby improving the safety of the beverage production and vending device. Attached Figure Description

[0029] Figure 1 This utility model provides a front view of a closed beverage production and sales device;

[0030] Figure 2 This utility model provides a side view of a closed beverage production and sales device;

[0031] Figure 3 This utility model provides a schematic diagram of the control circuit structure of a closed beverage production and sales device;

[0032] Figure 4 This utility model provides a front view of an open-type beverage production and sales device;

[0033] Figure 5 This utility model provides a top view structural diagram of the range of motion of a robotic arm in an open-type beverage production and sales device.

[0034] Explanation of reference numerals in the attached drawings: 1: Cabinet; 2: Robotic arm; 3: Beverage ingredient storage mechanism; 4: Cabinet door; 5: Main control module; 6: Door switch; 7: First relay; 8: Second relay; 9: Compressor; 10: Refrigerant sensor; 11: Third relay; 12: Fourth relay; 13: Camera module; 14: Motion mechanism; 15: First area; 16: Second area; 17: Monitoring module. Detailed Implementation

[0035] The following detailed description, in conjunction with the accompanying drawings and specific embodiments, provides a beverage production and sales device with a work area safety detection function, according to this utility model. The advantages and features of this utility model will become clearer from the following description and claims.

[0036] First Embodiment

[0037] See Figures 1-3 This embodiment provides a beverage production and sales device with a work area safety detection function. Its main structure includes a cabinet 1, beverage production and sales components and a main control module 5.

[0038] The cabinet 1 is a relatively enclosed structure. The interior of the cabinet 1 has a storage space for arranging beverage production and sales components and main control module 5, etc. That is, the beverage production process of the beverage production and sales device is completed inside the cabinet 1, and the user completes the ordering and cup picking actions from the outside of the cabinet 1. The cabinet 1 can protect the internal mechanical structure and electronic components of the beverage production and sales device from the influence of the external environment, and prevent the user from directly touching the internal mechanical structure of the beverage production and sales device, thereby reducing the risk of personal injury.

[0039] The beverage production and sales components are housed within the internal storage space of cabinet 1. These components include a mobile robotic arm 2 (the specific structure of the robotic arm 2 is described in detail below). Figures 1-2 Not directly shown in the text, please refer to [the relevant document / reference]. Figure 4 (as shown) and beverage ingredient storage mechanism 3 (the specific structure of beverage ingredient storage mechanism 3 is shown in...) Figures 1-2 Not directly shown in the text, please refer to [the relevant document / reference]. Figure 4As shown, the robotic arm 2 is an automated device capable of performing complex actions. In this embodiment, it can be programmed to precisely complete a series of operations such as picking up cups, picking up ingredients, stirring, and sealing, thus realizing the preparation and delivery of beverages within the internal storage space of the cabinet 1. The beverage ingredient storage mechanism 3 is used to classify and store different types of ingredients, working in conjunction with the robotic arm 2 to realize the production process of different types of beverages.

[0040] A movable cabinet door 4 is provided on one side of the cabinet body 1, which connects the internal storage space of the cabinet body 1 to the external space. In one embodiment, the cabinet door 4 includes a cup-taking opening with a small opening area, or a cup-taking window with a large opening area. After the beverage production and vending components have completed the beverage preparation, the user needs to open the cabinet door 4 from the outside of the beverage production and vending device, manually take the beverage from a designated location (such as the cup-taking area) inside the storage space of the cabinet body 1, and then close the cabinet door 4 to complete the entire process from beverage preparation to cup taking. In another embodiment, the cabinet door 4 also includes a maintenance window. When maintenance personnel need to perform maintenance work on the internal mechanical structure, electronic components, etc. of the beverage production and vending device, they also need to open the cabinet door 4 from the outside of the beverage production and vending device to enter the internal storage space of the cabinet body 1.

[0041] The main control module 5 is used to supply power to the robotic arm 2, provide operation control commands, and adjust the working mode of the robotic arm 2. In this embodiment, when the robotic arm 2 is in a power-off state, the robotic arm 2 will be in a stopped state. At the same time, in this embodiment, the robotic arm 2 adopts a cooperative robotic arm. When the cabinet door 4 is closed, the robotic arm 2 can maintain high-speed movement. When the cabinet door 4 is open, the robotic arm 2 can switch from high-speed movement mode to cooperative movement mode according to the mode adjustment signal output by the main control module. The cooperative mode of the robotic arm 2 means that the robotic arm 2 itself has functions such as safety monitoring and stopping, manual guidance, and power limiting.

[0042] A door switch 6 is installed between cabinet door 4 and cabinet body 1. Door switch 6 is electrically connected to the main control module 5. When cabinet door 4 is open, door switch 6 outputs a door open signal to the main control module 5; when cabinet door 4 is closed, door switch 6 outputs a door closed signal to the main control module 5. When door switch 6 outputs a door open signal to the main control module 5, the main control module 5 can output redundant control signals to the power supply line of the robotic arm 2, causing the power supply to the robotic arm 2 to be disconnected, thus de-energizing the robotic arm 2. The robotic arm 2 then gradually slows down to a stationary state through incremental changes. Alternatively, the main control module 5 can output redundant control signals to the power supply line of the robotic arm 2, maintaining power to the robotic arm 2 and controlling it to enter a cooperative mode.

[0043] In summary, this embodiment provides a beverage production and vending device with a work area safety detection function. When the cabinet door 4 is opened, the door switch 6 outputs a door open signal to the main control module 5, further disconnecting the power supply line from the main control module 5 to the robotic arm 2, causing the robotic arm 2 to stop moving. Specifically, the on / off control method of the power supply line from the main control module 5 to the robotic arm 2 adopts a redundant setting. Even if a single control line fails, the robotic arm 2 can still be stopped when the cabinet door 4 is open. This prevents injury to users or maintenance personnel when their hands are inserted into the internal space of the cabinet 1, and also prevents damage to the robotic arm 2, thereby improving the safety of the beverage production and vending device. Alternatively, when the cabinet door 4 is opened, the door switch 6 outputs a door open signal to the main control module 5. While maintaining power supply to the robotic arm 2, the main control module 5 controls the robotic arm 2 to enter a cooperative mode, which also improves the safety of the beverage production and vending device.

[0044] The following will provide a more detailed description of the specific structure and function of the beverage production and sales device with work area safety detection function provided in this embodiment:

[0045] Preferably, in one embodiment, the main control module 5 is provided with a first power supply output terminal Vcc1, a first door movement signal output terminal Out1 and a second door movement signal output terminal Out2, and the power supply line from the main control module 5 to the robotic arm 2 is provided with a first relay 7 and a second relay 8 configured in series.

[0046] The first power supply output terminal Vcc1 is connected to the contact group of the first relay 7 and the second relay 8. The first door movement signal output terminal Out1 is connected to the coil of the first relay 7, and the second door movement signal output terminal Out2 is connected to the coil of the second relay 8. Specifically, the first power supply output terminal Vcc1 supplies power to the robotic arm 2 via the contact group of the first relay 7 and the second relay 8. The first door movement signal output terminal Out1 and the second door movement signal output terminal Out2 are used to control the on / off state of the coils of the first relay 7 and the second relay 8, respectively. Furthermore, according to existing technology, in a set of relays, when no current flows through the relay coil, the relay contact group maintains its default state, i.e., its normally closed contact is connected to the common contact, and its normally open contact is disconnected from the common contact. When current flows through the relay coil, the coil generates a magnetic field, and the connection state of the relay contact group changes, i.e., its normally closed contact is disconnected from the common contact, and its normally open contact is closed. When the current is removed from the relay coil, the relay contact group returns to its initial default state.

[0047] Therefore, in this embodiment, when the cabinet door 4 is opened, the door switch 6 outputs a door open signal to the main control module 5. Subsequently, the main control module 5 outputs a first control signal through the first door action signal output terminal Out1 to de-energize the coil of the first relay 7. Simultaneously, the main control module 5 outputs a redundant second control signal through the second door action signal output terminal Out2 to de-energize the coil of the second relay 8. This drives the contact groups of the first relay 7 and the second relay 8 to disconnect, thus breaking the power supply line from the main control module 5 to the robotic arm 2, and stopping the robotic arm 2. In this embodiment, the contact groups of the first relay 7 and the second relay 8 in the power supply line from the main control module 5 to the robotic arm 2 are connected in series. Therefore, even if any relay fails, or any door action signal output terminal of the main control module 5 fails, it can still be guaranteed that when the cabinet door 4 is opened, the power supply line from the main control module 5 to the robotic arm 2 is broken, and the robotic arm 2 stops moving.

[0048] Preferably, in one embodiment, the door switch 6 includes any one of a contact sensor, a photoelectric sensor, a visual recognition sensor, a Hall effect sensor, an angle sensor, or an ultrasonic sensor.

[0049] Taking a through-beam photoelectric sensor as an example, the receiver of the photoelectric sensor is arranged on the inner wall of the cabinet door 4, and the transmitter of the photoelectric sensor is located in the internal accommodating space of the cabinet 1. The transmitter is arranged facing the inside of the cabinet door 4. When the cabinet door 4 is closed, the light beam output by the transmitter of the photoelectric sensor is received by its receiver. When the cabinet door 4 is open, the angle of the cabinet door 4 changes, and the light beam output by the transmitter of the photoelectric sensor cannot be received by its receiver. Thus, the real-time monitoring of the opening and closing status of the cabinet door 4 can be realized.

[0050] Preferably, in one embodiment, the beverage ingredient storage mechanism 3 is equipped with a compressor 9. In the refrigeration cycle, the compressor 9 is responsible for compressing the low-temperature, low-pressure refrigerant gas into a high-temperature, high-pressure gas, enabling the beverage ingredient storage mechanism 3 to have the function of low-temperature preservation and refrigeration of ingredients. The compressor 9 is powered by the main control module 5 and operates when the compressor 9 is powered off.

[0051] The beverage production and sales device is also equipped with a refrigerant sensor 10 and an exhaust fan. The refrigerant sensor 10 and the exhaust fan are electrically connected to the main control module 5. The refrigerant sensor 10 is arranged outside the compressor 9 of the beverage raw material storage mechanism 3 to detect the refrigerant gas content in the internal storage space of the cabinet 1. The exhaust fan is arranged on the side wall of the cabinet 1. When the refrigerant gas content in the internal storage space of the cabinet 1 exceeds a preset threshold, the exhaust fan is activated to ventilate the internal storage space of the cabinet 1 and prevent refrigerant gas from accumulating in the relatively enclosed internal storage space of the cabinet 1.

[0052] In one embodiment, in the early stage of refrigerant gas leakage, the refrigerant sensor 10 is used to detect the refrigerant gas content in the environment of the internal containment space of the cabinet 1. When the refrigerant gas content exceeds the alarm threshold, the main control module 5 will first output an alarm signal to the host computer to remind the maintenance personnel that there is a refrigerant leak in the compressor 9.

[0053] Furthermore, the main control module 5 is equipped with a second power supply output terminal Vcc2, a first refrigerant signal output terminal Out3 and a second refrigerant signal output terminal Out4, and a third relay 11 and a fourth relay 12 configured in series in the power supply line from the main control module 5 to the compressor 9.

[0054] The second power supply output terminal Vcc2 is connected to the contact group of the third relay 11 and the fourth relay 12. The first refrigerant signal output terminal Out3 is connected to the coil of the third relay 11, and the second refrigerant signal output terminal Out4 is connected to the coil of the fourth relay 12. Specifically, the second power supply output terminal Vcc2 supplies power to the compressor 9 via the contact group of the third relay 11 and the fourth relay 12, while the first refrigerant signal output terminal Out3 and the second refrigerant signal output terminal Out4 are used to control the on / off state of the coils of the third relay 11 and the fourth relay 12, respectively.

[0055] Similarly, in this embodiment, when the refrigerant gas content in the internal storage space of the cabinet 1 exceeds a preset threshold, the refrigerant sensor 10 outputs an alarm signal to the main control module 5. Subsequently, the main control module 5 outputs a third control signal through the first refrigerant signal output terminal Out3 to de-energize the third relay 11. At the same time, the main control module outputs a redundant fourth control signal through the second refrigerant signal output terminal Out4 to de-energize the fourth relay 12, thereby driving the contact groups of the third relay 11 and the fourth relay 12 to disconnect respectively, enabling the power supply line from the main control module 5 to the compressor 9 to be disconnected, and the compressor 9 to stop operating. In this embodiment, the contact groups of the third relay 11 and the fourth relay 12 in the power supply line from the main control module 5 to the compressor 9 are connected in series. Therefore, even if any relay fails or any refrigerant signal output terminal of the main control module 5 fails, it can still be guaranteed that when the refrigerant gas content in the internal containment space of the cabinet 1 exceeds the preset threshold, the power supply line from the main control module 5 to the compressor 9 will be disconnected, the compressor 9 will stop operating, and the compressor 9 will be prevented from continuously leaking cold source gas to the outside, which could cause health effects on users or maintenance personnel.

[0056] Preferably, in one embodiment, the beverage production and vending device further includes a camera module 13, which is electrically connected to the main control module 5. The camera module 13 is located in the internal storage space of the cabinet 1 and is used to detect the activity of ants and insects in the internal storage space of the cabinet 1. When the camera module 13 detects the presence of ants and insects in the internal storage space of the cabinet 1, the main control module 5 actively outputs a motion stop signal to the robotic arm 2, causing the robotic arm 2 to stop working. At the same time, the beverage production and vending device stops operating externally, and the main control module 5 outputs an alarm signal to the host computer to remind maintenance personnel to clean the internal storage space of the cabinet 1 in a timely manner.

[0057] Preferably, in one embodiment, the beverage production and vending device is further provided with several motion mechanisms 14, which can realize motion functions, such as a cup-grabbing mechanism that can generate motion movements. The control method of the motion mechanism 14 is the same as that of the robotic arm 2, and it is also provided with a start-stop redundant control means (i.e., a second relay 8 is respectively set in series with the first relay 7). When the cabinet door 4 is opened, all motion mechanisms 14 stop moving. This embodiment will not repeat the description. At the same time, the beverage production and vending device is provided with several compressors 9. The control method of any compressor 9 is the same as described above (i.e., a fourth relay 12 is respectively set in series with the third relay 11). When the refrigerant gas content in the internal storage space of the cabinet 1 exceeds a preset threshold, all compressors 9 stop operating. This embodiment will also not repeat the description.

[0058] Preferably, in one embodiment, the beverage production and sales device is also equipped with an emergency stop button on the outside of its cabinet 1, which can realize the emergency braking function of the robotic arm 2 in an emergency.

[0059] Second Embodiment

[0060] Based on the same concept, see Figures 4-5 This utility model also provides a beverage production and sales device with a safety detection function for the work area, the main structure of which includes a beverage production and sales component, a monitoring module 17 and a main control module 5.

[0061] Among them, the beverage production and sales component is an open-type setup, that is, there is no protective isolation structure outside the beverage production and sales device (such as an open beverage bar). The beverage production and sales component includes a mobile robotic arm 2 and a beverage raw material storage mechanism 3. The robotic arm 2 is used to prepare and transport beverages.

[0062] In the horizontal direction, the maximum safe range of motion of the robotic arm 2 is the first area 15, which is preset by the software control program of the robotic arm 2. The overall cross-sectional area of ​​the beverage production and sales component is the second area 16. The area of ​​the first area 15 is smaller than that of the second area 16, and the direction in which the external physical entity moves toward the center of the beverage production and sales component is the first direction, while the direction in which the robotic arm 2 moves away from the center of the beverage production and sales component is the second direction.

[0063] The monitoring module 17 is located at the circumferential boundary of the first region 15 and the second region 16, and is used to monitor the physical entity passing through the vertical boundary of the second region 16 along the first direction, and the robotic arm 2 passing through the vertical boundary of the first region 15 along the second direction.

[0064] The main control module 5 is used to provide control signals to the robotic arm 2 to guide the robotic arm 2 to perform actions in real time.

[0065] In this embodiment, when the monitoring module 17 detects a physical entity passing through the boundary of the second region 16 along the first direction, and / or a robotic arm 2 passing through the boundary of the first region 15 along the second direction, it proves that a human body or object has entered the activity range of the robotic arm 2, and / or the robotic arm 2 has exceeded its preset safe activity area. The main control module 5 outputs a motion stop signal to the robotic arm 2, and the robotic arm 2 stops moving to prevent the user's hand or hard object from entering the activity range of the robotic arm 2, preventing injury to personnel caused by the movement of the robotic arm 2, and preventing damage to the robotic arm 2, thereby improving the safety of the beverage production and sales device.

[0066] The following will provide a more detailed description of the specific structure and function of the beverage production and sales device with work area safety detection function provided in this embodiment:

[0067] Preferably, in one embodiment, the monitoring module 17 includes a plurality of photoelectric sensors or laser sensors. Taking laser sensors as an example, a plurality of laser sensors are arranged along the circumferential boundaries of the first region 15 and the second region 16. The light source output ends of the laser sensors are arranged vertically upward, forming a vertically extending light curtain along the circumferential boundaries of the first region 15 and the second region 16. When a physical entity passes through the light curtain only through the boundary of the second region 16, or when the robotic arm 2 passes through the light curtain only through the boundary of the first region 15, the main control module 5 outputs a motion stop signal to the robotic arm 2.

[0068] Preferably, in one embodiment, the robotic arm 2 is a collaborative robotic arm with a collision self-check function. That is, when the robotic arm 2 detects a collision, it can automatically stop moving. In order to increase its redundancy and safety performance, the surface of the robotic arm 2 is redundantly provided with several touch sensors. The touch sensors are electrically connected to the main control module 5. When the robotic arm 2 touches a non-preset object in the movement path, in addition to the robotic arm 2's own collision self-check to stop the movement, the main control module 5 also outputs a movement stop signal to the robotic arm 2, and the robotic arm 2 stops moving. By setting up start-stop redundancy control means, the movement safety of the robotic arm 2 is improved.

[0069] Similarly, when there is no physical entity passing through the boundary of the second region 16 along the first direction, and / or when there is a robotic arm 2 passing through the boundary of the first region 15 along the second direction, the robotic arm 2 can maintain high-speed movement. When there is a physical entity passing through the boundary of the second region 16 along the first direction, and / or when there is a robotic arm 2 passing through the boundary of the first region 15 along the second direction, the robotic arm 2 switches from high-speed movement mode to cooperative movement mode, that is, the robotic arm 2 realizes manual dragging function, which facilitates maintenance operations of the robotic arm 2 in the stopped state.

[0070] Preferably, in one embodiment, the beverage production and sales device is also provided with an emergency stop button outside its second area 16, which can realize the emergency braking function of the robotic arm 2 in an emergency.

[0071] In summary, this utility model provides a beverage production and sales device with a safety detection function for the work area, including a closed structure and an open structure. For the closed beverage production and sales device, a cabinet 1 is provided, inside which a movable robotic arm 2 is installed. A movable cabinet door 4 is also provided on the side wall of the cabinet 1. A door switch 6 is configured between the cabinet door 4 and the cabinet 1. When the cabinet door 4 is opened, the door switch 6 outputs a door open signal to the main control module 5. Two sets of redundant relays are provided in the power supply line from the main control module 5 to the robotic arm 2. By de-energizing the coils of the two sets of relays, the power supply line from the main control module 5 to the robotic arm 2 is disconnected, thereby stopping the robotic arm 2. Through the relay redundancy, even if any relay fails or any door open signal output terminal malfunctions, the start and stop control of the robotic arm 2 can still be achieved, improving the safety of the beverage production and sales device. For open-type beverage production and sales devices, the maximum safe operating range of the robotic arm 2 is set as the first area 15, and the cross-sectional range of the beverage production and sales components is set as the second area 16. By monitoring the vertical boundaries of the first area 15 and the second area 16, when a physical entity crosses the boundary of the second area 16 from the outside in, and / or when the robotic arm 2 crosses the boundary of the first area 15 from the inside out, the main control module 5 outputs a motion stop signal to the robotic arm 2 to prevent personnel from accidentally entering the operating area of ​​the robotic arm 2, and to prevent the robotic arm 2 from exceeding its safe operating range due to malfunction, thereby improving the safety of the beverage production and sales device.

[0072] The embodiments of the present invention have been described in detail above with reference to the accompanying drawings, but the present invention is not limited to the above embodiments. Even if various changes are made to the present invention, if these changes fall within the scope of the claims of the present invention and their equivalents, they shall still fall within the protection scope of the present invention.

Claims

1. A beverage production and sales device with a work area safety detection function, characterized in that, include: A closed cabinet, the interior of which has storage space; A beverage production and sales assembly is located inside the cabinet's internal storage space. The beverage production and sales assembly includes a mobile robotic arm and a beverage raw material storage mechanism. The robotic arm is used to prepare and transport beverages within the cabinet's internal storage space. The cabinet has a movable cabinet door on one side, which connects the internal storage space of the cabinet to the external space. The main control module is used to provide control signals to the robotic arm; A door switch is provided between the cabinet door and the cabinet body. It is configured such that when the cabinet door is opened, the door switch outputs a door open signal to the main control module. The main control module outputs a redundant control signal to disconnect the power supply line from the main control module to the robotic arm. The robotic arm adjusts to a stop state through incremental changes, or the main control module controls the robotic arm to enter a cooperative mode.

2. The beverage production and sales device with work area safety detection function as described in claim 1, characterized in that, The main control module is provided with a first power supply output terminal, a first door movement signal output terminal and a second door movement signal output terminal, and the power supply line from the main control module to the robotic arm is provided with a first relay and a second relay configured in series; The first power supply output terminal is connected to the contact group of the first and second relays, the first door movement signal output terminal is connected to the coil of the first relay, and the second door movement signal output terminal is connected to the coil of the second relay. It is configured such that when the door movement switch outputs a door open signal to the main control module, the first control signal and the redundant second control signal output by the first door movement signal output terminal and the second door movement signal output terminal respectively de-energize the coils of the first and second relays, thereby driving the contact group of the first and second relays to disconnect respectively, enabling the power supply line from the main control module to the robotic arm to be disconnected, and the robotic arm to stop moving.

3. The beverage production and sales device with work area safety detection function as described in claim 1, characterized in that, The door switch includes a contact sensor, photoelectric sensor, visual recognition sensor, Hall effect sensor, angle sensor, or ultrasonic sensor.

4. The beverage production and sales device with work area safety detection function as described in claim 1, characterized in that, The system includes a refrigerant sensor and an exhaust fan. The refrigerant sensor and the exhaust fan are electrically connected to the main control module. The refrigerant sensor is located outside the compressor of the beverage raw material storage mechanism and is used to detect the refrigerant gas content in the internal storage space of the cabinet. The exhaust fan is located on the side wall of the cabinet. When the refrigerant gas content in the internal storage space of the cabinet exceeds a preset threshold, the exhaust fan is activated to ventilate the internal storage space of the cabinet.

5. The beverage production and sales device with work area safety detection function as described in claim 4, characterized in that, The main control module is provided with a second power supply output terminal, a first refrigerant signal output terminal and a second refrigerant signal output terminal, and a third relay and a fourth relay are connected in series in the power supply line from the main control module to the compressor; The second power supply output terminal is connected to the contact group of the third and fourth relays, the first refrigerant signal output terminal is connected to the coil of the third relay, and the second refrigerant signal output terminal is connected to the coil of the fourth relay. It is configured such that when the refrigerant gas content in the internal space environment of the cabinet exceeds a preset threshold, the third control signal and the redundant fourth control signal output by the first and second refrigerant signal output terminals respectively de-energize the coils of the third and fourth relays, thereby driving the contact groups of the third and fourth relays to disconnect respectively, enabling the power supply line from the main control module to the compressor to be disconnected, and the compressor to stop working.

6. The beverage production and sales device with work area safety detection function as described in claim 1, characterized in that, The system includes a camera module electrically connected to the main control module. The camera module is located inside the cabinet and is used to detect insect activity in the cabinet. It is configured such that when the camera module detects insects in the cabinet, the main control module actively outputs a motion stop signal to the robotic arm through a first control line.

7. A beverage production and sales device with a work area safety detection function, characterized in that, include: An open-type beverage production and sales assembly includes a mobile robotic arm and a beverage raw material storage mechanism. The robotic arm is used to prepare and transport beverages. In the horizontal direction, the safe range of motion of the robotic arm is a first area, the cross-sectional area of ​​the beverage production and sales component is a second area, and the direction in which the external physical entity moves toward the center of the beverage production and sales component is a first direction, while the direction in which the robotic arm moves away from the center of the beverage production and sales component is a second direction. A monitoring module is disposed at the circumferential boundary of the first region and the second region, and is used to monitor the physical entity passing through the vertical boundary of the second region along the first direction, and the robotic arm passing through the vertical boundary of the first region along the second direction. The main control module is used to provide control signals to the robotic arm; Configured such that when the monitoring module detects that a physical entity passes through the boundary of the second region along a first direction, and / or the robotic arm passes through the boundary of the first region along a second direction, the main control module outputs a motion stop signal to the robotic arm, and the robotic arm stops moving.

8. The beverage production and sales device with work area safety detection function as described in claim 7, characterized in that, The monitoring module includes several photoelectric sensors or laser sensors.

9. The beverage production and sales device with work area safety detection function as described in claim 7, characterized in that, The robotic arm is a collaborative robotic arm with a collision self-check function. The surface of the robotic arm is redundantly equipped with touch sensors, which are electrically connected to the main control module. The touch sensors are configured such that when the robotic arm touches a non-preset object, in addition to the robotic arm's own collision self-check, the main control module outputs a motion stop signal to the robotic arm, and the robotic arm stops moving.

10. The beverage production and sales device with work area safety detection function as described in claim 1 or 7, characterized in that, The beverage production and vending device is equipped with an emergency stop button, which can be used to control the robotic arm to stop moving urgently from outside the beverage production and vending device.

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