JPH0538687A - Hand control device for cup-type vending machines - Google Patents

Abstract

(57) [Abstract] [Purpose] To provide a cup-type vending machine that handles and cooks cups with a robot hand, and that can automatically correct position control errors due to aging of the drive system of the robot hand. The purpose is to [Structure] A second routine # 30 having a reading unit for measuring the amount of movement until the robot hand actually stops by braking when approaching a position specified by the coordinate data indicating the stop position, and A correction unit # 50 for correcting the subsequent coordinate data based on the measurement value is provided, and the coordinate data is automatically corrected by the correction unit based on the measurement value collected by the reading unit during operation.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a cup-type vending machine, and more particularly to a cup-type vending machine in which a cup dispensed from a cup dispenser is received and conveyed by a robot hand.

[0002]

2. Description of the Related Art As a cup type vending machine of this type,
An example is a cup-mixing type vending machine. This is the vending machine body 1 as shown in FIG. 4 and FIG.
An X-axis table 2 and a Y-axis table 3 are installed in the refrigerator. Here, the X-axis table 2 is used for the Y-axis table 3
Is driven in the depth direction in the refrigerator, and a robot hand 5 for handling the cup 4 is attached to the Y-axis table 3.

At the standby position, the robot hand 5 is in the position shown by the solid line in FIG. 4, and as shown in FIG. 7, the beverage in a cup is dispensed to the product outlet through [Step 1] to [Step 4]. In the example shown in FIG. 4, the first to third cup dispensers 11 to 13, the first to third canisters 14 to 16, the hot water supply pipe 17 and the like are arranged, and 18 is a cup facing the outlet 19. Represents a station.

As the X-axis motor 6 for driving the X-axis table 2 and the Y-axis motor 7 for driving the Y-axis table 3, both DC motors with encoders are used. Specifically, a code plate is attached to the output shaft of the X-axis motor 6,
The code plate is read by the reading device 21 to obtain the number of detection pulses corresponding to the rotation angle. The same applies to the Y-axis motor 7.

A hand position controller 8 for driving the X-axis motor 6 and the Y-axis motor 7 is provided in the controller 9 as shown in FIGS. The control device 9 includes coordinate data N _X , N _Y of stop positions in the refrigerator and control data ∂ _X , ∂.
A coordinate data storage unit 10 in which _Y is written is provided.

Coordinate data N _X , N _Y of the stop position in the refrigerator
Specifically, it is written as shown below. Coordinate data of stop position N _X N _{Y From the} standby position to the first cup dispenser a _X a _{Y From the} standby position to the second cup dispenser b _X b _{Y From the} standby position to the third cup dispenser c _X c _Y The first cup dispenser From first canister d _X d _Y from second cup dispenser to first canister e _X e _Y from third cup dispenser to first canister f _X f _Y first canister to second canister g _X g _Y From the second canister to the third canister h _X h _{Y From} the third canister Hot water supply position i _X i _{Y From the} hot water supply position to the position immediately before the cup station j _X j _{Y From the} position immediately before the cup station to the cup station k _X k _Y Position immediately before the cup station From the standby position l _X l _Y [Process 1], the robot hand 5 moves from the standby position to the first position.
~ Move to a position in the third cup dispenser 11-13 based on the content of the sale at that time. When the cup 4 set in the first cup dispenser 11 is used, “N _X = a _X ” “N _Y = a” is read from the coordinate data storage unit 10.
_Y ", the control data ∂ _X, ∂ _Y is supplied to the hand position controller 8 is read.

In the hand position controller 8, the first position shown in FIG.
The routine 20 of is executed. X axis from the hand position controller 8
In the motor 6, the number of detection pulses of the reading device 21 is (a _X −∂
_X ) Continue to apply drive voltage until the number of Y-axis motor 7
Is the pulse number detected by the reader 22 (a_Y−∂_Y )
Drive voltage is continuously applied until

Specifically, in # 1 of the first routine 20, whether the robot hand 5 has arrived at the position specified by (a _X −∂ _X ) is determined from the number of pulses detected by the reading device 21. , # 2, it is determined from the output of the encoder 21 whether the robot hand 5 has arrived at the position specified by (a _Y −∂ _Y ).

The robot hand 5 moves the X coordinate (a _X −∂
_{When the} arrival at the _X ) position is detected in # 1, the X-axis motor 6 is regeneratively braked in # 3. Braked X
The shaft motor 6 continues to rotate slightly for the braking distance, and the target X
Stop at coordinate "a _X ".

In # 4, it is determined whether or not the Y-axis motor 7 is braked, and # 2 is executed. Robot hand 5 is Y
When the arrival at the coordinate (a _Y −∂ _Y ) is detected in # 2, the Y-axis motor 7 is regeneratively braked in # 5. The braked Y-axis motor 7 continues to rotate slightly for the braking distance and stops at the target Y coordinate "a _Y ". In # 6, it is determined whether or not the X-axis motor 6 has been braked. If # 3 has already been executed, this first routine 20 is ended.
In this state, the robot hand 5 is stopped at a position below the first cup dispenser 11 as shown in FIG.

When the first routine 20 is completed [Step 2]
Then, the first cup dispenser 11 is instructed to dispense, and the dispensed cup 4 is handled by the robot hand 5.

When the cup 4 is handled by the robot hand 5, a signal S is output from the cup sensor 23, and the control device 9 controls the robot hand 5 [step 3] [step 4].
It is moved toward the position next to [Step 5].

Specifically, the position of the first canister 14, the position of the third canister 16, and the hot water supply pipe 17 in [Step 4].
When the beverage in a cup is carried into the cup station 18 via the position immediately before the cup station in the step [5] and the step 2 is completed, “N _X = d _X ” is read from the coordinate data storage unit 10. “N _Y = d _Y ” is read out, the X-axis motor 6 is braked at (d _X −∂ _X ) immediately before the X coordinate “d _X ”, and (d _Y immediately before the Y coordinate “d _Y ”. −∂
_The controller 9 executes the first routine 20 so that the Y-axis motor 7 is braked by _Y ), and after the robot hand 5 stops, the first canister 14 transfers the coffee powder A to the cup 4.
Throw in.

Next, the coordinate data is read from the coordinate data storage unit 10 and the control device 9 causes "N _X = (g _X + h _X -∂
_X ) "N _Y = (g _Y + h _Y -∂ _Y )" is similarly executed to execute the first routine 20 to add the sugar C from the third canister 16 to the cup 4.

Next, the coordinate data is read from the coordinate data storage unit 10 and the control device 9 causes "N _X = (i _X -∂ _X )""N.
The first routine 20 is executed based on _Y = (i _Y −∂ _Y ) ”, and hot water D is vigorously poured into the cup 4 from the hot water supply pipe 17.

Next, the coordinate data is read from the coordinate data storage unit 10 and the control device 9 causes "N _X = (j _X + k _X -∂
_X ) first based on “N _Y = (j _Y + k _Y −∂ _Y )”
The routine 20 is executed to carry the cooked cup 4 into the cup station 18.

When the cup 4 is delivered to the cup station 18 at the end of [Step 5], the cam 24 of the robot hand 5 is rotated to open the fingers 5A and 5B against the bias of the tension spring 25. ing.

When the delivery of the cup 4 to the cup station 18 is completed, the controller 9 reversely rotates the X-axis motor 6 to "N _X = (k _X -∂ _X )""N _Y = (k _Y -∂
The first routine 20 is executed based on _Y ) "to retract the robot hand 5 from the cup station 18 as shown by the phantom lines in FIGS.

Then, the control device 9 displays "N _X = (l _X -∂
_X ) The first routine 20 is executed based on "N _Y = (l _Y -∂ _Y )" to return the robot hand 5 to the standby position and end one operation.

[0020]

When braking is applied at # 3 or # 5, the X-axis motor 6 and the Y-axis motor 7 do not stop immediately but continue to rotate for a braking distance and stop. Therefore, the control data ∂ _X and ∂ _Y written in the coordinate data storage unit 10 are preset so that the robot hand 5 is at the target position when the X-axis motor 6 and the Y-axis motor 7 are completely stopped. However, if it is operated for a long period of time, due to the extension of the chain used in the power transmission system of the X-axis table 2 and the Y-axis table 3 and the wear of the shaft and bearing, the first routine 20 Even if the brake is applied in # 3 or # 5, the robot hand 5 overruns the target stop position and stops, or stops at a position before the target stop position.

In this case, in the [step 2], the cup 4 rides on the fingers 3A and 3B of the robot hand 5, or in the [step 3] the charged raw material spills from the cup 4, [the step 4]. In this case, the boiling water spills, and in [Step 5], a defective delivery of the cup 4 to the cup station 18 occurs.

Therefore, the parts of the power transmission system of the X-axis table 2 and the Y-axis table 3 are regularly maintained,
At present, the staff is forced to periodically rewrite the default values ∂ _X and ∂ _Y of the coordinate data storage unit 10.

According to the present invention, even if the mechanical system undergoes secular change,
An object of the present invention is to provide a hand position control device that can stop the robot hand 5 at a normal position without performing maintenance.

[0024]

The hand position control device of the present invention is based on coordinate data indicating the stop position of the robot hand and control data, and output information from an encoder attached to a motor for driving the robot hand. But,
In a cup-type vending machine that applies a driving voltage to the motor until just before the stop position and moves the robot hand to a target position inside the vending machine body for cooking operation, the encoder attached to the motor A reading unit that measures the amount of movement until the robot hand actually stops by braking when the output information reaches just before the stop position specified by the control data, and the measured value and the robot hand stop position. And a correction unit that corrects the control data based on the coordinate data indicating.

Further, it is characterized in that the coordinate data thereafter is corrected based on the average value of the measured values.

[0026]

According to the structure described in each claim, the coordinate data is automatically corrected by the correction unit based on the measurement values collected by the reading unit during operation, and the robot hand is accurately stopped at the target position for a long period of time. You can

[0027]

Embodiments of the present invention will be described below with reference to FIGS. It should be noted that components having the same operations as those of the conventional example shown in FIGS.

In the hand position control apparatus of the present invention, at # 10 shown in FIG. 1, it is judged whether or not the robot hand 5 is the final step of moving from the virtual line position to the solid line position shown in FIG.
When it is determined in # 10 that it is not the final process, the first routine 20 shown in FIG. 8 is executed in # 20.

The control data read from the coordinate data storage unit 10 at this time uses the latest contents updated based on the measurement values of the second routine 26, which will be described later. At the beginning of the start of operation, it will be operated with default values.

In each sales operation, when the final process is carried out, it goes through step # 10, and in step # 30, the second routine shown in FIG.
26 is executed. First routine 20 and second routine 26
The difference is that after # 3 and # 5 of the first routine 20,
In the routine 26 of #, the reading units indicated by # 3 'and # 5'
27 have been added.

Based on the contents read by the reading unit 27, the correction unit 28 constituted by # 50 shown in FIG. 1 updates the control data written in the coordinate data storage unit 10.

Since the same applies to both the X-axis table 2 and the Y-axis table 3, the reading section 27 will be described here by taking # 3 'as an example. The X coordinate of the standby position is “N _X = 1”
_X ", and the coordinates to apply the regenerative braking to the robot hand 5 and (l _X -∂ _X) at # 3, the default value" ∂ _X "is,
The value is set to a value at which the robot hand 5 moving at high speed and subjected to regenerative braking is completely stopped at the X coordinate "l _X " of the standby position. However, the elongation and wear in the power transmission system of the X-axis table 2 is generated, to overrun the robot hand 5 is, for example even over the regenerative braking at a position before the default value "∂ _X". In # 3 ', the number n _X of pulses generated by the reading device 21 of the X-axis motor 6 is counted from the time when the regenerative braking is applied until the robot hand 5 actually stops, and this is counted in the first memory shown in FIG. Write to 29.

When the robot hand 5 stops near the standby position and the second routine 26 is completed, in # 40, "(l _X
-∂ _X) + n _X "and X-coordinate of the standby position""determines the magnitude of the deviation between this deviation if slightly" l _X is determined that the correction is no need "to the routine of FIG. 1 Get out.
If the deviation is large, it is determined that "correction is required" and # 50.
To execute.

At # 50 when the robot hand 5 overruns from the standby position, the control data is corrected as follows. The overrun amount is “(l _X −∂ _X ).
+ N _X −l _X = Δ _X ”, and in # 50, the default value“ ∂ _X ”of the control data in the coordinate data storage unit 10 is obtained.
Is updated to “∂ _X + Δ _X ”.

In the next selling operation # 20, the X-axis coordinates “N _X = a _X , b _X , ... ……,” updated in # 50 of the previous selling operation and written in the coordinate data storage unit 10. k _X "implement position control of the robot hand 5 on the basis of, at that time the final step, X-axis coordinate has been written in the coordinate data storage unit 10""a corrected control data" ∂ _X + Δ _X N _X = # 30 with _{(l X -∂ X + Δ X} ) on the basis of the "implementing position control of the robot hand 5, # 40, # 50
If necessary in the routine, the control data written in the coordinate data storage unit 10 is repeatedly updated.

The above description has been given by taking the case where the control data in the X-axis direction of the coordinate data storage unit 10 is updated at # 50 as an example. Has been updated at.

Specifically, the second routine 26 of # 30 #
"N _Y " read in 5'is written in the second memory 31, and in # 50 via # 40, "(l _Y -∂ _Y ) + n _Y ".
Then, the magnitude of the deviation between the X coordinate of the standby position and "l _Y " is judged, and if this deviation is small, it is judged that "correction is not necessary" and the routine of FIG. 1 is exited. If the deviation is large, it is determined that "correction is necessary" and # 50 is executed. The amount of overrun can be expressed as “(l _Y −∂ _Y ) + n _Y −l _Y = Δ _Y ”, and in # 50, the default value “∂ _Y ” of the control data in the coordinate data storage unit 10 is “(∂ _Y + Δ _Y ) ”.

In the above explanation, the robot hand 5 is in the standby position.
When overrun from, but in front of the standby position
If it stops at the position, the control data “∂_X"Is" (∂_X 
-Δ _X ) ”,“ ∂_Y "Is" (∂_Y -Δ_Y ) ”With # 50
Be renewed.

Thus, the second routine 26 # 3 ',
Coordinate data storage unit at # 50 based on the read value of # 5 '
Since the default value of 10 is automatically updated, even if the power transmission system of the X-axis table 2 and the Y-axis table 3 is stretched or worn, the staff manually reset the coordinate data of each stop position. Such operation is unnecessary and it can be operated for a long time without maintenance.

In the above embodiment, the contents of the coordinate data storage unit 10 are updated based on "n _X " and "n _Y " of one operation, but each "n _X " in a plurality of sales operations is updated. First
Memory 29, each “n _Y ” is stored in the second memory 31, and each X-axis coordinate of the coordinate data storage unit 10 is stored in the first memory.
By correcting the average value of 29 and correcting each Y-axis coordinate of the coordinate data storage unit 10 by the average value of the second memory 31, the position of the robot hand 5 can be controlled to a more appropriate position.

[0041]

As described above, according to the present invention, the output information from the encoder attached to the motor for driving the robot hand is stopped based on the coordinate data indicating the stop position of the robot hand and the control data. In a cup type vending machine that applies a drive voltage to the motor until just before the position and moves the robot hand to a target position inside the vending machine body for cooking operation, the output from the encoder attached to the motor When the information reaches immediately before the stop position specified by the control data, the reading unit that measures the amount of movement until the robot hand actually stops by braking and the reading value and the stop position of the robot hand are displayed. Since the correction unit for correcting the control data based on the coordinate data shown is provided, the reading unit is based on the measurement values collected during operation. Control data Te is automatically corrected by the correction unit, even if aging occurs in the mechanical system for moving the robot hand, it is possible to continue a stable sales operation. Normal sales operation can be realized without maintenance for a long period of time.

Further, when the correction unit is configured to correct the subsequent control data based on the average value of the measured values, more stable operation can be expected.

[Brief description of drawings]

FIG. 1 is an overall flowchart of a hand position control device according to the present invention.

FIG. 2 is a flow chart diagram of a second routine of FIG.

FIG. 3 is a configuration diagram of a hand position control device of the present invention.

FIG. 4 is a horizontal sectional view of a conventional cup type vending machine.

FIG. 5 is a plan view of a robot hand drive system.

FIG. 6 is a configuration diagram of a conventional hand position control device.

FIG. 7 is an explanatory diagram of a cooking process.

FIG. 8 is a flowchart of a first routine.

FIG. 9 is a horizontal cross-sectional view showing a state in which the robot hand carries the cup into the cup station.

[Explanation of symbols]

 2 X-axis table 3 Y-axis table 5 Robot hand 8 Hand position control unit 9 Control device 10 Coordinate data storage unit 20 First routine 26 Second routine 27 Reading unit 28 Correction unit 29 First memory 31 Second memory

Claims (2)

[Claims] 1. The motor is driven until the output information from an encoder attached to a motor for driving the robot hand is immediately before the stop position based on coordinate data indicating the stop position of the robot hand and control data. In a cup-type vending machine in which a voltage is applied and the robot hand is moved to a target position inside the vending machine body to perform cooking operation, the output information from the encoder attached to the motor is specified by the control data. The control data based on the reading unit that measures the amount of movement until the robot hand actually stops by braking when it reaches immediately before the position, and the coordinate data indicating the measured value and the robot hand stop position. A hand control device for a cup-type vending machine, which is provided with a correction unit that corrects 2. The motor is driven until the output information from the encoder attached to the motor for driving the robot hand is immediately before the stop position based on the coordinate data indicating the stop position of the robot hand and the control data. In a cup-type vending machine in which a voltage is applied and the robot hand is moved to a target position inside the vending machine body to perform cooking operation, the output information from the encoder attached to the motor is specified by the control data. Based on the reading unit that measures the amount of movement until the robot hand actually stops by braking when it reaches just before the position, based on the average value of this measurement value and the coordinate data indicating the stop position of the robot hand A hand control device for a cup-type vending machine, which is provided with a correction unit that corrects the control data.