US 12,343,859 B2
Robot arm system for making ice cream and method of controlling same
Sung Jae Hwang, Seongnam-si (KR)
Assigned to XYZ INC., Seoul (KR)
Filed by XYZ INC., Seoul (KR)
Filed on Jul. 14, 2023, as Appl. No. 18/222,006.
Application 18/222,006 is a continuation of application No. PCT/KR2021/018415, filed on Dec. 7, 2021.
Claims priority of application No. 10-2021-0052047 (KR), filed on Apr. 22, 2021.
Prior Publication US 2023/0364801 A1, Nov. 16, 2023
Int. Cl. B25J 11/00 (2006.01); A23G 9/04 (2006.01); B25J 15/00 (2006.01); B25J 19/02 (2006.01)
CPC B25J 11/0045 (2013.01) [A23G 9/04 (2013.01); B25J 15/0033 (2013.01); B25J 19/023 (2013.01)] 14 Claims
OG exemplary drawing
 
1. A method of controlling a robot arm to make ice cream, the method comprising:
receiving ice cream order information;
gripping an ice cream capsule disposed on a table using a gripper of a robot arm;
placing the ice cream capsule on a capsule support;
gripping a cup configured to accommodate ice cream using the gripper of the robot arm;
moving the cup under the capsule support while the gripper is gripping the cup; and
discharging ice cream in the ice cream capsule to the cup,
wherein discharging the ice cream comprises controlling the robot arm so that the cup is rotated while the ice cream is being discharged,
wherein discharging the ice cream comprises:
pressing the ice cream capsule disposed on the capsule support through movement of a push bar; and
discharging the ice cream through a hole in a bottom surface of the ice cream capsule in response to a pressure applied by the push bar,
wherein an image sensor configured to photograph a bottom surface of the ice cream capsule is disposed on a bottom surface of the capsule support, and
wherein a time point at which the ice cream starts to be discharged is recognized via the image sensor, a time difference between the time point at which the ice cream starts to be discharged and a time point at which the push bar starts to operate is calculated, and the robot arm is controlled such that a rotation speed of the cup is changed based on the time difference.