Botlegger's Cubic
Within team of Botlegger engineering of mechatronics, 3d design of grippers and sensor parts, control systems
One body and over 5 customization options. Fully automated complex, based on a 6-axis collaborative robot. Remote monitoring system for all complex functions. Intuitive software. Built-in contactless payment module.
Project goal
- Design arm clamp for cups
- Automate standard vending cup dispensers, valves for desserts, stepper motors for product delivery
- Laser sensor and sonar feedback
- Communication with host
- RGB Illumination
- Coffee machine control over USB
- Wiring
I was responsible for everything sensors and non-robotic motors.
- Designed clamp in Fusion 360 and 3d printed it on own printer
- Arduino MEGA and RAMPS shield with a little bit of custom pcb it was possible to connect all motors, sensors, solenoids and addressable RGBW leds. My Arduino firmware was an evolutionary step from previous (cocktail-dispensing) KUKA robot. Firmware has multiple safety levels using laser sensors and cup dispensing control with sonars. There are multiple high and low voltage power outputs for dispensers and solenoids.
- IR Laser sensors were connected via individual UART and then parsed.
- There are simple UART communication over usb with host computer.
- Addressable RGB leds provide multi zone illumination and color signalling on single wire -
- Coffee machine USB protocol were reversed via Wireshark.
- It receives commands from host computer now, without vendor software.
- System were wired using high and low voltage wires using soldering, crimping and terminals.
The Cubic kiosk was a successor to Botlegger Robobar
Robobar was a functioning prototype with KUKA manipulator dispensing mixed alcoholic cocktails with ice into disposable cups.
Image courtesy Botlegger
http://www.botlegger.com