Robot vending kiosk
Simon Yagodin
3D Designer
Software Engineer
Systems Engineer
Autodesk
Autodesk 3ds Max
Visual Studio Code
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
