CN107363845A - Clip type manipulator for intelligent restaurant - Google Patents
Clip type manipulator for intelligent restaurant Download PDFInfo
- Publication number
- CN107363845A CN107363845A CN201710785487.2A CN201710785487A CN107363845A CN 107363845 A CN107363845 A CN 107363845A CN 201710785487 A CN201710785487 A CN 201710785487A CN 107363845 A CN107363845 A CN 107363845A
- Authority
- CN
- China
- Prior art keywords
- clamping jaw
- crank mechanism
- parallel
- mounting seat
- reductor
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
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Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
- B25J11/008—Manipulators for service tasks
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/08—Gripping heads and other end effectors having finger members
- B25J15/10—Gripping heads and other end effectors having finger members with three or more finger members
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a kind of clip type manipulator for intelligent restaurant, including clamping jaw, clamping jaw is provided with three of circle distribution, and each clamping jaw is corresponding to be hinged on clamping jaw seat by one in the first vertically arranged parallel-crank mechanism, and the first parallel-crank mechanism is connected with the first driver element；Clamping jaw seat is located in mounting seat by horizontally disposed second parallel-crank mechanism, and the second parallel-crank mechanism is connected with the second driver element；What mounting seat can horizontally rotate is located on the conveying arm of intelligent restaurant, and mounting seat is connected with the 3rd driver element.The first swing rod in the first parallel-crank mechanism is swung it is preferred that the first driver element drives drive link to be formed by the electric cylinders, drag-line and the drive control disk that are sequentially connected.The invention has the advantages that manipulator can meet the multi-dimensional movement requirement of restaurant service by four-dimensional movement structure, hardware foundation is provided to improve dining room intelligence degree, to substitute manual service, reduces recruitment cost.Its is simple in construction, function is reliable.
Description
Technical field
Patent of the present invention is related to a kind of restaurant table service aid, particularly a kind of clip type machine for intelligent restaurant
Tool hand.
Background technology
With the progress of science and technology and the quickening of hotel industry development, dining room intellectuality is inexorable trend.Intelligent dining room includes
The intellectuality of multiple links, including order, with front and rear dining table cleaning service work of food delivery and guest's dining etc..Existing intelligence
It is varied to change the structure type of the food delivery facility in dining room, including robot, conveyer chain, conveyer belt etc..But existing intelligent restaurant
Or these facilities exist complicated, floor space is big, and the speed of service is slow, the front and rear table service work of guest's dining
The deficiency completed mostly by attendant.The defects of investment is big, operation cost is high be present.For this reason, it may be necessary to further improve.
The content of the invention
The purpose of the present invention is aiming at the deficiencies in the prior art, there is provided a kind of clip type machinery for intelligent restaurant
Hand, the clip type of radial direction opening and closing should be formed by the clamping jaw of three circle distributions and the first vertically arranged parallel-crank mechanism
Manipulator, grabbed for intelligent restaurant by circular dish dishware；Arm is formed by horizontally disposed second quadrangular mechanism, with
With elevating movement by a small margin, meanwhile, the horizontal extent that arm is formed by the 3rd driver element is swung, sufficiently large to cover
Coverage；In addition, by being located on lifting arm, to form significantly elevating movement.The manipulator has four dimensions
Motion structure, can fully meet restaurant service requirement, the requirement on flexibility of manual service can be basically reached for intelligent restaurant,
It is artificial to substitute, reduce cost of labor.And it is simple in construction, function is reliable, grab and consolidated by tableware.
To achieve the above object, the present invention adopts the following technical scheme that.
A kind of clip type manipulator for intelligent restaurant, including clamping jaw, the clamping jaw are provided with three of circle distribution, often
Individual clamping jaw is corresponding to be hinged on clamping jaw seat by one in the first vertically arranged parallel-crank mechanism, the first parallelogram machine
Structure is connected with the first driver element；The clamping jaw seat is located in mounting seat by horizontally disposed second parallel-crank mechanism,
Second parallel-crank mechanism is connected with the second driver element；What the mounting seat can horizontally rotate is located at the conveying of intelligent restaurant
On arm, mounting seat is connected with the 3rd driver element.
Using the present invention of preceding solution, by the clamping jaw and the first parallel-crank mechanism of three circle distributions,
Three clamping jaws are driven by the first driver element, form self-centering radial direction synchronization opening and closing campaign, suitable for dining room circle class service plate,
Dishes, rag class soft goods etc.；The arm of manipulator can be obtained by the second parallel-crank mechanism and the second driver element
Grabbing by and putting successively for elevating movement by a small margin, such as overlapping shape of multiple tablewares, is lifted by a small margin with substituting dining room conveying arm,
Reduce lifting energy consumption；Meanwhile the swing of manipulator arm horizontal direction can be formed by the 3rd driver element, to be not required to entirety
Larger service range is obtained on the premise of movement, preferable coverage is formed, such as smears dining table with rag；In addition, by setting
On the conveying arm of intelligent restaurant, coverage is covered into whole dining room.And it is simple in construction, function is reliable, can effectively replace
For manual service, dining room intelligence degree is improved, reduces recruitment cost.
Preferably, first driver element includes drive link, drive link one end and first parallelogram
The first swing rod in mechanism positioned at inner side is hinged, and the other end of drive link is hinged on drive control disk, and drive control disk can
Lifting is located on the clamping jaw seat, and drive control disk is connected with lifting drive member.Three are connected simultaneously by drive control disk
Individual drive link, it is ensured that three clamping jaws are synchronized with the movement, and further ensure that simple in construction, function is reliable.
It is further preferred that the lifting drive member includes electric cylinders, the drag-line that electric cylinders are provided with is connected with drive control disk.
So that using the existing mature technology in Digit Control Machine Tool, robot industry, it is difficult further to simplify structure, reduction exploitation design and manufacture
Degree, reduce manufacturing cost.Electric cylinders are motion modules similar in a kind of and straight line module operation principle, in recent years in Digit Control Machine Tool row
Industry and robot industry obtain more and more extensive application.
Preferably, second driver element includes being located at by the first motor-driven first reductor, the first reductor
In the mounting seat, the first reductor has output shaft；The second swing rod of either side is consolidated in second parallel-crank mechanism
Surely it is connected on the output shaft, to drive the second parallel-crank mechanism to swing by output shaft.To pass through the output of reductor
Axle directly drives the second parallel-crank mechanism and swung, and so as to obtain compact structure, reduces the fault point, and improves reliability.
Preferably, the 3rd driver element includes being located at by the second motor-driven second reductor, the second reductor
On the conveying arm, conveying arm is fixedly connected with second reductor, the mounting seat and the second reductor by mounting seat
Power output shaft formed synchronous axial system drive connection relation.Turned with directly driving mounting seat by the output shaft of reductor
It is dynamic, swung so as to obtain manipulator arm, meet any service point or the coverage requirement of seats in a restaurant.
Preferably, portal frame is fixedly connected with the clamping jaw seat lower surface, portal frame is provided with connector mouth.To pass through
Manipulator provides power supply, meets the power supply requirement of other individual members, the electricity for needing to switch on power after taking such as is grabbed by manipulator
Magnetic-disc, for realizing carrying magnetic tableware, such as chopsticks, knife and fork storage are put.
The invention has the advantages that manipulator can meet that the multi-dimensional movement of restaurant service will by four-dimensional movement structure
Ask, provide hardware foundation to improve dining room intelligence degree, to substitute manual service, reduce recruitment cost.Its simple in construction, work(
Can be reliable.
Brief description of the drawings
Fig. 1 is the structural representation axonometric drawing of the present invention.
Fig. 2 is the front view of the present invention.
Fig. 3 is the structural representation axonometric drawing of part-structure of the present invention.
Embodiment
The present invention is further illustrated below in conjunction with the accompanying drawings, but does not therefore limit the present invention to described implementation
Among example scope.
Referring to Fig. 1, Fig. 2, Fig. 3, a kind of clip type manipulator for intelligent restaurant, including clamping jaw 201, clamping jaw 201 are set
There are three that even circumferential is distributed, each clamping jaw 201 is corresponding to be hinged by one in the first vertically arranged parallel-crank mechanism
On clamping jaw seat 202, the first parallel-crank mechanism is connected with the first driver element；Clamping jaw seat 202 passes through horizontally disposed
Two parallel-crank mechanisms are located in mounting seat 203, and the second parallel-crank mechanism is connected with the second driver element；Mounting seat
203 can horizontally rotate be located on the conveying arm of intelligent restaurant, mounting seat 203 is connected with the 3rd driver element.
Wherein, the first driver element includes drive link 204, the one end of drive link 204 and the first parallel-crank mechanism
In the first swing rod 205 positioned at inner side it is be hinged, the other end of drive link 204 is hinged on drive control disk 206, drive control
Disk 206 is liftable to be located on clamping jaw seat 202, and drive control disk 206 is connected with lifting drive member, the lifting drive member bag
Electric cylinders 207 are included, electric cylinders 207 are fixedly connected in mounting seat 203, and the drag-line 208 that electric cylinders 7 are provided with is connected with drive control disk 206；
Wherein, the first swing rod 205 of either side forms clamping plate mechanism by two identical components, and the first swing rod 205 passes through be hinged branch
Ear 216 is connected with clamping jaw seat 202, clamping jaw 201, drive link 204 and be hinged journal stirrup 216 be respectively positioned on corresponding two clamping plates it
Between, with enhancing structure stability.Second driver element includes the first reductor 210 driven by the first motor 209, and first slows down
Machine 210 is located in mounting seat 203, and the first reductor 210 has output shaft；The second of either side in second parallel-crank mechanism
Swing rod 211, the second swing rod 211 of specially upside are fixedly connected on output shaft, to drive the second parallel four side by output shaft
Shape mechanism is swung；The second swing rod of upside 211 of second parallel-crank mechanism forms clamp region by two identical components, folder
Pawl seat 202 is be hinged by two identical triangle engaging lugs 217 on top and the second swing rod 211, to strengthen composition manipulator
Second parallel-crank mechanism intensity of arm.3rd driver element includes the second reductor driven by the second motor 212
213, the second reductor 213 is located on the conveying arm of intelligent restaurant, and conveying arm is fixedly connected with the second deceleration by mounting seat 214
Machine 213, the power output shaft of the reductor 213 of mounting seat 203 and second form the drive connection relation of synchronous axial system.Wherein, pacify
Dress seat 203 is fixedly connected on rotating disk 215, and rotating disk 215 drives synchronous axial system by power output shaft, so that mounting seat 203 is same
Step rotates.
In addition, being fixedly connected with portal frame 219 on the lower surface of clamping jaw seat 202, portal frame 219 is provided with connector mouth；Drive
Dynamic control panel 206 is located in portal frame 219.Wherein connector mouth can be socket or plug.Preferably with current
Plugging mode in domestic electric heating kettle in usually used circular power coupler, it is very small that it patches adhesion, beneficial to pull-off
And grafting.
Clamping jaw working face in the present embodiment is in globoidal structure, and its upper end is also formed with anti-slop serrations.
Reductor and motor in the present embodiment can use integrally-built reducing motor to substitute；Electricity in the present embodiment
The principles of action use stepper motor or servomotor.
Preferred embodiment of the invention described in detail above.It should be appreciated that one of ordinary skill in the art without
Creative work can is needed to make many modifications and variations according to the design of the present invention.Therefore, all technologies in the art
Personnel are available by logical analysis, reasoning, or a limited experiment on the basis of existing technology under this invention's idea
Technical scheme, all should be in the protection domain being defined in the patent claims.
Claims (6)
1. a kind of clip type manipulator for intelligent restaurant, including clamping jaw (201), it is characterised in that the clamping jaw (201) sets
There are three of circle distribution, each clamping jaw (201) is corresponding to be hinged on by one in the first vertically arranged parallel-crank mechanism
On clamping jaw seat (202), the first parallel-crank mechanism is connected with the first driver element；The clamping jaw seat (202) is set by level
The second parallel-crank mechanism put is located in mounting seat (203), and the second parallel-crank mechanism is connected with the second driver element；
What the mounting seat (203) can horizontally rotate is located on the conveying arm of intelligent restaurant, and it is single that mounting seat (203) is connected with the 3rd driving
Member.
2. the clip type manipulator according to claim 1 for intelligent restaurant, it is characterised in that first driving is single
Member includes drive link (204), and drive link (204) one end is with being located at the first of inner side in first parallel-crank mechanism
Swing rod (205) is be hinged, and the other end of drive link (204) is hinged on drive control disk (206), and drive control disk (206) can
Lifting is located on the clamping jaw seat (202), and drive control disk (206) is connected with lifting drive member.
3. the clip type manipulator according to claim 2 for intelligent restaurant, it is characterised in that the lifting driving structure
Part includes electric cylinders (207), and the drag-line (208) that electric cylinders (7) are provided with is connected with drive control disk (206).
4. the clip type manipulator according to claim 1 for intelligent restaurant, it is characterised in that second driving is single
Member includes the first reductor (210) driven by the first motor (209), and the first reductor (210) is located at the mounting seat (203)
On, the first reductor (210) has output shaft；The second swing rod (211) of either side is solid in second parallel-crank mechanism
Surely it is connected on the output shaft, to drive the second parallel-crank mechanism to swing by output shaft.
5. the clip type manipulator according to claim 1 for intelligent restaurant, it is characterised in that the 3rd driving is single
Member includes the second reductor (213) driven by the second motor (212), and the second reductor (213) is located on the conveying arm, defeated
Arm is sent to be fixedly connected with second reductor (213), the mounting seat (203) and the second reductor by mounting seat (214)
(213) power output shaft forms the drive connection relation of synchronous axial system.
6. the clip type manipulator according to claim 1 for intelligent restaurant, it is characterised in that the clamping jaw seat
(202) portal frame (219) is fixedly connected with lower surface, portal frame (219) is provided with connector mouth.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710785487.2A CN107363845A (en) | 2017-09-04 | 2017-09-04 | Clip type manipulator for intelligent restaurant |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710785487.2A CN107363845A (en) | 2017-09-04 | 2017-09-04 | Clip type manipulator for intelligent restaurant |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN107363845A true CN107363845A (en) | 2017-11-21 |
Family
ID=60311470
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710785487.2A Pending CN107363845A (en) | 2017-09-04 | 2017-09-04 | Clip type manipulator for intelligent restaurant |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN107363845A (en) |
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108095654A (en) * | 2017-12-27 | 2018-06-01 | 重庆市臻憬科技开发有限公司 | A kind of bowl and disc cleaning machine |
| CN108158519A (en) * | 2017-12-27 | 2018-06-15 | 重庆市臻憬科技开发有限公司 | A kind of wiper cleaning machine |
| CN108356656A (en) * | 2018-03-29 | 2018-08-03 | 广东博科数控机械有限公司 | A kind of pneumatic mechanical manipulator and the self-dust-suction sanding and polishing terminal installation using the mechanical arm |
| CN109198964A (en) * | 2018-07-19 | 2019-01-15 | 浙江机电职业技术学院 | The automatic food delivery method of strong persistence |
| CN113500380A (en) * | 2021-08-24 | 2021-10-15 | 合肥恒大江海泵业股份有限公司 | Diving gate pump installation tool, and assembly system and method using same |
| CN117301026A (en) * | 2023-11-28 | 2023-12-29 | 东莞市大研自动化设备有限公司 | Kitchen manipulator for cooking |
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Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108095654A (en) * | 2017-12-27 | 2018-06-01 | 重庆市臻憬科技开发有限公司 | A kind of bowl and disc cleaning machine |
| CN108158519A (en) * | 2017-12-27 | 2018-06-15 | 重庆市臻憬科技开发有限公司 | A kind of wiper cleaning machine |
| CN108356656A (en) * | 2018-03-29 | 2018-08-03 | 广东博科数控机械有限公司 | A kind of pneumatic mechanical manipulator and the self-dust-suction sanding and polishing terminal installation using the mechanical arm |
| CN108356656B (en) * | 2018-03-29 | 2023-08-25 | 广东博科数控机械有限公司 | Pneumatic mechanical arm and self-dust-suction polishing terminal device adopting same |
| CN109198964A (en) * | 2018-07-19 | 2019-01-15 | 浙江机电职业技术学院 | The automatic food delivery method of strong persistence |
| CN113500380A (en) * | 2021-08-24 | 2021-10-15 | 合肥恒大江海泵业股份有限公司 | Diving gate pump installation tool, and assembly system and method using same |
| CN113500380B (en) * | 2021-08-24 | 2022-03-22 | 合肥恒大江海泵业股份有限公司 | Diving gate pump installation tool, and assembly system and method using same |
| CN117301026A (en) * | 2023-11-28 | 2023-12-29 | 东莞市大研自动化设备有限公司 | Kitchen manipulator for cooking |
| CN117301026B (en) * | 2023-11-28 | 2024-02-09 | 东莞市大研自动化设备有限公司 | Kitchen manipulator for cooking |
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| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20171121 |
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| RJ01 | Rejection of invention patent application after publication |