CN108274492A - A kind of beverage service humanoid robot special fixture - Google Patents
A kind of beverage service humanoid robot special fixture Download PDFInfo
- Publication number
- CN108274492A CN108274492A CN201711373102.8A CN201711373102A CN108274492A CN 108274492 A CN108274492 A CN 108274492A CN 201711373102 A CN201711373102 A CN 201711373102A CN 108274492 A CN108274492 A CN 108274492A
- Authority
- CN
- China
- Prior art keywords
- humanoid robot
- beverage service
- finger
- clamping jaw
- service humanoid
- 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
- B25J15/00—Gripping heads and other end effectors
- B25J15/08—Gripping heads and other end effectors having finger members
-
- 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
- B25J15/0019—End effectors other than grippers
-
- 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
- B25J15/0033—Gripping heads and other end effectors with gripping surfaces having special shapes
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a kind of beverage service humanoid robot special fixtures, belong to service type robot tool technical field.A kind of beverage service humanoid robot special fixture of the present invention, including fixture and cup holder, fixture include finger cylinder, clamping jaw, parallel finger and pallet；Wherein：Clamping jaw is semicircular arc-shaped, and 2 one group, the opposite composition of nock is in the round clamp with clamping opening；Finger cylinder is parallel moving type, is also 2 one group, and movable end is fixed with parallel finger, and parallel finger is detachably fixed with the inner end of every group of 2 clamping jaws connect respectively；Pallet is fixedly connected with finger cylinder bottom surface, and is used cooperatively with round clamp.The present invention realizes the purpose that beverage service humanoid robot gripping goblet will not shake, hold up goblet using bottom tray in the horizontal plane, easy to use.
Description
Technical field
The invention belongs to industrial robot technical field of tools, specifically a kind of beverage service humanoid robot exclusive clamps
Tool.
Background technology
Current most of industrial robots are mainly used in industrial circle, such as welding, carrying, polishing, spraying, are servicing
Field is mainly emulated robot, however the cost of emulated robot will be significantly larger than industrial robot, and unsuitable large area pushes away
Extensively, therefore currently on the market beverage dispenser is usually required manually to press and could be discharged.
Fixture is more common positioning tool in industrial production line, people often using fixture come retaining element, to
Carry out processing, the manufacture of part.It is de- it to be easy to cause goblet in motion process since the fixture design of fixed goblet is unreasonable
It falls, to influence the popularization of refreshment station of robot.
Chinese Patent Application No.：201320340887.X publication date：2014.03.12 patent document disclose a kind of circle
Cylinder part tool is related to technical field of tools, including a parallel moving type finger cylinder, two clamping jaws of the finger cylinder
There are one part fixture block, the part fixture blocks of both sides to be symmetrical arranged for upper each fixation, and one is equipped on the upside of the cylinder body between two part fixture blocks
Part supporting block, part supporting block are fixed by the two fixed plates of cylinder body front and rear sides with cylinder body.The invention proposes a kind of knot
The tool that structure is simple, is processed convenient for cylindrical part both ends.The setting of the invention finger cylinder, clamping jaw, supporting block and fixed plate,
Although can also grip circular object, since goblet is softer, the invention is specifically used to be shown slightly on beverage service humanoid robot
Heaviness is not suitable for beverage service humanoid robot.
Invention content
1. technical problems to be solved
There is no the problem of suitable special fixture grips goblet, this hair for beverage service humanoid robot in the prior art
It is bright to provide a kind of beverage service humanoid robot special fixture.It may be implemented beverage service humanoid robot and grips goblet in water
It will not be shaken in plane, using the purpose of bottom tray picking-up goblet.
2. technical solution
In order to achieve the above objectives, the present invention program carries out in the following manner：
A kind of beverage service humanoid robot special fixture, including fixture and cup holder, fixture include finger cylinder, clamping jaw, put down
Row finger and pallet；Wherein：Clamping jaw is semicircular arc-shaped, and 2 one group, the opposite composition of nock is in the round clamp with clamping opening；Hand
It is parallel moving type to refer to cylinder, is also 2 one group, and movable end is fixed with parallel finger, and parallel finger is pressed from both sides with 2 of every group respectively
The inner end of pawl is detachably fixed connection；Pallet is fixedly connected with finger cylinder bottom surface, and is used cooperatively with round clamp.
Preferably, pallet is in anti-Z-shaped configuration, and upper transverse plane is fixedly connected with finger cylinder bottom surface；Lower end plane and circle
The plane of clevis hoop is arranged in parallel.
Preferably, fixture further includes connecting shaft, the fixing end connection of one end of the connecting shaft and finger cylinder, the other end and machine
People's mechanical arm connects.
Preferably, clamping jaw inner ring is provided with inner ring protrusion.
Preferably, inner ring protrusion is N number of, is evenly distributed in the inner ring of clamping jaw, is made for sponge material；Clamping jaw is aluminum
Material.
3. advantageous effect
Using technical solution provided by the invention, compared with existing known technology, there is following remarkable result：
(1) a kind of beverage service humanoid robot special fixture of the invention, by the mating reaction of finger cylinder and clamping jaw,
Realize the mesh that beverage service humanoid robot gripping goblet will not shake, hold up goblet using bottom tray in the horizontal plane
, and after use corresponding cup holder fixation cup body, water outlet can be voluntarily pressed with beverage service humanoid robot, it is easy to use；
(2) a kind of beverage service humanoid robot special fixture of the invention, pallet are in anti-Z-shaped configuration, utility tray support
Cup body to be inserted into cup slot；
(3) a kind of beverage service humanoid robot special fixture of the invention, the setting of connecting shaft facilitate fixture and robot
Mechanical arm is flexible to be fixedly connected；
(4) a kind of beverage service humanoid robot special fixture of the invention, inner ring protrusion realize clamping jaw and delay to cup body
The formula of punching is exerted oneself, and clamping jaw is avoided excessively to grip cup body；
(5) a kind of beverage service humanoid robot special fixture of the invention, inner ring protrusion are uniformly distributed, and are sponge material,
Flexible and uniform buffering effect avoids clamping jaw from being contacted with the hard of cup body, and clamping jaw is made for aluminum material, mitigates entire tool
Own wt, it is cost-effective so as to select small loading robotics people.
Description of the drawings
The following further describes the present invention with reference to the drawings.
Fig. 1 is the structural schematic diagram of the fixture of the present invention；
Fig. 2 is the status diagram after present invention gripping goblet；
Fig. 3 is that the present invention is fixedly connected on specifically used status diagram on beverage service humanoid robot.
In figure：1, finger cylinder；2, clamping jaw；3, parallel finger；4, pallet；5, cup holder；6, cup slot；7, goblet；8, even
Spindle.
Specific implementation mode
With reference to specific embodiment, the present invention is described in detail.
Embodiment 1
A kind of beverage service humanoid robot special fixture of the present embodiment, as shown in Fig. 2, being advised for the goblet 7 gripped
Lattice are that goblet 7 is placed on cup holder 5 by ￠ 50mm after beverage service humanoid robot grips goblet 7 with fixture.Such as Fig. 1 institutes
Show, a kind of beverage service humanoid robot special fixture of the present embodiment includes finger cylinder 1, clamping jaw 2, parallel finger 3 and pallet
4；Wherein：Clamping jaw 2 is semicircular arc-shaped, and 2 one group, the opposite composition of nock can prevent beverage in the round clamp with clamping opening
Cup 7 shakes in the horizontal plane；Finger cylinder 1 is parallel moving type, may be implemented to automatically control with finger cylinder 1, is also 2 one
Group, movable end are fixed with parallel finger 3, and parallel finger 3 is detachably fixed with the inner end of every group of 2 clamping jaws 2 connect respectively, with
The goblet 7 of different size is adapted to, finger cylinder 1 is fixedly mounted on beverage service humanoid robot；Pallet 4 and finger cylinder 1
Bottom surface is fixedly connected, and is used cooperatively with round clamp, 4 height of pallet according to 7 bottom of goblet between finger cylinder 1 away from
From determination, pallet 4 is relied primarily in the process of moving and holds goblet 7；Cup holder 5 is rectangle block structure, and upper surface is equal
It is even to be provided with glass slot 6, to fixed goblet 7.
A kind of beverage service humanoid robot special fixture of the present embodiment, when specifically used, clamping jaw 2 is connected to finger cylinder
On 1 parallel finger 3, pallet is fixed together with finger cylinder 1, and goblet 7 is placed on pallet 4, by the holding power of pallet 4
Goblet 7 is held up, clamping jaw 2 can prevent 7 horizontal plane of goblet from moving, and the break-make by controlling gas realizes the opening of clamping jaw 2
With closure, pallet 4 inserts picking-up along the cup slot 6 of cup holder 5 or places goblet 7, as shown in figure 3, beverage service type machine
After people grips goblet 7 with fixture, after goblet 7 is placed on cup holder 5, clamping jaw 2 is unclamped, extracts pallet 4 out, goblet 7 is fallen into
In cup slot 6, cup holder 5 is pushed under drinking bottle mouth with mechanical arm, then beverage bottle effluent switch is pressed with mechanical arm again, until beverage
When accounting for the 2/3 of 7 volume of goblet goblet is held up by same procedure.
Embodiment 2
A kind of beverage service humanoid robot special fixture of the present embodiment, with embodiment 1, difference exists basic structure
In：Pallet 4 is in anti-Z-shaped configuration, and upper transverse plane is fixedly connected with 1 bottom surface of finger cylinder；Lower end plane is flat with round clamp
Face is arranged in parallel；For cup slot 6 in " Ω " shape and with the notch of step, quantity is 3, can be mutual with anti-Z-shaped pallet
Chimeric to use, after unclamping clamping jaw, beverage cup body can easily fall into the notch with step；Fixture further includes connecting shaft 8,
8 one end of connecting shaft is connect with the fixing end of finger cylinder 1, and the other end is connect with robot arm, facilitates fixture and robot
Mechanical arm is flexible to be fixedly connected；2 inner ring of clamping jaw is evenly arranged with 10 inner ring protrusions, and inner ring protrusion is sponge material system
, there is elasticity and uniform buffering effect, clamping jaw 2 is avoided to be contacted with the hard of cup body；Clamping jaw 2 is aluminum material, can be mitigated
The own wt of entire tool, it is cost-effective so as to select small loading robotics people.
A kind of beverage service humanoid robot special fixture of the present embodiment, with embodiment 1 when specifically used, difference exists
In can move three glasss of goblets 7 simultaneously, improve efficiency.
Embodiment 3
A kind of beverage service humanoid robot special fixture of the present embodiment, with embodiment 2, difference exists basic structure
In：Each 2 inner ring of clamping jaw is provided with foam-rubber cushion instead of inner ring protrusion, with the thickness of foam-rubber cushion come the goblet 7 with different size
It is adapted.
A kind of beverage service humanoid robot special fixture of the present embodiment, applicable surface is wider, avoids the replacement repeatedly of clamping jaw 2
To be applicable in the specification of goblet 7.
Above schematically to the invention and embodiments thereof into and gone description, description is not limiting.Institute
If those skilled in the art are enlightened by it, in the case where not departing from this creation objective, not inventively to set
Frame mode similar with the technical solution and embodiment are counted out, the protection domain of this patent should all be belonged to.
Claims (5)
1. a kind of beverage service humanoid robot special fixture, including finger cylinder (1), clamping jaw (2), parallel finger (3) and pallet
(4)；It is characterized in that：
The clamping jaw (2) is semicircular arc-shaped, and 2 one group, the opposite composition of nock is in the round clamp with clamping opening；
The finger cylinder (1) is parallel moving type, is also 2 one group, movable end is fixed with parallel finger (3), parallel finger
(3) it is detachably fixed and connect with the inner end of every group of 2 clamping jaws (2) respectively；
The pallet (4) is fixedly connected with finger cylinder (1) bottom surface, and is used cooperatively with round clamp.
2. beverage service humanoid robot special fixture according to claim 1, it is characterised in that：The pallet (4) is in anti-" Z "
Shape structure, upper transverse plane are fixedly connected with finger cylinder (1) bottom surface；Lower end plane and the plane of round clamp are arranged in parallel.
3. beverage service humanoid robot special fixture according to claim 1 or claim 2, it is characterised in that：It further include connecting shaft
(8), connecting shaft (8) one end is connect with the fixing end of finger cylinder (1), and the other end is connect with robot arm.
4. beverage service humanoid robot special fixture according to claim 3, it is characterised in that：Clamping jaw (2) inner ring
It is provided with inner ring protrusion.
5. beverage service humanoid robot special fixture according to claim 4, it is characterised in that：The inner ring protrusion is N
It is a, it is evenly distributed in the inner ring of clamping jaw (2), is made for sponge material；The clamping jaw (2) is aluminum material.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711373102.8A CN108274492A (en) | 2017-12-19 | 2017-12-19 | A kind of beverage service humanoid robot special fixture |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711373102.8A CN108274492A (en) | 2017-12-19 | 2017-12-19 | A kind of beverage service humanoid robot special fixture |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN108274492A true CN108274492A (en) | 2018-07-13 |
Family
ID=62801815
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201711373102.8A Pending CN108274492A (en) | 2017-12-19 | 2017-12-19 | A kind of beverage service humanoid robot special fixture |
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| Country | Link |
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| CN (1) | CN108274492A (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109202933A (en) * | 2018-10-12 | 2019-01-15 | 广州国机智能电力科技有限公司 | A kind of substation equipment maintenance and repair less important work robot |
| CN110733053A (en) * | 2019-11-04 | 2020-01-31 | 比率机器人科技(北京)有限公司 | clamping jaw for automatic catering device and clamping method thereof |
| CN111673793A (en) * | 2020-06-24 | 2020-09-18 | 北京工业大学 | But anchor clamps alternate form two claw manipulators |
-
2017
- 2017-12-19 CN CN201711373102.8A patent/CN108274492A/en active Pending
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109202933A (en) * | 2018-10-12 | 2019-01-15 | 广州国机智能电力科技有限公司 | A kind of substation equipment maintenance and repair less important work robot |
| CN110733053A (en) * | 2019-11-04 | 2020-01-31 | 比率机器人科技(北京)有限公司 | clamping jaw for automatic catering device and clamping method thereof |
| CN111673793A (en) * | 2020-06-24 | 2020-09-18 | 北京工业大学 | But anchor clamps alternate form two claw manipulators |
| CN111673793B (en) * | 2020-06-24 | 2022-07-26 | 北京工业大学 | But anchor clamps alternate form two claw manipulators |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| WD01 | Invention patent application deemed withdrawn after publication |
Application publication date: 20180713 |
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| WD01 | Invention patent application deemed withdrawn after publication |