CN110842945A - Manipulator cup taking and holding device and method - Google Patents

Abstract

The invention discloses a mechanical hand cup taking and holding device and a method thereof, the device comprises a frame, a cup body separating mechanism, a cup body extracting mechanism and a cup grabbing mechanical hand, the cup body separating mechanism and the cup body extracting mechanism are respectively arranged on the frame, nested cup bodies are transversely arranged on the cup body separating mechanism, the extracting end of the cup body extracting mechanism is positioned at the outer side of the bottom of the cup body, and a clamping jaw of the cup grabbing mechanical hand is arranged at the periphery of the extracted cup body. The method is that the cup body separating mechanism is used for conveying and the cup body is primarily separated by utilizing the change of the screw pitch; then, the bottom of the cup body is adsorbed by an extraction end of the cup body extraction mechanism, and the cup body is taken out; and then the cup body taken out is clamped and fixed by the cup grabbing manipulator and is converted into a cup holding state. The automatic cup taking and holding device is simple in principle, flexible to use, stable in operation, capable of achieving continuous automatic cup taking and holding actions, high in automation degree, capable of being well matched with a cup pouring type beverage supply robot to use, and capable of being well applied to other occasions or equipment needing cup taking.

Description

Manipulator cup taking and holding device and method

Technical Field

The invention relates to the technical field of robots, in particular to a manipulator cup taking and holding device and method.

Background

The beverage is indispensable in catering services, has various varieties and wide range, is a huge market, and various merchants of various brands compete fiercely. Beverage sales are ubiquitous and include various public places such as malls, restaurants, casinos and the like.

The selling of beverages is mainly manual or self-service, and with the development of automation technology, the selling and supplying modes are continuously changed, and the form of unmanned vending machines and the like is developed. With the popularization and application of the robot technology, some merchants in the catering industry introduce robot service as a marketing means, for example, in restaurants, the robots are adopted to deliver food and drink to tables. In addition, at present, manufacturers develop unattended sale equipment specially for milk tea beverages, and adopt industrial robots to carry out on-site blending and sale.

However, the robots currently used in the catering industry have considerable limitations, such as the two types of robots mentioned above: the first type of robot (namely, catering robot) is substantially equivalent to a human-shaped AGV, can only realize delivery by rail navigation, has single function and is difficult to attract consumers for a long time. The second type of robot (namely unattended milk tea selling equipment) is characterized in that an industrial mechanical arm is integrated into a system to form automatic equipment, when the automatic milk tea selling equipment works, the mechanical arm holds a steel cup in hand, milk tea ingredients are filled in the steel cup, the steel cup is shaken uniformly and then poured into a plastic cup on a table board, the equipment has multiple ingredient stations, the system is complex, the occupied area is large, the function is single, and the automatic milk tea selling equipment does not belong to a special beverage supply robot per se, so that the automatic milk tea selling equipment is still difficult to popularize in the current market. Therefore, in order to adapt to the increasingly higher living standard of people, the development of a new beverage selling robot and related accessories thereof has important significance.

Disclosure of Invention

The invention aims to overcome the defects of the prior art, and provides a mechanical hand cup taking and holding device aiming at a cup pouring type beverage supply robot, which has the advantages of simple structure, flexible use and stable operation and can realize continuous automatic cup taking and holding actions.

The invention also aims to provide a method for taking and holding the cup by the mechanical arm, which is realized by the device.

The technical scheme of the invention is as follows: the utility model provides a manipulator gets cup and holds a cup device, which comprises a frame, cup separating mechanism, the cup draws mechanism and grabs the cup manipulator, cup separating mechanism and cup draw the mechanism and install respectively in the frame, be equipped with two piece at least propulsion screw rods among the cup separating mechanism, the cup of intussusception is horizontal on the propulsion screw rod, the cup draws the end of drawing of mechanism and is the sucking disc, the sucking disc is located the cup bottom outside, it has the clamping jaw to grab the cup manipulator, the clamping jaw is located the cup periphery after being drawed. The frame is used as a supporting mechanism and is mainly used for mounting components of the cup body separating mechanism and the cup body extracting mechanism; the cup body separating mechanism conveys the nested cup bodies in a screw propelling mode, and simultaneously separates the cup bodies which are about to reach the outlet of the cup bodies by utilizing the change of the thread pitch on the screw; the extraction end of the cup body extraction mechanism adopts a vacuum chuck mode to adsorb and extract the preliminarily separated bottom of the cup body; the cup grabbing mechanical arm grabs the extracted cup body by utilizing the opening and closing action of the clamping jaw of the cup grabbing mechanical arm and rotates the cup body to a cup holding state by utilizing the overturning action of the cup grabbing mechanical arm.

The cup grabbing mechanical arm comprises clamping jaws, a hand seat, a clamping jaw opening and closing driving assembly and a rotary joint, the two clamping jaws are symmetrically arranged on the hand seat, the clamping jaws are connected with the clamping jaw opening and closing driving assembly, and one side of the hand seat is connected with the rotary joint. In the manipulator structure, two clamping jaws are used for grabbing or clamping a cup body; the hand seat is used as a mounting base and is mainly used for mounting all components forming the manipulator; the clamping jaw opening and closing driving assembly is used for driving the two clamping jaws to swing so as to realize the action of opening or closing; the rotary joint is externally connected with the arm wrist part of the robot and used for driving the gripper to realize turning action.

The clamping jaw opening and closing driving assembly comprises an electric clamping jaw cylinder, a rack, a first gear and a second gear, the first gear and the second gear are connected with the two clamping jaws through corresponding gear shafts respectively, the output end of the electric clamping jaw cylinder is connected with the rack, the first gear is meshed with the rack, and the second gear is meshed with the first gear. The claw opening and closing driving assembly adopts a structural form that a rack is matched with a gear, so that the whole volume of the manipulator can be effectively reduced, the transmission precision is high, and the effect of stably clamping the cup body can be achieved.

The hand seat is a hollow box-packed structure with an opening at one side, one ends of the two clamping jaws are positioned in the hand seat and connected with the clamping jaw opening and closing driving component, and the other ends of the two clamping jaws extend out of the opening. The rack, the first gear and the second gear are installed in the hand seat, the clamping jaw electric cylinder is installed on the outer side of the hand seat, and the rotary joint is also installed on the outer side of the hand seat. During installation, a piston rod of the electric cylinder extends into the hand seat and then is fixedly connected with one end of the rack.

The clamping jaw is the integral type structure that wholly is the curved knife form, including clamping part and the swing portion that is connected, the swing portion opens and shuts drive assembly with the clamping jaw and is connected, and the inboard of clamping part is equipped with the arc recess, and the bottom of arc recess is the layer board form. When the cup is grabbed, the clamping part is clamped on the outer wall of the cup body, and the bottom of the cup body falls into the arc-shaped groove. On one hand, the arc-shaped groove can ensure that the clamping jaw can clamp the cup body and play a role of stably supporting the cup body at the same time, so that the phenomenon of falling off during subsequent pouring and injecting of beverage is avoided; on the other hand, after the beverage is poured and filled, when a user takes the cup, even if the clamping jaws are loosened, the bottom of the arc-shaped groove can still provide a supporting effect for the cup body, the cup body can still be stably arranged in the clamping jaws, and sufficient time is provided for the user to take the cup.

The top surface of the arc-shaped groove is lower than the rim of the cup body. According to tests, the depth range of the arc-shaped groove is the optimal depth when the height of the cup body is 1/3-3/4, on one hand, the clamping jaws can be well guaranteed to stably clamp the cup body, on the other hand, the upper portion of the cup body is exposed out of the clamping jaws, space can be provided for a user to grab the cup, and the use is convenient.

The inside wall of arc recess is the slope form, and its gradient equals the gradient of cup outer wall. According to the concrete shape of cup outer wall in the in-service use process, the inside wall shape of arc recess can be designed into the same shape with the cup outer wall correspondingly to further ensure its effect of stabilizing the centre gripping.

The rotary joint is a servo-driven reducer.

The cup body separating mechanism comprises a power driving component and at least two propelling screws, the power driving component is arranged at one end of each propelling screw, and each propelling screw is distributed on the outer side of the nested cup body; each propulsion screw has the same structure (including consistent pitch, thread turning direction and the like), and comprises a conveying section and a separating section which are sequentially connected along the conveying direction of the cup body, wherein the pitch of the separating section is greater than that of the conveying section. Wherein, the both ends of each propulsion screw rod are installed respectively in the frame, and the one end of propulsion screw rod sets up power drive assembly, and the other end of propulsion screw rod is the cup export, and the conveying section of propulsion screw rod is close to power drive assembly, and the separation section is close to the cup export.

The cup body separating mechanism further comprises a guide rod, and the guide rod is also positioned on the outer side of the nested cup body and is arranged in parallel with the propelling screw rod. The setting of guide arm can carry the guide effect that plays to the cup of intussusception on the one hand, and on the other hand utilizes the position distribution of guide arm and propulsion screw rod, can form a conveyer trough that is fit for the cup recumbent, places the cup and drops or shift, ensures the stable transport of cup.

Generally, two pushing screws and two guide rods are arranged in the cup body separating mechanism, the two pushing screws are symmetrically positioned on two outer sides of the lower portion of the cup body, and the two guide rods are symmetrically positioned on two outer sides of the middle portion of the cup body.

In the cup body separating mechanism, the tail end of the separating section of the propelling screw rod is a cup body outlet, and a limiting piece is further arranged on the periphery of the cup body outlet. The limiting piece is made of elastic materials, a spring piece is generally adopted, one end of the limiting piece is fixed on the rack, the other end of the limiting piece is in elastic movement, and the cup body after preliminary separation can be prevented from directly falling from the outlet of the cup body. As a preferred scheme, the cup body export is U type form, and cup body export periphery is equipped with three spacing piece, and three spacing piece evenly distributed is in the upper portion and the bottom of cup body export. Wherein, the upper portion of cup export is equipped with two spacing pieces, is located two outsides of cup respectively, and the bottom of cup export is equipped with a spacing piece, is located the cup lower part outside, and each spacing piece is extended by the periphery to the center slope and is set up, and directional cup's center forms the taper structure.

The power driving assembly comprises a servo motor, a first belt wheel, a transmission belt and at least two second belt wheels, the number of the second belt wheels is the same as that of the propelling screws, one end of each propelling screw is connected with one second belt wheel, the output end of the servo motor is connected with the first belt wheel, and the first belt wheel is connected with the second belt wheels through the transmission belt. Wherein, servo motor installs in the frame, and first band pulley and each second band pulley distribute in one side of frame, and during the use, servo motor drives first band pulley and rotates, and first band pulley passes through the drive belt and drives each second band pulley synchronous revolution to the corresponding rotation of each propulsion screw of drive. The power driving component can also adopt chain transmission or gear transmission according to the structural requirements of the equipment.

The cup body extraction mechanism comprises an electric extraction cylinder, a connecting rod and a sucker, the electric extraction cylinder is mounted on the rack, one end of the connecting rod is connected with the output end of the electric extraction cylinder, the other end of the connecting rod is provided with the sucker, and the sucker serves as the extraction end of the cup body extraction mechanism. Wherein, the sucking disc is also externally connected with a vacuum pumping mechanism. During the use, when the cup just tentatively separated and send to the cup bottom and contact with the sucking disc, utilize the effect of evacuation mechanism, the sucking disc adsorbs cup bottom back, draws electronic jar drive connecting rod and removes, makes the sucking disc drive cup remove to draw out the cup from the cup exit.

The invention realizes a method for taking and holding cups by a manipulator through the device, which comprises the following steps: the cup body is horizontally laid on the cup body separating mechanism in a long strip shape, is conveyed by the cup body separating mechanism, and is primarily separated by utilizing the change of the screw pitch; then, the bottom of the cup body is adsorbed by an extraction end of the cup body extraction mechanism, and the cup body is taken out; and then the cup body taken out is clamped and fixed by the cup grabbing manipulator and is converted into a cup holding state. The principle of the method is as follows: the rotation of the propelling screw and the change of the screw pitch are firstly utilized to finish the conveying and the primary separation of the nested cup bodies, so as to prepare for the subsequent extraction action; then the initially separated cup body is extracted by utilizing the adsorption effect of the sucking disc; and finally, the extracted cup body is grabbed by opening and closing actions of the clamping jaws in the cup grabbing mechanical arm, and the cup body is rotated to a cup holding state by turning actions of the clamping jaws.

In the method, the specific process of the cup body separation mechanism for primarily separating the cup body is as follows: each propulsion screw of power drive assembly drive rotates, and the cup of intussusception moves to the cup export along with the rotation that advances the screw gradually, and when the cup arrived the separation section that advances the screw, because pitch increase, the distance also can be enlarged rapidly along with the rotation that advances the screw between the rim of a cup of two adjacent cups to realize the initial gross separation of cup.

The specific process of grabbing the cup body by the cup grabbing manipulator comprises the following steps: the clamping jaw opening and closing driving assembly is provided with a clamping jaw electric cylinder, a rack is driven to move, the rack drives a first gear to rotate, the first gear drives a second gear to rotate, and the rotation of the first gear and the second gear drives two clamping jaws to open; after the cup body enters between the two clamping jaws, the clamping jaw electric cylinder drives the rack to move reversely, so that the first gear rotates reversely, the second gear is driven to rotate reversely, and the two clamping jaws are folded to clamp the cup body; then the rotary joint rotates to drive the mechanical arm and the cup body to rotate until the opening of the cup body is vertically upward.

Compared with the prior art, the invention has the following beneficial effects:

the manipulator cup taking and holding device and the method are designed aiming at a cup pouring type beverage supply robot, the principle is simple, the device is flexible to use and stable to operate, continuous automatic cup taking and holding actions can be realized, the automation degree is high, the manipulator cup taking and holding device can be well matched with the cup pouring type beverage supply robot to use, and the manipulator cup taking and holding device and the method can also be well applied to other occasions or equipment needing to take cups.

In this manipulator gets cup and holds a glass device, screw cup separating mechanism has been adopted, sucking disc formula cup draws mechanism and grabs cup manipulator three and cooperatees, utilize cup separating mechanism to carry the intussusception cup earlier and to its preliminary separation at cup exit, recycle cup and draw mechanism and adsorb the extraction with the cup one by one, snatch and centre gripping cup through grabbing cup manipulator at last, for follow-up beverage serve usefulness, the action that the device realized links up, the running accuracy is high, when being applied to on serve cup formula beverage supply robot, can prestore intussusception cup in the robot, and the action of grabbing cup manipulator is changed into the arm wrist action of robot, and it is nimble and convenient to use, and has higher interest.

In the manipulator cup taking and holding device, the clamping jaw opening and closing driving assembly of the cup grabbing manipulator adopts a structural form that a rack is matched with a gear, so that the overall size of the manipulator can be effectively reduced, the transmission precision is high, and the effect of stably clamping a cup body can be achieved; meanwhile, the clamping jaw of the cup grabbing manipulator is provided with an arc-shaped groove, so that on one hand, the arc-shaped groove can enable the clamping jaw to clamp the cup body and play a role in stably supporting the cup body, and the phenomenon of falling off during subsequent pouring and filling of beverage is avoided; on the other hand, after the beverage is poured and filled, when a user takes the cup, even if the clamping jaws are loosened, the bottom of the arc-shaped groove can still provide a supporting effect for the cup body, the cup body can still be stably arranged in the clamping jaws, and sufficient time is provided for the user to take the cup.

Drawings

Fig. 1 is a schematic structural diagram of the mechanical hand cup taking and holding device.

Fig. 2 is a schematic structural view of the frame, the cup body separating mechanism and the cup body extracting mechanism.

Fig. 3 is a view taken along the direction a of fig. 2.

Fig. 4 is a view in the direction B of fig. 2.

Fig. 5 is a view in the direction C of fig. 2.

Fig. 6 is a schematic structural diagram of the cup grabbing manipulator.

Fig. 7 is a view in the direction D of fig. 6.

Fig. 8 is a cross-sectional view taken along line E-E of fig. 6.

Fig. 9 is a schematic diagram of the principle when the rotary joint drives the manipulator and the cup body to rotate.

Figure 10 is a schematic view of the jaw clamping the cup.

Figure 11 is a schematic view of the cup when the jaws have released the cup and the cup is still supported by the bottom of the arcuate recess.

Fig. 12 is a schematic view showing the principle of the manipulator cup taking and holding device when the manipulator takes and holds a cup.

In the above figures, the components indicated by the respective reference numerals are as follows: 1 is a cup divider, 2 is a cup grabbing manipulator, 3 is a cup body, and 4 is a robot;

1-1 is a servo motor, 1-2 is a propelling screw rod, 1-3 is a guide rod, 1-4 is an extraction electric cylinder, 1-5 is a sucker, 1-6 is a limiting piece, 1-7 is a right support plate, 1-8 is a left support plate, 1-9 is a transmission belt, 1-10 is a first belt wheel, 1-11 is a second belt wheel, 1-12 is a connecting rod, 1-13 is a cup body outlet, 1-14 is a conveying section, and 1-15 is a separating section;

2-1 is a clamping jaw, 2-2 is a gear shaft, 2-3 is a second gear, 2-4 is a hand seat, 2-5 is a rack, 2-6 is a clamping jaw electric cylinder, 2-7 is a rotary joint, 2-8 is a first gear, and 2-9 is an arc-shaped groove.

Detailed Description

The present invention will be described in further detail with reference to examples, but the embodiments of the present invention are not limited thereto.

Example 1

The embodiment is a mechanical-arm cup taking and holding device, which is applied to a cup pouring type beverage supply robot and mainly comprises a cup dispenser 1 and a cup grabbing mechanical arm 2 as shown in fig. 1. The specific structure of each component is as follows:

1. the structure of the cup dispenser:

the cup separator is mainly used for separating and extracting disposable paper cups or plastic cups, and can continuously and automatically decompose the cups which are overlapped together and take out one by one.

As shown in figures 2 to 5, the cup dispenser is integrally arranged horizontally and mainly comprises a servo motor 1-1, a propelling screw rod 1-2, a guide rod 1-3, an electric extracting cylinder 1-4, a sucker 1-5, a limiting sheet 1-6, a right support plate 1-7, a left support plate 1-8, a transmission belt 1-9, a first belt pulley 1-10, a second belt pulley 1-11 and a connecting rod 1-12. The cup body separating mechanism is composed of the servo motor, the propelling screw rod, the guide rod, the transmission belt, the first belt wheel and the second belt wheel, the sucking disc type cup body extracting mechanism is composed of the extracting electric cylinder, the sucking disc and the connecting rod, and the left supporting plate and the right supporting plate are used as main parts of the rack and are mainly used for installing and supporting other parts.

The right support plate and the left support plate are used as a frame and are opposite left and right, and a U-shaped notch (as shown in figure 4, the notch is used as a cup body outlet 1-13) is machined in the right support plate. Two propelling screws and two guide rods are arranged between the left bracket and the right bracket in parallel. The mounting position of the propelling screw is positioned at the lower part of the U-shaped notch of the right support plate (as shown in figure 4), and plastic bearings are assembled at the connecting parts of the two ends of the propelling screw and the left and right support plates, so that the propelling screw can rotate; the installation position of the guide rod is positioned in the middle of the U-shaped notch (as shown in figure 4), and the connection part of the end part of the guide rod and the left and right support plates is fixedly installed. The two pushing screws and the two guide rods between the left support plate and the right support plate jointly form a U-shaped conveying groove which is suitable for the nested cup body to be horizontally arranged (as shown in figure 1).

As shown in fig. 2 or 5, the two propelling screws have the same structure, and the thread pitch and the thread direction of the threads are consistent. The screw pitch of the screw is designed in two sections, wherein the longest section of the stroke from left to right is a conveying section 1-14, the screw pitch is smaller, a small section of the stroke from the left end to the right end is a separating section 1-15, and the screw pitch is larger, so that two-section screw pitch conveying is formed. In the cup body conveying process, as the thread pitch is increased from small to large, the conveying acceleration and the interval pulling-open phenomenon can occur, so that two adjacent cup bodies are initially separated in the separation section.

The propelling screw rod can rotate during working, and the power of the propelling screw rod comes from a servo motor arranged on the left support plate. The servo motor drives the two second belt wheels to rotate through the first belt wheel and the transmission belt simultaneously, and drives the two propelling screws to rotate synchronously.

The outer surface of the right support plate is provided with three limiting pieces at the peripheral position of the outlet of the cup body, the upper part of the outlet of the cup body is provided with two limiting pieces, the bottom of the outlet of the cup body is provided with one limiting piece, the two limiting pieces are uniformly arranged, the two limiting pieces extend from the periphery to the inside in an inclined mode and point to the circle center, and a tapered structure is formed. The limiting pieces are made of elastic spring leaf materials, one end of each limiting piece is fixed on the right support plate, and the other end of each limiting piece moves elastically.

And an extraction electric cylinder is arranged on the side surface of the right support plate, namely beside the outlet of the cup body, and is parallel to the propelling screw rod and the guide rod. The end part of a piston rod of the extraction electric cylinder is provided with a connecting rod, and the tail end of the connecting rod is provided with a sucker. When the electric cylinder is powered on, the piston rod of the electric cylinder stretches out and draws back to drive the sucker to move left and right.

2. Grab the structure of cup manipulator:

as shown in fig. 6 to 8, the cup grabbing manipulator mainly comprises two clamping jaws 2-1, a gear shaft 2-2, a first gear 2-8, a second gear 2-3, a hand seat 2-4, a rack 2-5, a clamping jaw electric cylinder 2-6 and a rotary joint 2-7. The clamping jaw opening and closing driving assembly is composed of a gear shaft, a first gear, a second gear, a rack and a clamping jaw electric cylinder and used for driving the two clamping jaws to swing to realize opening or closing actions.

The shape of a single clamping jaw is like a curved knife, and the clamping jaw is of an integrated structure and comprises a clamping part and a swinging part which are connected. The swing part is provided with a shaft hole and is arranged in the hand seat through a gear shaft, and meanwhile, the swing part is tightly assembled with the first gear or the second gear through the gear shaft, so that the clamping jaw and the first gear or the second gear rotate around the gear shaft together. The clamping part is used as a main body part of the clamping jaw, and is provided with arc-shaped grooves 2-9 (shown in figure 6 or figure 8), and the arc-shaped grooves are similar to the cup shape of the cup body 3. The clamping jaws are symmetrically arranged on the left and right, a C-shaped structure can be formed when the two clamping jaws are folded, and two arc-shaped grooves are combined into a cup cavity and just embedded into a cup body. The depth of the arcuate recess is about 1/2 the height of the cup. When the bottom of the arc-shaped groove is in a supporting plate shape to grab the cup, the bottom of the cup body falls into the arc-shaped groove; on one hand, the arc-shaped groove can ensure that the clamping jaw can clamp the cup body and play a role of stably supporting the cup body (as shown in figure 10), so that the phenomenon of falling off during subsequent pouring and filling of beverage is avoided; on the other hand, when the user takes the cup after the beverage is poured, even if the clamping jaws are loosened, the bottom of the arc-shaped groove can still provide a supporting function for the cup body (as shown in fig. 11), and the cup body can still be stably arranged in the clamping jaws, so that the user can be provided with sufficient time for taking the cup.

After the left clamping jaw and the right clamping jaw are symmetrically installed, the first gear and the second gear are meshed with each other. One side of the hand seat is provided with an electric clamping jaw cylinder, the piston end of the electric clamping jaw cylinder is provided with a rack, and the rack extends into the hand seat and is meshed with the first gear. When the clamping jaw electric cylinder acts, a piston rod of the clamping jaw electric cylinder can drive the rack to move up and down, so that the first gear and the second gear are meshed to rotate, the two clamping jaws are driven to fold or unfold, and the action of clamping or loosening the cup body is realized.

The back of the hand seat is provided with a rotary joint. The rotary joint is a servo-driven reducer and is fixedly arranged on the wrist of the robot. When the rotary joint moves, the manipulator can be driven to rotate by the hand seat. The rotation action of the manipulator after clamping the cup is shown in fig. 9, the cup body is firstly embedded into the clamping jaw from the side direction and is clamped by the clamping jaw; then the rotary joint acts to drive the manipulator to rotate 90 degrees, so that the cup body is changed from a side lying state to an upright state, and the beverage can be poured and filled at the back.

Example 2

The embodiment is a method for taking and holding a cup by a mechanical arm, which is applied to a cup pouring type beverage supply robot and is realized by the device in embodiment 1, and the specific process and the working principle of the method are shown in fig. 1 or fig. 12, and specifically are as follows:

the cup dispenser is arranged in the body of the robot 4 in a horizontal manner, and a left support plate of the cup dispenser is close to the back of the body, and a right support plate of the cup dispenser is close to the chest of the body. The chest is provided with a round hole which corresponds to the outlet of the cup body on the right support plate. The cup grabbing manipulator is arranged on the wrist part of the robot.

When in work, the cup body 3 which is sleeved and overlapped to form a long cylinder shape is arranged in the screw type cup body separating mechanism. The lower part of the rim of the cup body is contacted with the propelling screw rod, and two sides of the rim of the cup body are contacted with the guide rod. Therefore, the cup body is effectively limited and guided in the U-shaped groove formed by the propelling screw rod and the guide rod.

The working process of the cup dispenser is as follows:

(1) the servo motor is started, the two propelling screws synchronously rotate, and the threads push the edge of the cup mouth to drive the overlapped cup bodies to move from left to right;

(2) when the cup body moves to be close to the right end part of the screw (namely, enters a separation section), the cup body is forced to accelerate and enlarge the interval due to the enlarged screw pitch, so that the cup body which is tightly nested is loosened into a single body, and the primary separation is realized;

(3) the loosened cup body passes through the cup body outlet on the right support plate and enters the range of the limiting pieces, and the cup body is contacted with the three limiting pieces arranged circumferentially and is effectively guided and positioned;

(4) when the bottom of the cup body moves to touch the sucker, a limit switch in the robot control system triggers a signal, the servo motor stops acting, and the cup body stops moving;

(5) then the sucker is connected with vacuum and tightly sucked at the bottom of the cup body; then starting the extraction electric cylinder, extending out a piston rod of the extraction electric cylinder, and driving a connecting rod to drive a sucker to move right, so that the cup body is separated and extracted;

at the moment, when one cup body is extracted, the back cup body is possible to be extracted due to the action of friction force, but the back cup body is elastically clamped by the three limiting pieces, so that the cup bodies are ensured to be separated one by one and cannot be overlapped;

(6) after the extracted cup body is taken away by the cup grabbing manipulator, the piston rod of the electric cylinder contracts to drive the sucking disc to move leftwards and reset.

The operation is repeated in cycles.

The working process of the cup grabbing manipulator is shown in fig. 12, and specifically comprises the following steps:

(1) the claws of the cup grabbing manipulator are opened, and a cup cavity formed in the middle of the two claws faces the cup body separated by the cup body separating mechanism at the outlet of the cup body;

(2) a sucker in the cup body extracting mechanism tightly sucks the bottom surface of the cup by utilizing vacuum, an extracting electric cylinder is started, a piston rod of the extracting electric cylinder drives the sucker to pull out the cup body from an outlet of the cup body, so that the cup body enters a cup cavity of a cup grabbing manipulator and is translated until the bottom surface of the cup body contacts the bottom surface of the arc-shaped groove of the paw;

(3) the two claws are closed to clamp the cup, and then the vacuum is removed by the sucking disc;

(4) the rotary joint acts to drive the hand seat and the paw to rotate 90 degrees (as shown by an arrow ① in fig. 12), so that the cup is converted from a lateral lying state to an upright state, then the piston rod of the electric extraction cylinder is contracted to drive the suction cup to reset (as shown by an arrow ② in fig. 12), and the next cup taking action is waited.

As mentioned above, the present invention can be better realized, and the above embodiments are only preferred embodiments of the present invention, and are not intended to limit the scope of the present invention; all equivalent changes and modifications made according to the present disclosure are intended to be covered by the scope of the claims of the present invention.

Claims (10)

1. The utility model provides a manipulator gets cup and holds a glass device, a serial communication port, which comprises a frame, cup separating mechanism, the cup draws the mechanism and grabs the cup manipulator, cup separating mechanism and cup draw the mechanism and install respectively in the frame, be equipped with two piece at least propulsion screw rods among the cup separating mechanism, the cup of intussusception is horizontal on the propulsion screw rod, the cup draws the end of drawing of mechanism and is the sucking disc, the sucking disc is located the cup bottom outside, it has the clamping jaw to grab the cup manipulator, the clamping jaw is located the cup periphery after being drawed.

2. The device for taking and holding the cup by the manipulator according to claim 1, wherein the cup grabbing manipulator comprises clamping jaws, a hand seat, a clamping jaw opening and closing driving assembly and a rotary joint, two clamping jaws are symmetrically arranged on the hand seat, the clamping jaws are connected with the clamping jaw opening and closing driving assembly, and one side of the hand seat is connected with the rotary joint.

3. The mechanical hand cup taking and holding device as claimed in claim 2, wherein the clamping jaw opening and closing driving assembly comprises a clamping jaw electric cylinder, a rack, a first gear and a second gear, the first gear and the second gear are respectively connected with the two clamping jaws through corresponding gear shafts, an output end of the clamping jaw electric cylinder is connected with the rack, the first gear is meshed with the rack, and the second gear is meshed with the first gear.

4. The manipulator cup taking and holding device as claimed in claim 2, wherein the clamping jaw is of an integral structure integrally in the shape of a curved knife and comprises a clamping portion and a swinging portion which are connected, the swinging portion is connected with the clamping jaw opening and closing driving assembly, an arc-shaped groove is formed in the inner side of the clamping portion, and the bottom of the arc-shaped groove is in the shape of a supporting plate.

5. The manipulator cup taking and holding device as claimed in claim 4, wherein the top surface of the arc-shaped groove is located at a height lower than the height of the rim of the cup mouth.

6. The mechanical hand cup taking and holding device as claimed in claim 1, wherein the cup body separating mechanism comprises a power driving component and at least two pushing screws, the power driving component is arranged at one end of each pushing screw, and each pushing screw is distributed on the outer side of the nested cup bodies; each propelling screw has the same structure and comprises a conveying section and a separating section which are sequentially connected along the conveying direction of the cup body, and the screw pitch of the separating section is greater than that of the conveying section.

7. A robotic cup-taking and cup-holding device as claimed in claim 6, wherein the cup-separating mechanism further comprises a guide rod also located outside the nested cups and arranged parallel to the pusher screw.

8. The manipulator cup taking and holding device as claimed in claim 6, wherein in the cup body separating mechanism, the separating section of the pushing screw rod is terminated by a cup body outlet, and a limiting piece is further arranged on the periphery of the cup body outlet.

9. The mechanical hand cup taking and holding device as claimed in claim 1, wherein the cup body extracting mechanism comprises an extracting electric cylinder, a connecting rod and a sucker, the extracting electric cylinder is mounted on the rack, one end of the connecting rod is connected with an output end of the extracting electric cylinder, the other end of the connecting rod is provided with the sucker, and the sucker serves as an extracting end of the cup body extracting mechanism.

10. A method for taking and holding cups by a mechanical arm is realized by the device according to any one of claims 1 to 9, wherein the nested cups are in an elongated shape and are laid on a cup separating mechanism, and are conveyed by the cup separating mechanism, and the cups are primarily separated by utilizing the change of the screw pitch; then, the bottom of the cup body is adsorbed by an extraction end of the cup body extraction mechanism, and the cup body is taken out; and then the cup body taken out is clamped and fixed by the cup grabbing manipulator and is converted into a cup holding state.

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