CN208716339U - The transfer mechanism of cup in a kind of intelligence tea-drinking process equipment - Google Patents
The transfer mechanism of cup in a kind of intelligence tea-drinking process equipment Download PDFInfo
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- CN208716339U CN208716339U CN201821313079.3U CN201821313079U CN208716339U CN 208716339 U CN208716339 U CN 208716339U CN 201821313079 U CN201821313079 U CN 201821313079U CN 208716339 U CN208716339 U CN 208716339U
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- cup
- transfer mechanism
- fixing sleeve
- process equipment
- clamp arm
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Abstract
The utility model provides a kind of transfer mechanism of cup in intelligent tea-drinking process equipment, belongs to daily necessities technical field.It needs the technical problems such as artificial movement when solving the existing teacup cleaning made tea.The transfer mechanism of cup includes mobile mechanical arm in this intelligence tea-drinking process equipment, there is manipulator on mechanical arm, transfer mechanism further includes the fixing sleeve being fixed on cup, manipulator includes two clamp arm that can be opened or collapse, raised projecting ring section on the outer peripheral surface of fixing sleeve, the locating groove to match with projecting ring section is offered in two clamp arm, projecting ring section can be caught in the locating groove of two clamp arm when two clamp arm collapse.The utility model has the advantages that cup can be grasped automatically and can transfer cup.
Description
Technical field
The utility model belongs to daily necessities technical field, is related to a kind of shifting of cup in intelligent tea-drinking process equipment
Send mechanism.
Background technique
The make tea health drunk tea be in people's daily life and communication act needs in tea making process by a variety of additions
The mixing of auxiliary material uniform stirring, people generally use the mode that manually stirs to realize, but the efficiency manually stirred is lower, and hold
Easily occur stirring the case where causing auxiliary material not to be thoroughly mixed not in place, affects the taste of tea-drinking.
To solve the above-mentioned problems, it is proposed the cup of energy automatic stirring on the market, battery, motor are equipped in cup and stirs
Blade is mixed, drives stirring blade rotation to realize stirring by motor in tea making process, since stirring blade revolving speed is higher, because
This can complete to stir within a short period of time and mix after the completion of stirring thorough.But when using above-mentioned cup, when needing to stir
The switch for needing to open motor also needs to close motor after stirring, people is still needed to go to operate；Battery in cup simultaneously
Electricity is also required to pay close attention to constantly, needs operator that cup is placed on power supply pedestal after dead battery and charges.Namely cup
The stirring and charging of son are both needed to very important person and go to operate.
Summary of the invention
The purpose of this utility model is the presence of the above problem in view of the prior art, proposes a kind of intelligent tea-drinking processing and sets
The technical issues of transfer mechanism of standby middle cup, the utility model solves is to grasp cup automatically and can transfer cup.
The purpose of this utility model can be realized by the following technical scheme:
The transfer mechanism of cup in a kind of intelligence tea-drinking process equipment, including mobile mechanical arm, on the mechanical arm
With manipulator, which is characterized in that transfer mechanism further includes the fixing sleeve being fixed on cup, and the manipulator includes two energy
The clamp arm opened or collapsed, raised projecting ring section on the outer peripheral surface of the fixing sleeve open up in two clamp arm
There is the locating groove to match with projecting ring section, the projecting ring section can be caught in the positioning of two clamp arm when two clamp arm collapse
In card slot.
Mechanical arm is existing apparatus, is able to achieve and moves in multiple degrees of freedom, and the movement of mechanical arm passes through process control, cup
Son is placed on tea table, needs cup being moved to target position when needing to make tea；It is mechanical by the mobile drive of mechanical arm
Hand is moved to cup side, and two clamp arm are opened at this time, and the mobile cup made to cup of manipulator enters between two clamp arm,
The projecting ring section for collapsing fixing sleeve on the cup that clamp arm makes is caught in the locating groove of clamp arm, then will be fixed by the mobile of mechanical arm
Cup on a robotic arm is moved to target position, realizes the automatic transfer to cup；Locating groove energy is caught in by projecting ring section
The manipulator made is stable to catch cup, avoids the inclination of cup in the mobile cup period of the day from 11 p.m. to 1 a.m and falls.
In above-mentioned intelligent tea-drinking process equipment in the transfer mechanism of cup, the width of the locating groove from notch to
It inside gradually becomes smaller, the width of the projecting ring section is gradually increased inwardly from outside.When two clamp arm collapse projecting ring section width compared with
Small outside is opposite with the biggish notch of locating groove width, therefore clamp arm also can collapse process in clamp arm without face projecting ring section
In the projecting ring section that makes be caught in locating groove, it is relatively low to the required precision of mechanical arm urgency manipulator, to reduce intelligent tea
The cost of process equipment is drunk, the manipulator enable is easier to catch teacup.
In above-mentioned intelligent tea-drinking process equipment in the transfer mechanism of cup, the two sides of the projecting ring section, which are respectively provided with, inclines
Oblique upper limit plane and inclined lower limit plane, the angle between the upper limit plane and lower limit plane is acute angle, the lower limit
It is connected between plane and upper limit plane by cylindrical surface.When the projecting ring section that the structure can make is caught in locating groove and locating groove
Cell wall closely against and projecting ring section can be held, so that two clamp arm enable catch cup in firm.
In above-mentioned intelligent tea-drinking process equipment in the transfer mechanism of cup, all have in two clamp arm in circular arc
The resigning breach of shape, the locating groove are provided on the side wall of resigning breach.The folder that resigning breach can make when clamp arm collapses
Arm encases fixing sleeve, and the fixing sleeve made is maintained in resigning breach, and cup is avoided to slide along the length direction of clamp arm, so as to
Situations such as avoiding cup from tilting, what guarantee manipulator can consolidate catches cup.
In above-mentioned intelligent tea-drinking process equipment in the transfer mechanism of cup, the locating groove prolongs along circular arc direction
It stretches, the both ends of the locating groove penetrate through.It is maximized after manipulator catches fixing sleeve with the contact surface of projecting ring section, while energy
It further avoids cup to slide along the length direction of clamp arm, to be avoided that situations such as cup tilts, guarantees manipulator
What can be consolidated catches cup.
In above-mentioned intelligent tea-drinking process equipment in the transfer mechanism of cup, the fixing sleeve is fixed on the rim of a cup of cup
Top, has step in a ring at the rim of a cup of the cup, an end cap of the fixing sleeve on step and with step close-fitting
Close connection.Fixing sleeve is located at the top of cup and fixes with rim of a cup, and the center of gravity of cup can be located at the lower section of fixing sleeve, can make machine
Tool hand is firm to be caught cup and moves under the drive of mechanical arm, guarantees stability when cup transfer.
Alternatively, in above-mentioned intelligent tea-drinking process equipment in the transfer mechanism of cup, the fixing sleeve
It is set in the rim of a cup on cup and close to cup, the diameter of the cup is gradually increased from bottom of a cup to rim of a cup, the fixing sleeve
Internal diameter is less than the diameter of rim of a cup, the fixing sleeve and cup tight fit connection.Fixing sleeve be directly sleeved on the outside of cup and with cup
Son is fixed, and fixing sleeve is close to rim of a cup, therefore the center of gravity of cup can be located at the lower section of fixing sleeve, can make manipulator is firm to catch
Cup simultaneously moves under the drive of mechanical arm, guarantees stability when cup transfer.
Compared with prior art, the transfer mechanism of cup has and can grasp automatically cup simultaneously in this intelligence tea-drinking process equipment
The advantages of cup can be transferred.
Detailed description of the invention
Fig. 1 is status diagram when manipulator does not catch cup.
Fig. 2 is status diagram when manipulator catches cup.
Fig. 3 is the overlooking structure diagram of clamp arm.
Fig. 4 is the schematic view of the front view of clamp arm.
Fig. 5 is the schematic view of the front view of cup.
Fig. 6 is the schematic cross-sectional view of cup.
Fig. 7 is status diagram when cup is placed on stirring placement rack.
Fig. 8 is the explosive view of cup and stirring placement rack.
Fig. 9 is status diagram when cup is placed on charging placement rack.
Figure 10 is the explosive view of cup and charging placement rack.
Figure 11 is the overlooking structure diagram of bottom plate.
In figure, 1, cup；11, cup body；11a, step；12, cup holder；121, cup ring；122, bottom plate；122a, card slot；13,
Stirring blade；14, motor；15, battery；2, interior charging ring；21, outer charging ring；22, electron probe；3, magnetic reed tube；4, fixed
Set；41, projecting ring section；41a, upper limit plane；41b, lower limit plane；5, mechanical arm；51, manipulator；511, clamp arm；511a, resigning
Notch；511b, locating groove；6, charge placement rack；61, mounting plate；7, placement rack is stirred；71, magnet.
Specific embodiment
It is specific embodiment of the utility model and in conjunction with attached drawing below, the technical solution of the utility model is made further
Description, but the utility model is not limited to these examples.
Embodiment one
As shown in Figure 1 to 11, intelligent tea-drinking process equipment includes tea set assembly, and tea set assembly includes cup 1, cup 1
Including cup body 11 and the cup holder 12 for being fixed on 11 bottom of cup body, rotation is equipped with stirring blade 13 in cup body 11, is equipped in cup holder 12
The motor 14 that stirring blade 13 can be driven to rotate, being additionally provided in the cup holder 12 rechargeable battery 15, the battery 15 and electricity
Machine 14 is electrically connected.
Intelligent tea-drinking process equipment further includes the transfer mechanism that can transfer cup 1, and transfer mechanism includes mobile machinery
Arm 5 and the fixing sleeve 4 being fixed on above the rim of a cup of cup body 11 have step 11a in a ring, fixing sleeve at the rim of a cup of cup body 11
4 end cap on step 11a and with step 11a tight fit connection；There is manipulator 51, manipulator 51 includes on mechanical arm 5
Two can open 511 two clamp arm 511 of clamp arm perhaps collapsed and drive opening by pneumatic-finger or collapse, certainly also not
It is confined to pneumatic-finger；Raised projecting ring section 41 on the outer peripheral surface of fixing sleeve 4 all has in circular arc in two clamp arm 511
The resigning breach 511a of shape, locating groove 511b are provided on the side wall of resigning breach 511a, resigning breach in two clamp arm 511
The locating groove 511b to match with projecting ring section 41 is offered on the side wall of 511a, locating groove 511b prolongs along circular arc direction
It stretches, the both ends of locating groove 511b penetrate through, and the width of locating groove 511b inwardly gradually becomes smaller from notch, the width of projecting ring section 41
Degree be gradually increased inwardly from outside, specifically, the two sides of the projecting ring section 41 be respectively provided with inclined upper limit plane 41a and
Inclined lower limit plane 41b, the angle between the upper limit plane 41a and lower limit plane 41b is acute angle, the lower limit plane
It is connected between 41b and upper limit plane 41a by cylindrical surface.When two clamp arm 511 collapse, the projecting ring section 41 can be caught in
In the locating groove 511b of two clamp arm 511.
Mechanical arm 5 is existing apparatus, is able to achieve and moves in multiple degrees of freedom, and the movement of mechanical arm 5 passes through process control,
Cup 1 is placed on tea table, needs cup 1 being moved to target position when needing to make tea；Pass through the mobile drive of mechanical arm 5
Manipulator 51 is moved to 1 side of cup, and two clamp arm 511 are opened at this time, and the mobile cup 1 made to cup 1 of manipulator 51 enters
Between two clamp arm 511, the projecting ring section 41 of fixing sleeve 4 is caught in the positioning card of clamp arm 511 on collapsing the cup 1 that clamp arm 511 makes
In slot 511b, then the cup 1 being fixed on manipulator 51 is moved to by target position by the movement of mechanical arm 5；Pass through bulge loop
Portion 41 is caught in that manipulator 51 that locating groove 511b can make is stable to catch cup 1, avoids cup 1 in mobile cup 1
Inclination and fall.
This tea set assembly further includes charging placement rack 6 and stirring placement rack 7, and charging placement rack 6 and stirring placement rack 7 are in
Tubular.When the cup holder 12 of cup 1 is placed into charging placement rack 6, the charging placement rack 6 can charge to battery 15, in cup
1 cup holder 12, which is placed into the motor 14 when stirring in placement rack 7, will start the drive rotation of stirring blade 13.Cup holder 12 includes cup
Ring 121 and bottom plate 122, when cup holder 12 is placed into charging placement rack 6 or stirring placement rack 7, the cup ring 121 is put with charging
The inner wall for setting seat 6 reclines.
For cup 1 for making tea, the placement rack 6 that charges when in use is fixed on the fixation position of tea table with stirring placement rack 7, leads to
It crosses transfer mechanism and moves back and forth cup 1 between charging placement rack 6 and stirring placement rack 7；Needing the battery 15 to cup 1
When charging, cup 1 is placed on charging placement rack 6 and is charged, it, will when needing that cup 1 is stirred or is cleaned
Cup 1 is placed on stirring placement rack 7, and the stirring of cup 1 provides electric energy by the battery 15 after charging；Tubular charging is put
Setting seat 6 and stirring placement rack 7 can guarantee that the placement of cup 1 is stablized.
Bottom plate 122 is made of non-conducting material, and the interior charging being electrically connected with battery 15 is embedded on the bottom surface of bottom plate 122
Ring 2 and outer charging ring 21, mounting plate 61 is fixed in the charging placement rack 6, and the mounting plate 61 uses non-conducting material system
At being plugged with several electron probes 22 on the mounting plate 61, the syringe needle of the electron probe 22 is pierced by mounting plate 61, Ruo Gansuo
It states electron probe 22 and is divided into two groups, every group and include at least three electron probes 22, the electron probe 22 in every group is respectively positioned on together
On one circumference, when the cup holder 12 of cup 1 is placed into charging placement rack 6, wherein the syringe needle of one group of electron probe 22 can be filled with interior
Electric ring 2 against, another group of electron probe 22 syringe needle can with outer charging ring 21 against.Cup 1 is being placed into charging placement rack 6
When upper, interior charging ring 2 and outer charging ring 21 on bottom plate 122 can be contacted with the electron probe 22 of corresponding group, two groups of electron probes
22 are electrically connected with the cathode of power supply adaptor and anode respectively, the charging connection of complete battery pair 15；Pass through two groups of electron probes
22 with the cooperation of interior charging ring 2 and outer charging ring 21, connection, and cup can be completed after cup 1 is placed into charging placement rack 6
How son 1 does not affect connection in circumferential position, avoids the occurrence of the situation for not filling electricity with；Electron probe 22 is existing product,
The syringe needle flexible of electron probe 22.
The downside of interior charging ring 2 and the downside of outer charging ring 21 flush, the downside of interior charging ring 2 and bottom plate 122
Bottom surface flush or the bottom surface of the downside opposed bottom 122 of the interior charging ring 2 protrusion.Preferably, in the present embodiment
It protrudes the bottom surface of the downside opposed bottom 122 of interior charging ring 2.Interior charging ring 2 and outer charging ring 21 are copper ring or aluminium ring.
Preferably, interior charging ring 2 and outer charging ring 21 are copper ring in the present embodiment.
Three magnetic reed tubes 3 are additionally provided on bottom plate 122, three magnetic reed tubes 3 radially distribute, one end of three magnetic reed tubes 3
Contact with each other connection, and the card slot 122a for installing three magnetic reed tubes 3 is offered on bottom plate 122.Magnetic reed tube 3 is existing product,
Magnetic reed tube 3 can be connected under the influence of a magnetic field, then disconnect under the action of no magnetic field；The both ends of magnetic reed tube 3 are electrically connected
Battery 15 and motor 14 are fixed with the trigger member that can generate magnetic field in the stirring placement rack 7, place in the cup holder 12 of cup 1
The trigger member can act on the magnetic reed tube 3 made on magnetic reed tube 3 and be connected to battery 15 and motor 14 when in stirring placement rack 7.Touching
Outbox is magnet 71 or electromagnet 71, and trigger member is magnet 71 in the present embodiment.It is placed into stirring placement rack 7 in cup 1
When, trigger member can make magnetic reed tube 3 be connected to, thus the battery 15 that can make is connected to motor 14, and the rotation of motor 14 drives paddle
Piece 13 rotates, and realizes cleaning or stirring to cup 1；Magnetic reed tube 3 is from dynamic circuit breaker after cup 1 is taken out out of stirring placement rack 7
It opens, motor 14 stops operating.
Embodiment two
The present embodiment is essentially identical with the structure and principle of embodiment one, the difference is that: fixing sleeve is set in
Rim of a cup on cup and close to cup, the diameter of the cup are gradually increased from bottom of a cup to rim of a cup, and the internal diameter of the fixing sleeve is small
In the diameter of rim of a cup, the fixing sleeve and cup tight fit connection.Fixing sleeve is directly sleeved on the outside of cup and fixes with cup,
Fixing sleeve is close to rim of a cup, therefore the center of gravity of cup can be located at the lower section of fixing sleeve, can make manipulator it is firm catch cup simultaneously
It is moved under the drive of mechanical arm, guarantees stability when cup transfer.
Embodiment three
The present embodiment is essentially identical with the structure and principle of embodiment one, the difference is that: bottom plate be equipped with
The plug of battery electrical connection, the plug are electrically connected with battery, and socket is equipped in the charging placement rack, is put in the cup holder of cup
The plug can be plugged in socket when setting in charging placement rack.
The specific embodiments described herein are merely examples of the spirit of the present invention.The utility model institute
Belonging to those skilled in the art can make various modifications or additions to the described embodiments or using similar
Mode substitute, but without departing from the spirit of the present application or beyond the scope of the appended claims.
Claims (7)
1. the transfer mechanism of cup in a kind of intelligence tea-drinking process equipment, including mobile mechanical arm (5), the mechanical arm
(5) there are manipulator (51) on, which is characterized in that transfer mechanism further includes the fixing sleeve (4) being fixed on cup (1), described
Manipulator (51) includes two clamp arm (511) that can be opened or collapse, raised on the outer peripheral surface of the fixing sleeve (4)
Projecting ring section (41) offers the locating groove (511b) to match with projecting ring section (41) on two clamp arm (511), two
The projecting ring section (41) can be caught in the locating groove (511b) of two clamp arm (511) when clamp arm described in root (511) gathering.
2. the transfer mechanism of cup in intelligence tea-drinking process equipment according to claim 1, which is characterized in that the positioning
The width of card slot (511b) inwardly gradually becomes smaller from notch, and the width of the projecting ring section (41) is gradually increased inwardly from outside.
3. the transfer mechanism of cup in intelligence tea-drinking process equipment according to claim 2, which is characterized in that the bulge loop
The two sides in portion (41) are respectively provided with inclined upper limit plane (41a) and inclined lower limit plane (41b), the upper limit plane
Angle between (41a) and lower limit plane (41b) is acute angle, is passed through between the lower limit plane (41b) and upper limit plane (41a)
Cylindrical surface connection.
4. the transfer mechanism of cup in intelligence tea-drinking process equipment according to claim 1 or 2 or 3, which is characterized in that two
The resigning breach (511a) being arc-shaped is all had in clamp arm described in root (511), the locating groove (511b) is provided with resigning
On the side wall of notch (511a).
5. the transfer mechanism of cup in intelligence tea-drinking process equipment according to claim 4, which is characterized in that the positioning
Card slot (511b) extends along circular arc direction, and the both ends of the locating groove (511b) penetrate through.
6. the transfer mechanism of cup in intelligence tea-drinking process equipment according to claim 1 or 2 or 3, which is characterized in that institute
It states fixing sleeve (4) to be fixed on above the rim of a cup of cup (1), there is step (11a) in a ring at the rim of a cup of the cup (1),
One end cap of the fixing sleeve (4) on step (11a) and with step (11a) tight fit connection.
7. the transfer mechanism of cup in intelligence tea-drinking process equipment according to claim 1 or 2 or 3, which is characterized in that institute
Fixing sleeve (4) is stated to be set on cup (1) and the rim of a cup close to cup (1), the diameter of the cup (1) from bottom of a cup to rim of a cup by
Cumulative big, the internal diameter of the fixing sleeve (4) is less than the diameter of rim of a cup, the fixing sleeve (4) and cup (1) tight fit connection.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821313079.3U CN208716339U (en) | 2018-08-15 | 2018-08-15 | The transfer mechanism of cup in a kind of intelligence tea-drinking process equipment |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821313079.3U CN208716339U (en) | 2018-08-15 | 2018-08-15 | The transfer mechanism of cup in a kind of intelligence tea-drinking process equipment |
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| Publication Number | Publication Date |
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| CN208716339U true CN208716339U (en) | 2019-04-09 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201821313079.3U Active CN208716339U (en) | 2018-08-15 | 2018-08-15 | The transfer mechanism of cup in a kind of intelligence tea-drinking process equipment |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110338658A (en) * | 2019-07-01 | 2019-10-18 | 许长熊 | A kind of tea ceremony robot and auto tea making method |
| CN111739226A (en) * | 2020-06-29 | 2020-10-02 | 北京鸿霁科技有限公司 | Cup clamping device |
-
2018
- 2018-08-15 CN CN201821313079.3U patent/CN208716339U/en active Active
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110338658A (en) * | 2019-07-01 | 2019-10-18 | 许长熊 | A kind of tea ceremony robot and auto tea making method |
| CN111739226A (en) * | 2020-06-29 | 2020-10-02 | 北京鸿霁科技有限公司 | Cup clamping device |
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