CN210704896U

CN210704896U - Joint module for coffee robot

Info

Publication number: CN210704896U
Application number: CN201920916190.XU
Authority: CN
Inventors: 周玲毅
Original assignee: Hangzhou Blackstone Robot Co ltd
Current assignee: Hangzhou Blackstone Robot Co ltd
Priority date: 2019-06-18
Filing date: 2019-06-18
Publication date: 2020-06-09
Anticipated expiration: 2029-06-18

Abstract

The utility model belongs to the technical field of the robot, concretely relates to joint module for coffee robot, which comprises a housin, set up the rotatory curb plate of arm in the casing, first motor and second motor, the rotatory curb plate of arm and casing fixed connection, the first arm rotation axis of side fixed connection on the rotatory curb plate upper portion of arm, swivelling joint second gear on the first arm rotation axis, the rotatory curb plate lower part fixed connection bearing frame of arm, swivelling joint fourth gear on the bearing frame, the equal fixed connection of first motor and second motor is on the rotatory curb plate of arm, first gear is connected in first motor drive, first gear and second gear meshing, third gear is connected in second motor drive, third gear and fourth gear meshing. The utility model relates to a rationally, compact structure, the utility model discloses a modular structure, transmission structure all sets up inside the casing, easy dismounting, can directly worsen when damaging, need not to dismantle whole robot.

Description

Joint module for coffee robot

Technical Field

The utility model belongs to the technical field of the robot, concretely relates to joint module for coffee robot.

Background

As is known, in a traditional coffee shop, a waiter coffee a customer end, in a city, the labor cost of the waiter is higher and higher, and the waiter needs a special person to manage, so that certain difficulty is undoubtedly brought to the operation of the coffee shop. Therefore, the applicant proposes a coffee robot, which can replace manpower, serve customers through the coffee robot, further realize the operation of unmanned coffee shops, and have great development potential. In the coffee robot, the arm is an important part for realizing end coffee delivery, the existing robot arm is not modular, if the joint in the arm is broken, the whole arm needs to be disassembled and repaired, and the coffee robot is very troublesome.

SUMMERY OF THE UTILITY MODEL

In order to make up for the not enough of prior art, the utility model provides a joint module technical scheme for coffee robot.

The joint module for the coffee robot is characterized by comprising a shell, wherein an arm rotating side plate, a first motor and a second motor are arranged in the shell, the arm rotating side plate is fixedly connected with the shell, a first arm rotating shaft is fixedly connected to the side surface of the upper portion of the arm rotating side plate, a second gear is rotatably connected to the first arm rotating shaft, a bearing seat is fixedly connected to the lower portion of the arm rotating side plate, a fourth gear is rotatably connected to the bearing seat, the first motor and the second motor are fixedly connected to the arm rotating side plate, the first motor is arranged at the upper end of the second motor, the first motor is horizontally arranged, the second motor is vertically arranged, the first gear is connected in a first motor transmission mode, the first gear is meshed with the second gear, the second motor is connected with a third gear in a second motor transmission mode, and the third gear is meshed with the fourth.

The joint module for the coffee robot is characterized in that the first gear is fixedly sleeved on an output shaft of the first motor.

The joint module for the coffee robot is characterized in that the end surface of the second gear is fixedly connected with the first connecting piece.

The joint module for the coffee robot is characterized in that a first bearing is arranged between the second gear and the first arm rotating shaft.

The joint module for the coffee robot is characterized in that the third gear is fixedly sleeved on an output shaft of the second motor.

The joint module for the coffee robot is characterized in that the end surface of the fourth gear is fixedly connected with the second connecting piece.

The joint module for the coffee robot is characterized in that a second bearing is arranged between the bearing seat and the fourth gear.

The joint module for the coffee robot is characterized in that the number of the arm rotating side plates is two, the two arm rotating side plates are fixedly connected, and a motor mounting hole for arranging a first motor is formed in each arm rotating side plate.

The joint module for the coffee robot is characterized in that the upper part of the shell is of a spherical structure, and the lower part of the shell is of an arm-imitating structure.

The utility model relates to a rationally, compact structure, the utility model discloses a modular structure, transmission structure all sets up inside the casing, easy dismounting, can directly worsen when damaging, need not to dismantle whole robot.

Drawings

FIG. 1 is a schematic view of the external structure of the present invention;

FIG. 2 is a schematic view of the shell-removed structure of the present invention;

FIG. 3 is a second schematic structural view of the present invention with the housing removed;

fig. 4 is a schematic structural view of a first arm rotating shaft in the present invention;

fig. 5 is a schematic structural diagram of a bearing seat of the present invention.

In the figure: the robot comprises a shell 1, an arm rotating side plate 2, a first motor 3, a second motor 4, a first arm rotating shaft 5, a second gear 6, a bearing seat 7, a fourth gear 8, a first gear 9, a third gear 10, a first connecting piece 11, a second connecting piece 12 and a motor plate 13.

Detailed Description

The present invention will be further explained with reference to the accompanying drawings.

As shown in fig. 1-5, a joint module for a coffee robot comprises a housing 1, wherein the upper part of the housing 1 is a spherical structure, and the lower part of the housing 1 is an arm-like structure.

An arm rotating side plate 2 is arranged in the shell 1, first motor 3 and second motor 4, rotatory curb plate 2 of arm and 1 fixed connection of casing, the first arm rotation axis of side fixed connection 5 on the rotatory curb plate 2 upper portion of arm, through first bearing swivelling joint second gear 6 on the first arm rotation axis 5, 2 lower part fixed connection bearing frame 7 of the rotatory curb plate of arm, through second bearing swivelling joint fourth gear 8 on the bearing frame 7, first motor 3 and the equal fixed connection of second motor 4 are on rotatory curb plate 2 of arm, first motor 3 is in the second motor 4 upper end, first motor 3 level sets up, the vertical setting of second motor 4, first gear 9 is established to fixed the cover on the output shaft of first motor 3, first gear 9 and the meshing of second gear 6, fixed the cover is established third gear 10 on the output shaft of second motor 4, third gear 10 and the meshing of fourth gear 8.

First arm rotation axis: the main body of the first arm rotation shaft 5 is an axial structure with a through hole, one side end face of the first arm rotation shaft 5 is a rectangular structure, four corners of the first arm rotation shaft protrude outwards relative to the axial structure, the four corners of the first arm rotation shaft are provided with connecting holes, the first arm rotation shaft 5 is fixedly connected with the inner side of the arm rotation side plate 2 through the four corners, and the axial main body of the first arm rotation shaft 5 is used for being connected with the second gear 6.

Bearing seat: the bearing seat 7 has a structure similar to that of the first arm rotating shaft, and the side part thereof extends outwards to form a motor plate 13 for fixing the second motor 4

In order to facilitate connection with other parts on the robot, a first connecting piece 11 is fixedly connected to the end face of the second gear 6, and the first connecting piece 11 is of a plate-shaped structure.

In order to facilitate connection with other parts on the robot, a second connecting piece 12 is fixedly connected to the end face of the fourth gear 8, and the second connecting piece 12 is of a plate-shaped structure.

Arm rotation side plate: the two arm rotating side plates 2 are respectively fixedly connected with the bearing seat 7 and the two arm rotating side plates 2, the two arm rotating side plates 2 are fixedly connected through a cylinder, and a motor mounting hole for arranging the first motor 3 is formed in each arm rotating side plate.

During the installation, with first connecting piece 11 and second connecting piece 12 respectively through the screw direct mount to the robot on, because transmission structure all sets up in casing 1, the utility model discloses a two upper and lower links do not involve other transmission structure, can directly adopt screw fixed connection, and consequently the installation is very convenient, can directly change after damaging.

During operation, the big arm is taken as an example: the first motor 3 drives the first gear 9 to rotate, the second gear 6 is fixed with the first connecting piece 11, and the first connecting piece 11 is fixed with a shoulder part of the robot, so that the second gear 6 cannot rotate, the first gear 9 rotates around the axis of the second gear 6 while rotating, and the first motor 3, the arm rotating side plate 2, the shell 1 and other parts rotate along with the rotation, so that the large arm swings outwards; the second motor 4 drives the third gear 10 to rotate, the third gear 10 drives the fourth gear 8 to rotate, the fourth gear 8 drives the second connecting piece 12 to rotate, and the second connecting piece is fixedly connected with the small arm, so that the small arm can rotate relative to the large arm by taking the fourth gear 8 as an axis.

Finally, it should be noted that: the above embodiments are only used to illustrate the technical solution of the present invention, and not to limit the same; while the invention has been described in detail and with reference to the foregoing embodiments, it will be understood by those skilled in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some or all of the technical features may be equivalently replaced; and the modifications or the substitutions do not make the essence of the corresponding technical solutions depart from the scope of the technical solutions of the embodiments of the present invention.

Claims

1. A joint module for a coffee robot is characterized by comprising a shell (1), an arm rotating side plate (2), a first motor (3) and a second motor (4) are arranged in the shell (1), the arm rotating side plate (2) is fixedly connected with the shell (1), a first arm rotating shaft (5) is fixedly connected to the side surface of the upper portion of the arm rotating side plate (2), a second gear (6) is rotatably connected to the first arm rotating shaft (5), a bearing seat (7) is fixedly connected to the lower portion of the arm rotating side plate (2), a fourth gear (8) is rotatably connected to the bearing seat (7), the first motor (3) and the second motor (4) are both fixedly connected to the arm rotating side plate (2), the first motor (3) is arranged at the upper end of the second motor (4), the first motor (3) is horizontally arranged, the second motor (4) is vertically arranged, the first motor (3) is in transmission connection with a first gear (9), the first gear (9) is meshed with the second gear (6), the second motor (4) is in transmission connection with the third gear (10), and the third gear (10) is meshed with the fourth gear (8).

2. The joint module for a coffee robot as claimed in claim 1, characterized in that the first gear (9) is fixedly sleeved on the output shaft of the first motor (3).

3. A joint module for a coffee robot according to claim 1, characterized in that the end surface of the second gear wheel (6) is fixedly connected with the first connecting piece (11).

4. A joint module for a coffee robot according to claim 1, characterized in that a first bearing is arranged between the second gear wheel (6) and the first arm rotation axis (5).

5. The joint module for a coffee robot as claimed in claim 1, characterized in that the third gear (10) is fixedly sleeved on the output shaft of the second motor (4).

6. A joint module for a coffee robot according to claim 1, characterized in that the end surface of the fourth gear wheel (8) is fixedly connected to the second connecting piece (12).

7. A joint module for a coffee robot according to claim 1, characterized in that a second bearing is arranged between the bearing block (7) and the fourth gear wheel (8).

8. A joint module for a coffee robot according to any of claims 1-7, characterized in that there are two arm rotation side plates (2), the two arm rotation side plates (2) are fixedly connected, and the arm rotation side plates have motor mounting holes for the first motor (3).

9. Joint module for a coffee robot according to any of the claims 1-7, characterized in that the upper part of the housing (1) is of spherical structure and the lower part of the housing (1) is of arm-like structure.