CN210879730U - Clamping device and clamping mechanical arm system thereof - Google Patents
Clamping device and clamping mechanical arm system thereof Download PDFInfo
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- CN210879730U CN210879730U CN201920964672.2U CN201920964672U CN210879730U CN 210879730 U CN210879730 U CN 210879730U CN 201920964672 U CN201920964672 U CN 201920964672U CN 210879730 U CN210879730 U CN 210879730U
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Abstract
The utility model discloses a clamping device and centre gripping arm system thereof, clamping device includes: supporting subject and fixture to and shutoff mechanism, fixture and shutoff mechanism set up respectively on supporting subject, wherein: the clamping mechanism is used for clamping a container with an opening; the plugging mechanism comprises a plugging part and a positioning mechanism, the plugging part is connected with the positioning mechanism, and the positioning mechanism is connected with the supporting main body, so that the plugging part is positioned at a first preset position of the container through the positioning mechanism and is used for plugging the opening of the container, and the sealing of the container is realized. The application provides a clamping device structure of preparation beverage, has solved prior art manual production and has leaded to the productivity not enough, technical problem that the cost is big.
Description
Technical Field
The utility model belongs to the technical field of structural design and specifically relates to indicate a clamping device and centre gripping mechanical arm system thereof.
Background
Currently, there are more and more beverage shops in the catering industry (e.g., milky tea shops, coffee shops, water bars, etc.). In a beverage shop, for example, a single shop with the net red milk tea, like tea, sells 4 thousand cups daily, and the queuing time is 6 hours at most. August 2016 obtains IDG capital and 1 hundred million renminbi rounds of financing for this day investment. For another example, the number of local stores in mainland of China is close to 600, and the network red milk tea stores such as 'answer tea', 'deer-horn lane', 'compact', and the like are in endlessly. However, when the beverage shop develops a certain scale, the traditional manual milk tea preparation method is adopted, so that the yield is insufficient, and the cost is greatly increased. The market still does not have a ripe special equipment for drink preparation.
So utility model people discover to have following problem at least among the prior art, formulate the drink through the manual work among the prior art, lead to the production capacity not enough after the mass production, the cost rises by a wide margin.
SUMMERY OF THE UTILITY MODEL
The application provides a clamping device, and aims to realize preparation work for large-scale mass production of beverages.
The clamping device includes: support main part and fixture to and shutoff mechanism, fixture with shutoff mechanism sets up respectively on supporting the main part, wherein:
the clamping mechanism is used for clamping a container with an opening;
the plugging mechanism comprises a plugging part and a positioning mechanism, the plugging part is connected with the positioning mechanism, and the positioning mechanism is connected with the supporting main body, so that the plugging part is positioned at a first preset position of the container through the positioning mechanism and is used for plugging the opening of the container, and the sealing of the container is realized.
Optionally, the clamping mechanism comprises a first power device and a first clamping portion, and a second clamping portion;
the first power device is arranged on the supporting main body and is respectively connected with the first clamping part and the second clamping part, so that the first power device drives the first clamping part and the second clamping part to clamp or release.
Optionally, the clamping mechanism further comprises a first gear and a second gear, and a third gear;
the first gear is rotatably arranged on the support main body and is connected with the first power device, so that the first power device drives the first gear to rotate;
the second gear and the third gear are respectively connected with one end of the first clamping part and one end of the second clamping part;
the second gear and the third gear are respectively rotatably arranged on the supporting main body, the first gear is meshed with the second gear, and the second gear is meshed with the third gear, so that the rotation of the first gear drives the second gear and the third gear to rotate to clamp or release the first clamping part and the second clamping part.
Optionally, the clamping mechanism further comprises a first connecting shaft and a second connecting shaft;
the second gear and the third gear are respectively and coaxially connected with one ends of the first connecting shaft and the second connecting shaft, and the other ends of the first connecting shaft and the second connecting shaft are respectively connected with the first clamping part and the second clamping part.
Optionally, the positioning mechanism comprises a first link and a second link, and a third link and a second power device;
one end of the first connecting rod is hinged to the supporting main body, the other end of the first connecting rod is hinged to one end of the second connecting rod, the plugging portion is connected to the first connecting rod, the other end of the second connecting rod is hinged to one end of the third connecting rod, and the other end of the third connecting rod is connected to the second power device, so that the second power device drives the third connecting rod to rotate and drives the plugging portion to overturn to the preset position to plug the opening of the container.
Optionally, a sealing ring is arranged at the joint of the blocking part and the container block.
Optionally, the first clamping portion and the second clamping portion are arc-shaped, and arc-shaped openings of the first clamping portion and the second clamping portion are arranged oppositely.
Optionally, the first clamping portion and/or the second clamping portion are provided with anti-slip grooves, so that when the first clamping portion and the second clamping portion are clamped, the anti-slip grooves contact with the container to prevent the container from slipping.
Optionally, the system comprises: the mechanical arm and the clamping device are arranged on the base;
the execution end of the mechanical arm is connected with the support main body, wherein the execution end is used for moving and positioning one end in space according to a control instruction;
the stiff end of arm is fixed in the second in space and is predetermine the position.
Optionally, the system further comprises: a positioning device;
the positioning device is arranged at a third preset position in space and is used for positioning the container in space.
As can be seen from the above, based on the above embodiments, a clamping device structure for preparing beverages is provided, which solves the technical problems of insufficient productivity and large cost caused by manual production in the prior art.
Drawings
Fig. 1 is a schematic view of an external structure of the clamping device of the present invention;
fig. 2 is a schematic view of the internal structure of the clamping device in the first state;
fig. 3 is a schematic view of the internal structure of the clamping device in a second state;
fig. 4 is a structural schematic diagram of the first state of the clamping mechanical arm of the utility model;
fig. 5 is a structural schematic diagram of the second state of the clamping mechanical arm of the utility model;
fig. 6 is a schematic structural view of the third state of the clamping mechanical arm of the present invention;
fig. 7 is a schematic diagram of the fourth state structure of the clamping mechanical arm of the present invention.
Description of the labeling:
10 clamping device
1 support body
2 clamping mechanism
21 first power device
22 first clamping part
23 second clamping part
24 first gear
25 second gear
26 third gear
27 first connecting shaft
28 second connecting shaft
29 anti-skid groove
3 plugging mechanism
31 sealing part
32 positioning mechanism
321 first connecting rod
322 second connecting rod
323 third link
324 second power device
33 sealing ring
4 container
41 opening
20 mechanical arm
201 executing end
30 positioning device
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more clearly understood, the present invention will be further described in detail with reference to the accompanying drawings and examples.
Fig. 1 is the external structure schematic diagram of the clamping device of the present invention, fig. 2 is the internal structure schematic diagram of the first state of the clamping device of the present invention, fig. 3 is the internal structure schematic diagram of the second state of the clamping device of the present invention. As shown in fig. 1 and 2, and fig. 3, in one embodiment, the present application provides a clamping device, the clamping device 10 comprising: support main part 1 and fixture 2 to and shutoff mechanism 3, fixture 2 and shutoff mechanism 3 set up respectively on support main part 1, wherein:
the holding mechanism 2 is used for holding the container 4 with the opening 41;
the blocking mechanism 3 comprises a blocking portion 31 and a positioning mechanism 32, the blocking portion 31 is connected with the positioning mechanism 32, and the positioning mechanism 32 is connected with the supporting body 1, so that the blocking portion 31 is positioned at a first preset position of the container 4 through the positioning mechanism 32 and used for blocking the opening 41 of the container 4, and sealing of the container 4 is achieved.
In the present embodiment, a holding device 10 for preparing a beverage is provided, the holding device 10 being adapted to hold a container 4, such as a cup, for preparing a beverage. On the other hand, for closing the opening 41 in the container 4, since the container 4 needs to be shaken or vibrated during the preparation of the beverage, the opening 41 of the container 4 for the introduction of the beverage needs to be closed to prevent the beverage from being spilt from the container 4 during shaking or vibration.
It should be noted that the positioning mechanism 32 is used to place the blocking portion 31 at a first predetermined position, and when the blocking portion 31 is at the first predetermined position, the opening 41 of the container 4 is blocked, so as to seal the container 4.
In one embodiment, the clamping mechanism 2 comprises a first power means 21 and a first clamping portion 22, and a second clamping portion 23;
the first power device 21 is disposed on the support body 1, and the first power device 21 is connected to the first clamping portion 22 and the second clamping portion 23 respectively, so that the first power device 21 drives the first clamping portion 22 to clamp or release the second clamping portion 23.
In the present embodiment, a specific structure of the clamping mechanism 2 is further provided, and the clamping mechanism 2 clamps or releases the container 4 through clamping or releasing of the first clamping part 22 and the second clamping part 23. The power source of the first clamping part 22 and the second clamping part 23 comes from the first power device 21. The first power device 21 may be a motor or an electric motor, and provides power for clamping or releasing the first clamping portion 22 and the second clamping portion 23 through gears, belt transmission, etc., or the clamping or releasing of the first clamping portion 22 and the second clamping portion 23 may be achieved through fluid, such as pneumatic or hydraulic.
In an embodiment, the gripper mechanism 2 further comprises a first gear 24 and a second gear 25, and a third gear 26;
the first gear 24 is rotatably arranged on the supporting body 1, and the first gear 24 is connected with the first power device 21, so that the first power device 21 drives the first gear 24 to rotate;
the second gear 25 and the third gear 26 are connected to one ends of the first clamping portion 22 and the second clamping portion 23, respectively;
the second gear 25 and the third gear 26 are respectively rotatably arranged on the supporting body 1, the first gear 24 is meshed with the second gear 25, and the second gear 25 is meshed with the third gear 26, so that the rotation of the first gear 24 drives the second gear 25 and the third gear 26 to rotate to clamp or release the first clamping part 22 and the second clamping part 23.
The present embodiment provides a further specific structure of the clamping mechanism 2, the control of the first clamping portion 22 and the second clamping portion 23 is realized by meshing gears, the first power device 21 can be understood as a motor or an electric motor, a first gear 24 is disposed on a driving shaft of the first power device, the rotation of the motor or the electric motor drives the first gear 24 to rotate, and then the first gear 24 meshes with the second gear 25, and the second gear 25 meshes with the third gear 26 to realize the clamping or releasing of the first clamping portion 22 and the second clamping portion 23.
In an embodiment, the clamping mechanism 2 further comprises a first connecting shaft 27 and a second connecting shaft 28;
the second gear 25 and the third gear 26 are coaxially connected to one ends of a first connecting shaft 27 and a second connecting shaft 28, respectively, and the other ends of the first connecting shaft 27 and the second connecting shaft 28 are connected to the first clamping portion 22 and the second clamping portion 23, respectively.
The embodiment provides a specific connecting structure of a gear and a clamping part.
In one embodiment, the positioning mechanism 32 includes a first link 321 and a second link 322, and a third link 323 and a second power device 324;
one end of the first link 321 is hinged to the supporting body 1, the other end of the first link 322 is hinged to one end of the second link 322, the blocking portion 31 is connected to the first link 321, the other end of the second link 322 is hinged to one end of the third link 323, and the other end of the third link 323 is connected to the second power device 324, so that the second power device 324 drives the third link 323 to rotate, and drives the blocking portion 31 to overturn to a predetermined position for blocking the opening 41 of the container 4.
In the present embodiment, a specific structure of the positioning mechanism 32 is provided, the positioning mechanism 32 is a link mechanism, and is hinged end to end through the first link 321, the second link 322, and the third link 323, and is driven by the second power device 324, where the second power device 324 may be understood as a motor or an electric motor, a driving shaft of which is fixedly connected to the other end of the third link 323, and finally, the positioning of the blocking portion 31 disposed on the first link 321 is realized through the rotation of the driving shaft on the motor or the electric motor. The first connecting rod 321, the second connecting rod 322 and the third connecting rod 323 can be provided with connecting holes for adjusting the length, so that the specific length of the three connecting rods can be adjusted conveniently.
In one embodiment, a sealing ring 33 is provided at the sealing joint of the sealing part 31 and the container 4.
This embodiment provides a sealing of the closure portion 31 to the container 4.
In one embodiment, the first clamping portion 22 and the second clamping portion 23 are arc-shaped, and the arc-shaped openings of the first clamping portion 22 and the second clamping portion 23 are oppositely arranged.
The present embodiment provides a specific structure of the first clamping portion 22 and the second clamping portion 23. The arc-shaped openings through the first 22 and second 23 clamping portions may embrace the container 4 when clamped to make the clamping more stable. The container 4 can be understood as a cup.
In one embodiment, the first clamping portion 22 and/or the second clamping portion 23 are provided with anti-slip grooves 29, so that when the first clamping portion 22 and the second clamping portion 23 are clamped together, the anti-slip grooves 29 contact with the container 4 to prevent the container 4 from slipping.
The present embodiment provides a slip-proof manner, when the first clamping portion 22 and/or the second clamping portion 23 clamps the container 4, the contact surface of the first clamping portion 22 and/or the second clamping portion 23 is provided with a slip-proof groove 29 to prevent the container 4 from slipping.
The support body 1 comprises a shell, a back plate, a bottom plate, a first bracket and a second bracket;
the bottom plate with the backplate seam forms the L type, first support is fixed on the bottom plate, first power device 21 is installed on the first support, second gear 25 and third gear 26 are all installed on the bottom plate, the second support mounting is in on the first support, second power device 324 is installed on the second support, the shell cover is in the backplate with the bottom plate, and outside the first support with the second support, first connecting rod 321 and second connecting rod 232 set up outside the shell, the one end of first connecting rod 321 articulates realize above-mentioned articulated with supporting body 1 on the shell, third connecting rod 323 stretches out the shell, third connecting rod 323 with the junction of shell is provided with the dust guard, prevents that the dust from getting into the shell.
Fig. 4 is the first state structure of the utility model discloses the centre gripping arm schematic diagram, fig. 5 is the utility model discloses centre gripping arm second state structure schematic diagram, fig. 6 is the utility model discloses centre gripping arm third state structure schematic diagram, fig. 7 is the utility model discloses centre gripping arm fourth state structure schematic diagram. As shown in fig. 4 and 5, and 6 and 7, in one embodiment, the present application further provides a clamp robot arm system comprising: a robot arm 20, and a holding device 10;
an execution end 201 of the mechanical arm 20 is connected with the support main body 1, wherein the execution end 201 is used for moving and positioning one end in space according to a control command;
the fixed end of the robot arm 20 is fixed at a second predetermined position in space.
In the present embodiment, the clamping device 10 is used in connection with the robot arm 20, and it should be noted that the fixed end of the robot arm 20 may be fixed on the ground or a base, which may be determined according to specific situations. The second predetermined position is a position for facilitating the operation of the robotic arm 20, which will be related to the position in which the container 4 is placed.
In one embodiment, the system further comprises: a positioning device 30;
a positioning means 30 is arranged at a third predetermined position in space, the positioning means 30 being arranged for spatially positioning the container 4.
In order to accurately position the container 4 in this embodiment, a third predetermined position is required to facilitate positioning of the robotic arm 10. If the receptacle 4 is a cup, the positioning device 30 may be a cylindrical structure having an upper opening, the bottom of which may be secured to the ground or a base.
Based on the above-mentioned structure of the gripper arm system, assuming that the container 4 is a snow cup and the positioning device 30 is a cylindrical structure, a specific way of making a beverage is:
when the clamping device 10 is in the released state, i.e. the first clamping portion 22 and the second clamping portion 23 are released, and the robot arm 20 receives the command, the clamping device 10 is placed at a position above the positioning device 30, and the lower end of the container 4 is placed in the positioning device 30, and an opening 41 is provided above the container 4, which can be understood as an opening provided above a cup, and the positioning device 30 is a cylindrical base on which the cup is placed. At this time, the position of the positioning device 30, i.e., the cylindrical base, is a third predetermined position, which is used to provide a fixed spatial reference position when the robotic arm 20 repeats the steps, and the robotic arm 20 can be programmed by referring to the spatial relationship between the second predetermined position and the third predetermined position of the robotic arm 20 each time. The holding device 10 is moved to the side of the container 4 (i.e. the snow cup) and the container 4 is held by the clamping of the first holding part 22 and the second holding part 23.
After the holding device 10 holds the container 4, the robot arm 20 moves the container 4 to a beverage material filling station, and the filling of the material is performed by an apparatus or manually. Then, the opening 41 of the container 4 is sealed by the sealing portion 31 of the sealing mechanism 3, and then the robot arm 20 may shake or vibrate for sufficiently mixing the beverage material in the container 4.
The robot arm 20 moves the container 4 containing the mixed beverage to another cup, opens the closing portion 31 by the closing mechanism 3 to open the opening 41, and introduces the beverage in the container 4 into the cup.
The robotic arm 20 may also move the container 4 to a cupbasin or other cleaning device for rinsing the container 4.
At this point, the container 4 may be placed back into the positioning device 30 and left to stand for draining.
On the other hand, the mechanical arm 20 can be moved to another cup, the opening of the cup is blocked by the blocking part 31 of the blocking mechanism 3, then the cup is moved to a meal outlet, the whole process is finished, and mass production can be realized by repeating the process.
The above description is only a preferred embodiment of the present invention, and should not be taken as limiting the invention, and any modifications, equivalent replacements, improvements, etc. made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (10)
1. A clamping device, characterized in that the clamping device (10) comprises: supporting body (1) and fixture (2) to and shutoff mechanism (3), fixture (2) with shutoff mechanism (3) set up respectively on supporting body (1), wherein:
the clamping mechanism (2) is used for clamping a container (4) with an opening (41);
the blocking mechanism (3) comprises a blocking part (31) and a positioning mechanism (32), the blocking part (31) is connected with the positioning mechanism (32), and the positioning mechanism (32) is connected with the supporting main body (1), so that the blocking part (31) is positioned at a first preset position of the container (4) through the positioning mechanism (32) to block the opening (41) of the container (4), and the sealing of the container (4) is realized.
2. Clamping device according to claim 1, characterized in that the clamping means (2) comprise a first power means (21) and a first clamping portion (22), and a second clamping portion (23);
the first power device (21) is arranged on the supporting main body (1), and the first power device (21) is respectively connected with the first clamping part (22) and the second clamping part (23), so that the first power device (21) drives the first clamping part (22) and the second clamping part (23) to clamp or release.
3. Gripping device according to claim 2, characterized in that the gripping means (2) further comprises a first gear wheel (24) and a second gear wheel (25), and a third gear wheel (26);
the first gear (24) is rotatably arranged on the supporting body (1), and the first gear (24) is connected with the first power device (21) so that the first power device (21) drives the first gear (24) to rotate;
the second gear (25) and the third gear (26) are respectively connected with one ends of the first clamping part (22) and the second clamping part (23);
the second gear (25) and the third gear (26) are respectively rotatably arranged on the supporting main body (1), the first gear (24) is meshed with the second gear (25), and the second gear (25) is meshed with the third gear (26), so that the rotation of the first gear (24) drives the second gear (25) and the third gear (26) to rotate to clamp or release the first clamping part (22) and the second clamping part (23).
4. Clamping device according to claim 3, characterized in that the clamping means (2) further comprise a first connecting shaft (27) and a second connecting shaft (28);
the second gear (25) and the third gear (26) are respectively and coaxially connected with one ends of the first connecting shaft (27) and the second connecting shaft (28), and the other ends of the first connecting shaft (27) and the second connecting shaft (28) are respectively connected with the first clamping part (22) and the second clamping part (23).
5. Clamping device according to any of claims 2 to 4, characterized in that the positioning mechanism (32) comprises a first link (321) and a second link (322), and a third link (323) and a second power means (324);
one end of the first connecting rod (321) is hinged to the supporting main body (1), the other end of the first connecting rod (321) is hinged to one end of the second connecting rod (322), the blocking portion (31) is connected to the first connecting rod (321), the other end of the second connecting rod (322) is hinged to one end of the third connecting rod (323), and the other end of the third connecting rod (323) is connected to the second power device (324), so that the second power device (324) drives the third connecting rod (323) to rotate and drive the blocking portion (31) to turn to the preset position to block the opening (41) of the container (4).
6. A holding device according to claim 5, wherein a sealing ring (33) is provided at the junction of the closing off portion (31) and the closing off of the container (4).
7. A clamping device according to claim 5, characterized in that the first clamping portion (22) and the second clamping portion (23) are arc-shaped, and the arc-shaped openings of the first clamping portion (22) and the second clamping portion (23) are oppositely arranged.
8. Clamping device according to claim 5, characterized in that the first clamping portion (22) and/or the second clamping portion (23) are provided with anti-slip grooves (29) such that when the first clamping portion (22) and the second clamping portion (23) are clamped, the anti-slip grooves (29) are in contact with the container (4) to prevent slipping of the container (4).
9. A clamping robot system, comprising: -a robot arm (20), and-a gripping device (10) according to any of claims 1 to 7;
an execution end (201) of the mechanical arm (20) is connected with the support main body (1), wherein the execution end (201) is used for moving and positioning one end in space according to a control command;
the fixed end of the mechanical arm (20) is fixed at a second preset position in space.
10. The gripper robot system of claim 9, further comprising: a positioning device (30);
the positioning device (30) is arranged at a third predetermined position in space, and the positioning device (30) is used for spatially positioning the container (4).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201920964672.2U CN210879730U (en) | 2019-06-25 | 2019-06-25 | Clamping device and clamping mechanical arm system thereof |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201920964672.2U CN210879730U (en) | 2019-06-25 | 2019-06-25 | Clamping device and clamping mechanical arm system thereof |
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| Publication Number | Publication Date |
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| CN210879730U true CN210879730U (en) | 2020-06-30 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201920964672.2U Active CN210879730U (en) | 2019-06-25 | 2019-06-25 | Clamping device and clamping mechanical arm system thereof |
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| CN (1) | CN210879730U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112223271A (en) * | 2020-10-21 | 2021-01-15 | 南京科技职业学院 | Robot arm |
-
2019
- 2019-06-25 CN CN201920964672.2U patent/CN210879730U/en active Active
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112223271A (en) * | 2020-10-21 | 2021-01-15 | 南京科技职业学院 | Robot arm |
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