CN211053708U - Grab cup manipulator - Google Patents
Grab cup manipulator Download PDFInfo
- Publication number
- CN211053708U CN211053708U CN201922102349.7U CN201922102349U CN211053708U CN 211053708 U CN211053708 U CN 211053708U CN 201922102349 U CN201922102349 U CN 201922102349U CN 211053708 U CN211053708 U CN 211053708U
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- Prior art keywords
- cup
- gear
- clamping jaw
- clamping
- arc
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- 230000008093 supporting effect Effects 0.000 claims description 9
- 239000003638 chemical reducing agent Substances 0.000 claims description 3
- 235000013361 beverage Nutrition 0.000 abstract description 16
- 230000000694 effects Effects 0.000 abstract description 6
- 239000008267 milk Substances 0.000 description 6
- 210000004080 milk Anatomy 0.000 description 6
- 235000013336 milk Nutrition 0.000 description 6
- 235000013616 tea Nutrition 0.000 description 6
- 241001122767 Theaceae Species 0.000 description 5
- 210000000707 wrist Anatomy 0.000 description 4
- 229910000831 Steel Inorganic materials 0.000 description 3
- 239000010959 steel Substances 0.000 description 3
- 230000005540 biological transmission Effects 0.000 description 2
- 238000011161 development Methods 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 239000004615 ingredient Substances 0.000 description 2
- 230000000087 stabilizing effect Effects 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 235000013305 food Nutrition 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 238000002156 mixing Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 235000021460 special beverage Nutrition 0.000 description 1
- 238000012360 testing method Methods 0.000 description 1
- 238000013519 translation Methods 0.000 description 1
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Abstract
The utility model discloses a grab cup manipulator, including clamping jaw, hand seat, clamping jaw drive assembly and rotary joint that opens and shuts, the symmetry is equipped with two clamping jaws on the hand seat, and the clamping jaw opens and shuts drive assembly with the clamping jaw and is connected, and one side and the rotary joint of hand seat are connected. This grab cup manipulator designs to pouring cup formula beverage supply robot, and this manipulator simple structure, use are nimble, grab cup effect stable firm, can cooperate better to pour cup formula beverage supply robot and use, also can be applied to on other occasions or the equipment that need grab the cup betterly.
Description
Technical Field
The utility model relates to the technical field of robots, in particular to grab cup manipulator.
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.
SUMMERY OF THE UTILITY MODEL
The utility model aims to overcome the not enough of prior art, to serve a cup type beverage supply robot, provide one kind and grab a cup manipulator, this manipulator simple structure, use in a flexible way, it is stable firm to grab a cup effect.
The technical scheme of the utility model is that: the utility model provides a grab cup manipulator, includes clamping jaw, hand seat, clamping jaw drive assembly and rotary joint that opens and shuts, and the symmetry is equipped with two clamping jaws on the hand seat, and the clamping jaw is connected with clamping jaw drive assembly that opens and shuts, and one side and the rotary joint of hand seat are connected. The rotary joint is externally connected to the arm wrist of the robot, and the whole cup grabbing mechanical arm can be driven by the arm wrist of the robot to perform actions such as translation, swing and the like. In the manipulator structure, two clamping jaws are used for grabbing or clamping a cup body required by a user; the hand seat is used as a mounting base and is mainly used for mounting all parts 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 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 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 clamping jaw 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 assembly, 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 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 of an integral structure in a bent knife shape integrally and comprises a clamping part and a swinging part which are connected, and the swinging part is connected with the clamping jaw opening and closing driving component; when the cup is grabbed, the clamping part is clamped on the outer wall of the cup body.
An arc-shaped groove is formed in the inner side of the clamping part, and the bottom of the arc-shaped groove is in a supporting plate shape; when the cup is grabbed, 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 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 height that arc recess top surface was located is less than the rim of a cup border height of cup, and according to test show, this arc recess's degree of depth scope is the optimum degree of depth when 1/3 to 3/4 of cup height, can guarantee better on the one hand that the clamping jaw stabilizes the centre gripping cup, and on the other hand, cup upper portion exposes outside the clamping jaw, can provide space, convenient to use for the user grabs the cup.
The rotary joint is a servo-driven speed reducer.
When the cup grabbing manipulator is used, the principle is as follows: when a cup body needs to be grabbed, an electric cylinder in the clamping jaw opening and closing driving assembly acts to drive the rack to move, the rack drives the first gear to rotate, the first gear drives the second gear to rotate, and the rotation of the first gear and the second gear drives the two clamping jaws to be opened; after the cup body enters between the two clamping jaws, the 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 utility model, following beneficial effect has:
This grab cup manipulator designs to pouring cup formula beverage supply robot, and this manipulator simple structure, use are nimble, grab cup effect stable firm, can cooperate better to pour cup formula beverage supply robot and use, also can be applied to on other occasions or the equipment that need grab the cup betterly.
In this grab a cup manipulator, the clamping jaw drive assembly that opens and shuts adopts rack and gear matched with structural style, can effectively reduce the whole volume of manipulator, and the transmission precision is high, can reach the effect of stabilizing the centre gripping cup.
According to the cup grabbing manipulator, the clamping jaw is provided with the arc-shaped groove, 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, so that the phenomenon of falling off during subsequent pouring and filling of beverages 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 cup grabbing manipulator.
Fig. 2 is a view in the direction a of fig. 1.
Fig. 3 is a sectional view taken along line B-B of fig. 1.
Fig. 4 is a schematic diagram of the principle when the rotary joint drives the manipulator and the cup body to rotate.
Fig. 5 is a schematic view of the structure of the clamping jaws clamping the cup.
Figure 6 is a schematic view of the cup when the cup is released by the jaws and the cup is still supported by the bottom of the arcuate groove.
In the above figures, the components indicated by the respective reference numerals are as follows: 1 is the clamping jaw, 2 is the gear shaft, 3 is the second gear, 4 is the hand seat, 5 is the rack, 6 is electronic jar, 7 is rotary joint, 8 is first gear, 9 is the arc recess, 10 is the cup.
Detailed Description
The present invention will be described in further detail with reference to examples, but the present invention is not limited thereto.
Examples
The present embodiment is a cup grasping robot, and as shown in fig. 1 or fig. 2, the cup grasping robot mainly includes two jaws 1, a gear shaft 2, a first gear 8, a second gear 3, a hand seat 4, a rack 5, an electric cylinder 6, and a rotary joint 7. The clamping jaw opening and closing driving assembly is composed of a gear shaft, a first gear, a second gear, a rack and an electric cylinder and used for driving the two clamping jaws to swing to achieve opening or closing actions.
As shown in figure 1, 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 portion is used as a main body part of the clamping jaw, and is provided with an arc-shaped groove 9 (shown in figure 1 or figure 3), and the arc-shaped groove is similar to the cup shape of a cup body 10. 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 arc-shaped groove is about 1/2 of the height of the cup body. 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 5), 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 figure 6), 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 cylinder, the piston end of the electric cylinder is provided with a rack, and the rack extends into the hand seat and is meshed with the first gear. When the electric cylinder acts, the piston rod of the electric cylinder can drive the rack to move up and down, so that the first gear and the second gear are meshed and rotate, the two clamping jaws are driven to close or open, 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 figure 4, 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.
When the cup grabbing manipulator is used, the principle is as follows: when a cup body needs to be grabbed, an electric cylinder in the clamping jaw opening and closing driving assembly acts to drive the rack to move, the rack drives the first gear to rotate, the first gear drives the second gear to rotate, and the rotation of the first gear and the second gear drives the two clamping jaws to be opened; after the cup body enters between the two clamping jaws, the electric cylinder drives the rack to move reversely, so that the first gear rotates reversely, the second gear is driven to rotate reversely, the two clamping jaws are closed, the cup body is clamped, and the cup body is still in a side lying state; 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.
As described above, the present invention can be realized well, 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 invention are intended to be covered by the scope of the claims of the present invention.
Claims (9)
1. The utility model provides a grab cup manipulator, its characterized in that includes clamping jaw, hand seat, clamping jaw drive assembly and rotary joint that opens and shuts, and the symmetry is equipped with two clamping jaws on the hand seat, and the clamping jaw opens and shuts drive assembly with the clamping jaw and is connected, and one side and the rotary joint of hand seat are connected.
2. A cup grabbing mechanical arm as claimed in claim 1, wherein the clamping jaw opening and closing driving assembly comprises an 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, the output end of the 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.
3. A cup grabbing manipulator according to claim 2, wherein the hand seat is a hollow box structure with an opening on one side, one end of each of the two clamping jaws is located in the hand seat and connected with the clamping jaw opening and closing driving assembly, and the other end of each of the two clamping jaws extends out of the opening.
4. The cup grasping robot according to claim 3, wherein the rack, the first gear and the second gear are mounted in a hand rest, the electric cylinder is mounted outside the hand rest, and the rotary joint is also mounted outside the hand rest.
5. The cup grabbing mechanical arm is characterized in that the clamping jaw is of an integral structure in a bent blade shape integrally and comprises a clamping part and a swinging part which are connected, and the swinging part is connected with a clamping jaw opening and closing driving assembly; when the cup is grabbed, the clamping part is clamped on the outer wall of the cup body.
6. A cup grabbing mechanical arm as claimed in claim 5, wherein an arc-shaped groove is formed in the inner side of the clamping portion, and the bottom of the arc-shaped groove is in a supporting plate shape; when the cup is grabbed, the bottom of the cup body falls into the arc-shaped groove.
7. A cup grabbing manipulator according to claim 6, wherein the inner side wall of the arc-shaped groove is inclined, and the inclination of the inner side wall of the arc-shaped groove is equal to that of the outer wall of the cup body.
8. A cup grasping robot according to claim 6, wherein the top surface of the arc-shaped groove is located at a height lower than the rim height of the cup body.
9. A cup grabbing manipulator according to claim 1, wherein the rotary joint is a servo-driven reducer.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201922102349.7U CN211053708U (en) | 2019-11-28 | 2019-11-28 | Grab cup manipulator |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201922102349.7U CN211053708U (en) | 2019-11-28 | 2019-11-28 | Grab cup manipulator |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN211053708U true CN211053708U (en) | 2020-07-21 |
Family
ID=71590184
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201922102349.7U Expired - Fee Related CN211053708U (en) | 2019-11-28 | 2019-11-28 | Grab cup manipulator |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN211053708U (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111975623A (en) * | 2020-08-18 | 2020-11-24 | 安徽晟禾智能机械有限公司 | Special grinding and polishing machine for metal |
| CN114227192A (en) * | 2021-12-24 | 2022-03-25 | 台州普宇智能科技有限公司 | Grab bearing equipment |
| CN115609205A (en) * | 2022-12-19 | 2023-01-17 | 靖江正氟龙防腐科技有限公司 | Welding device for machining steel lining polytetrafluoroethylene storage tank |
| CN116890352A (en) * | 2023-09-11 | 2023-10-17 | 四川吉埃智能科技有限公司 | Intelligent robot takes |
-
2019
- 2019-11-28 CN CN201922102349.7U patent/CN211053708U/en not_active Expired - Fee Related
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111975623A (en) * | 2020-08-18 | 2020-11-24 | 安徽晟禾智能机械有限公司 | Special grinding and polishing machine for metal |
| CN114227192A (en) * | 2021-12-24 | 2022-03-25 | 台州普宇智能科技有限公司 | Grab bearing equipment |
| CN114227192B (en) * | 2021-12-24 | 2023-08-08 | 台州普宇智能科技有限公司 | Grab bearing equipment |
| CN115609205A (en) * | 2022-12-19 | 2023-01-17 | 靖江正氟龙防腐科技有限公司 | Welding device for machining steel lining polytetrafluoroethylene storage tank |
| CN116890352A (en) * | 2023-09-11 | 2023-10-17 | 四川吉埃智能科技有限公司 | Intelligent robot takes |
| CN116890352B (en) * | 2023-09-11 | 2023-11-10 | 四川吉埃智能科技有限公司 | Intelligent robot takes |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20200721 |