CN214238256U - Multi-variety bottled beverage service robot - Google Patents

Abstract

The utility model discloses a many varieties bottled beverage service robot, including the robot, get bottle feeding system, hold bottle hand and the hand of uncapping, get inside bottle feeding system located the robot, be equipped with out the bottle hole on the robot, hold bottle hand and uncap hand and install respectively on the wrist joint of robot both sides to the action of overturning. The using method comprises the steps that when the control system of the service robot receives demand information of a user, the bottle taking and supplying system is started firstly, the bottle taking and supplying system grabs bottled beverages of corresponding varieties in the robot body and sends the bottled beverages out from the bottle outlet, then the bottle holding hand portion grabs a bottle body of the bottled beverages and turns over the bottle body to be in an upright state, the bottle cover opening hand portion is started to open a bottle cover on the bottle body, and the bottle holding hand portion delivers the opened bottled beverages to the user. The utility model discloses can provide the bottled drink of appointed variety according to the consumer demand to realize automatic uncapping fast, have stronger convenience and interest.

Description

Multi-variety bottled beverage service robot

Technical Field

The utility model relates to a service type, the type of selling goods and service type robot technical field, in particular to multi-variety bottled drink service robot.

Background

In modern life, beverages are indispensable in catering services, and the beverage is a very large market with various varieties and wide range, and various brands and merchants compete fiercely. Beverage sales are ubiquitous, including shopping malls, restaurants, entertainment venues, and other public places.

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

However, the robots currently used in the catering industry have a large limitation, such as the two types of robots mentioned above. One type of the robot, the food and drink delivery robot, is substantially equivalent to a human-shaped AGV, can only realize delivery by rail navigation, has a single function, and is difficult to attract consumers for a long time. The other type of unattended milk tea selling equipment is characterized in that an industrial mechanical arm is integrated into a system to form automatic equipment, when the milk tea selling equipment works, the mechanical arm holds a steel cup by hand, milk tea ingredients are filled in the steel cup, the milk tea ingredients are shaken uniformly and then poured into a plastic cup on a table board, the equipment has more ingredient stations and large floor area, and the milk tea selling equipment does not belong to a special beverage robot, so that the milk tea selling equipment is not applied to the market and is difficult to popularize in a large range.

SUMMERY OF THE UTILITY MODEL

An object of the utility model is to overcome prior art not enough, provide a many varieties bottled drink service robot, this robot can realize providing the bottled drink of appointed variety according to the consumer demand to realize automatic uncapping fast, have stronger use convenience and interest.

The technical scheme of the utility model is that: the utility model provides a many varieties bottled beverage service robot, includes the robot, gets bottle feeding system, holds bottle hand and the hand of uncapping, gets inside bottle feeding system located the robot, is equipped with out the bottle hole on the robot, goes out the output end of bottle hole department as getting bottle feeding system, holds bottle hand and uncaps the hand and install respectively on the wrist joint of robot both sides. The robot is characterized in that a corresponding control system is arranged in the robot body, the action driving and the adjustment of the bottle taking and supplying system, the bottle holding hand part and the cover opening hand part are all completed by the control system, and the control system can adopt a control system which is universal for the existing similar robots. Get bottle feeding system and mainly realize following the robot in the accurate bottled drink of the required variety of consumer of snatching to send out the robot, then by holding bottle hand portion and uncapping hand portion, carry out the upset action under wrist joint's drive, cooperate and open the bottle lid and deliver to the consumer.

The bottle holding hand comprises a first hand seat, movable clamping jaws and a supporting plate, the first hand seat is installed on a wrist joint of the robot body, a clamping jaw driving assembly is arranged in the first hand seat, two movable clamping jaws are symmetrically arranged on two sides of the first hand seat, one end of each movable clamping jaw extends into the first hand seat and is connected with the clamping jaw driving assembly, the supporting plate is arranged between the two movable clamping jaws, and one end of the supporting plate is fixedly installed on the first hand seat. During the use, the wrist joint on the robot body drives whole bottle hand portion of holding through first hand seat and overturns, and in practical application, its rotation angle generally is 90, also can adjust according to actual need, simultaneously, drives two movable clamping jaws through the clamping jaw drive assembly in the first hand seat and opens and shuts the action to the realization snatchs or releases the bottle, and the layer board plays the effect of bearing bottle bottom. In the application, the main body of the movable clamping jaw is arc-shaped plate-shaped, the connecting side of the movable clamping jaw and the clamping jaw driving assembly is provided with two discs connected to the upper end and the lower end of one side of the main body, the middle part of each disc is provided with a shaft hole, and the shaft hole is connected with the first hand seat through a fulcrum shaft; the layer board is located the bottom between two movable clamping jaw, forms the bearing space that surrounds in the bottle lower part between two movable clamping jaw and the layer board three. The bearing space formed by the movable clamping jaw and the supporting plate of the structure is adapted to the shape of the bottle body, so that the bottle body can be stably grabbed and clamped conveniently. In practical application, the shapes of the two movable clamping jaws can be correspondingly adjusted according to the shape change of the bottle body adopted by bottled beverage, so that the inner side shapes of the two movable clamping jaws are adapted to the bottle body. Clamping jaw drive assembly includes servo motor, driving gear and driven gear, servo motor is connected with the driving gear, the driving gear meshes with driven gear mutually, the driving gear is installed on the disc of a movable clamping jaw tip, driven gear installs on the disc of another movable clamping jaw tip, during the use, servo motor drive driving gear rotates, the driving gear drives driven gear and carries out the antiport, thereby order about two movable clamping jaws and also carry out the antiport, realize opening or the action of foling.

Furthermore, in the bottle holding hand part, the opposite inner sides of the two movable clamping jaws are respectively provided with an elastic gasket. The added elastic gasket can effectively improve the friction force between the movable clamping jaw and the bottle body, and further ensures the stability of grabbing the bottle.

The cover opening hand comprises a second hand seat, a fixed claw, a cover opening seat, a cover opening plate and an electromagnet, the second hand seat is installed on the other wrist joint of the robot body, one side of the fixed claw is installed on the second hand seat, the cover opening seat is installed on the other side of the fixed claw, and the cover opening plate and the electromagnet are installed on the cover opening seat respectively. When the bottle cap opener is used, the wrist joint of the robot drives the uncapping hand to turn over through the second hand seat, the bottle cap can be opened through the turning angle of the second hand seat, and in practical application, the turning angle is generally smaller than 90 degrees. When uncapping, produce magnetic force through the electro-magnet circular telegram to can produce the adsorption to the bottle lid, increase the chucking power of uncapping the board to the bottle lid on the one hand, on the other hand can adsorb the bottle lid after the bottle lid is opened, avoids the bottle lid to drop, takes the bottle lid to be taken to assigned position (following the bottle collection bottle hole department on the bottle lid storehouse), rethread electromagnet outage, the adsorption to the bottle lid of cancellation makes the bottle lid drop to in the appointed collecting vessel.

The bottom of the cover opening seat is an open groove body, the cover opening plate is obliquely arranged in the open groove body, and a cover opening is formed in the cover opening plate. In the structure, the shape of the cap opening is the same as the shape of a through hole on a common cap opener in the market, the cap opening is mainly suitable for opening a common crown cap, and the shape of the cap opening can be adjusted according to the actual situation of bottled beverages so as to be adapted to the structure of a bottle cap.

The bottle taking and feeding system comprises a bottle bin, a bottle receiving sliding table, a lower pushing sliding table, a bottle lifting sliding table and an upper pushing sliding table; the bottle receiving sliding tables are arranged below the bottle bins in the horizontal direction, the lower bottle pushing sliding tables and the bottle receiving sliding tables are arranged in a cross shape, and the bottle lifting sliding tables are arranged outside the bottle bins in the vertical direction; in the same vertical plane, an upper bottle pushing sliding table and a lower bottle pushing sliding table are arranged in parallel, and the upper bottle pushing sliding table and the lower bottle pushing sliding table are respectively and vertically arranged at the upper part and the lower part of the bottle lifting sliding table; the bottle storehouse includes the storehouse body and spacing subassembly, and the storehouse body is the open rectangle tubulose casket in bottom, and storehouse body bottom is located to spacing subassembly. Wherein, each bottle storehouse is used for placing and storing bottled drink, according to the actual demand of bottled drink service robot use occasion, can store the bottled drink of different cultivars in the different bottle storehouse, also can store the bottled drink of the same cultivar. The bottle receiving sliding table moves horizontally below each bottle bin, and bottles stored in the corresponding bottle bins are received and taken as required; the bottle lifting sliding table is used for lifting the bottle body to a specified delivery height; the lower bottle pushing sliding table and the upper bottle pushing sliding table are mainly used for pushing the bottles to move so that the bottles enter the bottle lifting sliding table or are sent out of the bottle lifting sliding table. In the bottle storehouse, adopt the tubulose storehouse body of rectangle, the bottle of each bottled drink can stack one by supreme in the storehouse body, then takes out one by one from storehouse body bottom during the extraction.

The limiting assembly comprises a push-pull electromagnet, a rocker, a fulcrum shaft, a support and a clamping plate; the push-pull electromagnet comprises a base body and a mandrel, the mandrel penetrates through the middle of the base body, a spring is arranged on the periphery of the mandrel, the base body is installed on the side wall of the bin body, a support shaft is arranged in the middle of the clamping plate, two ends of the support shaft are installed on the side wall of the bin body through supports respectively, and one end of the support shaft is connected with the mandrel of the push-pull electromagnet through a rocker; the clamping plate is a bent plate with hook-shaped structures at the upper side and the lower side respectively, and the clamping plate hooks the bottle body in the bin body for limiting through the hook-shaped structure at the upper side or the hook-shaped structure at the lower side when swinging. In order to be matched with the clamping plate, the side wall of the bin body is also provided with a through hole; when the bottle bin is in a state of not taking bottles, the hook-shaped structure positioned at the lower side extends into the bottom of the bin body and then supports the bottle body positioned at the lowest part; when the bottle bin is in a bottle taking state, the hook-shaped structure on the upper side supports the bottle body above the bottle body at the lowest part after penetrating through the through hole on the side wall of the bin body. When this spacing subassembly uses, its principle is: when the limiting assembly is in an initial state, the push-pull electromagnet is not electrified, the hook-shaped structure on the lower side of the clamping plate is in contact with the bottle body positioned at the lowest position in the bin body to clamp the bottle body tightly, and the bottle body in the bin body is ensured not to slide down; when the bottle body needs to be taken out, the push-pull electromagnet is powered on, the core shaft of the electromagnet is driven to move downwards, the rocker is pushed to enable the support shaft to rotate, the clamping plate is driven to swing, the hook-shaped structure on the lower side of the clamping plate is separated from the bottle body located on the lowest portion in the bin body, meanwhile, the hook-shaped structure on the upper side of the clamping plate hooks the bottle body above the bottle body, after the bottle body on the lowest portion slides down and is released from the bin body, the push-pull electromagnet is powered off, the core shaft drives the spring to reset, the clamping plate, the support shaft and the rocker are reset, and the bottle body in the bin body slides down to the position of one bottle body.

The rocking bar, the fulcrum shaft, the support and the clamping plate form a clamping plate assembly, and the clamping plate assemblies are one group or two groups; when the clamping plate assemblies are in one group, the clamping plate assemblies are arranged on one side of the bin body; when the cardboard subassembly is two sets of, the both sides in the storehouse body are located to two sets of cardboard subassembly symmetries, and are connected with plug-type electro-magnet respectively. The quantity of cardboard subassembly can be selected according to the actual need of robot, and when the bilateral symmetry of every storehouse body set up two sets of cardboard subassemblies, can realize more stable spacing effect to the bottle in the storehouse body.

In addition, in above-mentioned get bottle feeding system, connect bottle slip table to include first lead screw formula drive assembly, first slider and first support bottle groove, and first support bottle groove fixed mounting is on first slider, and first slider is the translation below the bottle storehouse under the drive of first lead screw formula drive assembly. The lower bottle pushing sliding table comprises a second screw rod type driving assembly, a second sliding block and a first pushing plate, the first pushing plate is fixedly installed on the second sliding block, and the second sliding block is driven by the second screw rod type driving assembly to perform translation action. The bottle lifting sliding table comprises a third screw rod type driving assembly, a third sliding block and a second bottle supporting groove, the second bottle supporting groove is fixedly installed on the third sliding block, and the third sliding block is driven by the third screw rod type driving assembly to perform lifting movement. The upward-pushing bottle sliding table comprises a fourth screw rod type driving assembly, a fourth sliding block and a second pushing plate, the second pushing plate is fixedly installed on the fourth sliding block, and the fourth sliding block is driven by the fourth screw rod type driving assembly to perform translation motion. In each sliding table structure, the first bottle supporting groove and the second bottle supporting groove are the same in structure, and can be both U-shaped grooves with the lengths of 1/3-2/3 bottles, so that the stability of bottle conveying can be effectively guaranteed; first push pedal and second push pedal structure are the same, all including installation department and the vertical board that is connected, and vertical board passes through installation department fixed mounting on second slider or fourth slider, and the vertical side of vertical board parallels with bottle tip.

The robot body includes the head, the health, the upper right arm, right elbow joint, right forearm, right wrist joint, the upper left arm, left elbow joint, left forearm, left wrist joint, the foot, bottle lid storehouse and back door, the top of health is connected with the head, the bottom of health is connected with the foot, the right side of health has connected gradually the upper right arm, right elbow joint, right forearm and right wrist joint, it installs on right wrist joint to hold a bottle hand, the left side of health has connected gradually the upper left arm, left elbow joint, left forearm and left wrist joint, the hand of uncapping is installed on left wrist joint, the front side of health is equipped with bottle lid storehouse, the rear side of health is equipped with the back door, it locates on the health front side to go out the pinhole. The left upper arm, the left elbow joint, the left forearm, the left wrist joint and the uncovering hand are sequentially connected to form a left hand of the robot body, so that the bottle grabbing and uncovering actions can be completed through manual operation of a human hand. According to the requirements of the use place, the feet can adopt a fixed support structure and also can adopt a movable wheel type structure. The inner side of the back door at the back side of the body corresponds to each bottle bin of the bottle taking and supplying system, and the storage operation of bottled beverages or the maintenance work of a robot can be facilitated by opening the back door. The bottle cap bin is arranged on the front side of the body and used for recycling the opened bottle caps. The control system of the service robot is mainly centralized in the head, and a display screen can be arranged on the surface of the head for the use when the service robot is purchased by a consumer.

The use method of the multi-variety bottled beverage service robot comprises the following specific steps: when the control system of service robot receives user's demand information, start earlier and get bottle feeding system, snatch the bottled drink of corresponding variety and see off by going out bottleneck department in the robot by getting bottle feeding system, then snatch the bottle of bottled drink and overturn to the bottle and be in upright state by holding the bottle hand, start the bottle lid on the bottle of uncapping hand again, hold the bottle hand and deliver the bottled drink after opening to the user.

Wherein, when getting a bottle feeding system and snatching and supply bottled beverage, its specific process is: firstly, the bottle receiving sliding table moves to the lower part of the corresponding bottle bin; the limiting assembly on the bottle bin moves, the bottle body positioned at the lowest part of the bin body falls onto the bottle receiving sliding table, and the limiting assembly resets; the bottle receiving sliding table drives the bottle bodies to move to the joint of the lower bottle pushing sliding table and the bottle lifting sliding table, and the bottle bodies are pushed into the bottle lifting sliding table by the lower bottle pushing sliding table; the bottle lifting sliding table drives the bottle body to ascend to the joint of the bottle pushing sliding table and the bottle lifting sliding table, the bottle body is pushed out of the bottle lifting sliding table by the bottle pushing sliding table, and then the extraction and the supply of the bottled beverage are completed.

When holding bottle hand and uncapping the action, its specific process is: after the bottle holding hand part grabs and clamps the bottle body of the bottled beverage through the movable clamping jaw, the bottle holding hand part is driven by a wrist joint of the robot to turn over until the bottle body is in an upright state; then the hand that uncaps removes to the bottle top to block the bottle lid through uncapping the apron and fix a position, uncap the hand and overturn under the wrist joint of robot drives after that, utilize the board of uncapping to drive the bottle lid and separate from the bottle, realize the action of uncapping.

Compared with the prior art, the utility model, following beneficial effect has:

the multi-variety bottled beverage service robot is mainly provided for supplying and automatically selling glass bottled beverages (such as beer, soda and the like) with crown caps, the bottled beverages are stored in the service robot body in advance, when a consumer needs to buy the bottled beverages, the bottled beverages are sent out by using a bottle taking and supplying system, and then the bottle caps are opened by matching of a bottle holding hand part and a cap opening hand part, and the bottled beverages are delivered to the consumer. When a consumer faces the robot, according to the setting of a control system in the service robot, different kinds of beverages can be selected through voice instructions, code scanning or touch screens and the like, interactive experience and novel and pleasant feeling are fully felt, and the desire of the consumer for purchasing for many times is stimulated. The service robot integrates service, sale and entertainment, is suitable for various occasions, and has a good market popularization prospect.

In the multi-variety bottled beverage service robot, the bottle taking and supplying system is used as a core structure of the service robot, so that automatic supply of multi-variety bottled beverages can be realized, the automation degree is high, the use is convenient, the convenience and the interest of the service robot can be effectively improved, and the application range of the bottled beverage service robot can be expanded. Meanwhile, the limiting assembly is arranged at the bottom of the bin body, so that the bottled beverages in the bin body are stored stably, the bottles are effectively prevented from sliding off, the bottle bins have the same structure, each bottle bin forms an independent storage unit, the centralized storage of different types of bottled beverages is facilitated, the number of the bottle bins can be selected according to the actual requirements of the application occasions of the service robot for installation, and the manufacturing cost of the service robot is facilitated to be controlled; through the continuous action of the bottle receiving sliding table, the bottle pushing sliding table, the bottle lifting sliding table and the bottle pushing sliding table, the bottle body is received, lifted and sent out, the action is coherent and smooth, and the supply of bottled beverages can be quickly realized.

In this many varieties bottled drink service robot, through holding the bottle hand and uncapping the cooperation between the hand, can realize automatic uncapping fast, convenient to use and interesting are favorable to improving user experience, improve the market competition of robot. The bottle holding hand can better ensure the stability when clamping the bottle body and avoid the bottle body from sliding down through the opening and closing action between the two movable clamping jaws and the use of the supporting plate; the cover opening plate with the cover opening is arranged in the cover opening hand part, so that the bottle cap can be suitable for most bottle caps in the market at present, and the application range is wide; meanwhile, the bottle holding hand and the cover opening hand have the advantages of being simple in structure and strong in flexibility, and manufacturing cost of the robot is reduced.

Drawings

Fig. 1 is a schematic structural diagram of the multi-variety bottled beverage service robot.

Fig. 2 is a view taken along direction a of fig. 1.

Fig. 3 is a view from direction B of fig. 1.

Fig. 4 is a schematic perspective view of the service robot shown in fig. 1.

Fig. 5 is a schematic structural view of a bottle holding hand.

Fig. 6 is a top view of the bottle-holding hand with the first hand seat cover plate open.

Fig. 7 is a cross-sectional view of the bottle holding hand taken in the direction of C-C of fig. 6.

Fig. 8 is a cross-sectional view of the bottle holding hand portion in the direction D-D of fig. 7.

Fig. 9 is a schematic structural diagram of a single movable paw.

Fig. 10 is a schematic structural view of the uncapping hand.

Fig. 11 is a front view of the uncapped hand shown in fig. 10.

Fig. 12 is a schematic structural view of a bottle taking and feeding system.

Fig. 13 is a view from direction E of fig. 12.

Fig. 14 is a schematic perspective view of a single bottle bin.

Fig. 15(a) is a schematic view of the bottle magazine in its original state.

Fig. 15(b) is a schematic view of the bottle bin in the bottle-taking state.

FIG. 16 is a schematic view of the process of receiving the bottle slide to pick up the bottle from below the bottle bin.

FIG. 17 is a schematic view showing the process of lifting and discharging the bottles.

Fig. 18 is a schematic diagram of the uncapping process of the service robot.

In the above figures, the reference numerals are as follows: 1 is head, 2 is body, 3 is right upper arm, 4 is right elbow joint, 5 is right forearm, 6 is right wrist joint, 7 is bottle holding hand, 8 is left upper arm, 9 is left elbow joint, 10 is left forearm, 11 is left wrist joint, 12 is uncapping hand, 13 is foot, 14 is bottle cover bin, 15 is back door, 16 is bottle taking and feeding system, 17 is bottle outlet.

7-1 is a first hand seat, 7-2 is a movable clamping jaw, 7-3 is a supporting plate, 7-4 is a driving motor, 7-5 is a driving gear, 7-6 is a driven gear, 7-7 is a disc, and 7-8 is a fulcrum; 12-1 is a second hand seat, 12-2 is a fixed claw, 12-3 is a cover opening seat, 12-4 is a cover opening plate, and 12-5 is an electromagnet.

18 is a bottle bin, 18-1 is a bin body, 18-2 is a push-pull electromagnet, 18-3 is a rocker, 18-4 is a fulcrum, 18-5 is a support, 18-6 is a clamping plate, 19 is a bottle receiving sliding table, 19-1 is a first screw rod type driving assembly, 19-2 is a first sliding block, 19-3 is a first bottle supporting groove, 20 is a bottle pushing sliding table, 20-1 is a second screw rod type driving assembly, 20-2 is a second sliding block, 20-3 is a first push plate, 21 is a bottle lifting sliding table, 21-1 is a third screw rod driving assembly, 21-2 is a third sliding block, 21-3 is a second bottle supporting groove, 22 is a bottle pushing sliding table, 22-1 is a fourth screw rod driving assembly, 22-2 is a fourth sliding block, 22-3 is a second push plate, and 23 is a bottle body.

Detailed Description

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

Example 1

The embodiment provides a multi-variety bottled beverage service robot.

(1) The main components of the overall structure are shown in fig. 1-4, and the overall structure comprises: the bottle taking and feeding system comprises a head 1, a body 2, a right upper arm 3, a right elbow joint 4, a right front arm 5, a right wrist joint 6, a bottle holding hand 7 (namely a right hand), a left upper arm 8, a left elbow joint 9, a left forearm 10, a left wrist joint 11, a cover opening hand 12 (namely a left hand), a foot 13, a bottle cover bin 14, a rear door 15, a bottle taking and feeding system 16 and the like.

The service robot has display screen installed in the head for the convenience of the consumer to operate, microcomputer installed inside the head as the control system for the whole service robot, and the control system may be the same as available similar robot.

The right upper arm and the right front arm are connected through a right elbow joint, and the right hand (namely the bottle holding hand) is connected with the right front arm through a right wrist joint.

The left upper arm is connected with the left forearm through a left elbow joint, and the left hand (namely the uncapped hand) is connected with the left forearm through a left wrist joint.

The elbow joint and the wrist joint of the service robot are rotary joints driven by servo motors, so that the right forearm and the left forearm can swing inside and outside, and the right hand and the left hand can rotate through the wrist.

The front part of the service robot body is provided with a bottle cap bin for collecting the waste crown cap after the bottle is opened. A set of bottle taking and supplying system is arranged in the service robot body and is used as a storage bin and a supplying device of bottled beverages. The movable back door is assembled at the back of the robot body, so that bottled beverages can be conveniently supplied to the service robot and relevant maintenance can be conveniently carried out.

The foot of the service robot can adopt a wheel type base and can be designed into a navigation control type mobile device to realize automatic walking.

(2) The right hand (i.e. the bottle holding hand part) of the service robot is used for clamping and holding the bottle body. Fig. 5 to 9 show a right-hand structure diagram of the service robot, which mainly comprises a first hand seat 7-1, a movable clamping jaw 7-2, a supporting plate 7-3 and the like. The first hand seat 7-1 is internally provided with a servo motor 7-4 and a gear device (comprising a driving gear 7-5 and a driven gear 7-6 which are meshed with each other), and can drive a pair of movable clamping jaws to open and close so as to clamp or loosen the bottle body. The supporting plate is fixedly assembled below the first hand seat and is positioned in the middle of the movable clamping jaw. When the clamping jaw clamps the bottle body, the bottle bottom is supported by the supporting plate, and even if the clamping jaw is loosened, the bottle body can be stably arranged on the supporting plate and cannot slide off, so that a consumer can take the bottle conveniently. The structure of a single movable clamping jaw is shown in fig. 9, one side of the single movable clamping jaw is provided with two disks 7-7 which are distributed up and down, and each disk is connected with the first hand seat through a fulcrum 7-8. The right hand is assembled on the right wrist joint of the robot through the flange plate on the back of the first hand seat, and when the right wrist joint rotates, the bottle holding hand part can be driven to integrally rotate.

The right hand is fitted to the right wrist joint 6 by a flange on the back of its hand seat. When the right wrist joint rotates, the right hand can be driven to rotate integrally.

(3) The left hand (namely the uncapping hand) of the service robot serves as an uncapping device and is matched with the right hand to open the crown cap of the bottled beverage. Fig. 10 to 11 are left-hand structural diagrams of the robot, which mainly comprise a second hand seat 12-1, a fixed claw 12-2, an uncovering seat 12-3, an uncovering plate 12-4, an electromagnet 12-5 and the like. The fixed claw 12-2 is a rigid frame body and is fixedly arranged on the second hand seat, and the rectangular notch at the front part of the fixed claw is embedded into the open cover seat and is fastened through a screw.

The cover opening seat is a cuboid part, a rectangular groove is machined in the lower portion of the cover opening seat, the cover opening plate is embedded in the middle of the groove, and the cover opening seat is inclined at a certain angle as shown in figure 10. The cover opening plate is the same as a crown-shaped cover opener which is usually used, and a processing hole (namely a cover opening) in the middle can be matched with the crown-shaped cover of the bottle mouth and can be smoothly pried open. A cylindrical electromagnet is assembled above the cap opening seat and used for tightly sucking the bottle cap separated from the bottle opening.

The left hand is assembled on the left wrist joint through a flange plate on the back of the second hand seat. When the left wrist joint rotates, the left hand can be driven to rotate integrally.

(4) Fig. 12 to 14 show a bottle taking and feeding system, which is installed inside the body of the service robot, and all the installation brackets are omitted in the drawings for more clearly showing the overall structure of the key devices in the system.

The bottle taking and feeding system mainly comprises a bottle bin 18, a bottle receiving sliding table 19, a lower bottle pushing sliding table 20, a bottle lifting sliding table 21 and an upper bottle pushing sliding table 22.

Four sets of bottle bins are configured in the embodiment, are vertically arranged side by side, and are symmetrically arranged in a left set and a right set.

The bottle receiving sliding table is arranged below the bottle bins and is horizontally arranged along the arrangement direction of the bottle bins. The bottle receiving sliding table comprises a first screw rod type driving assembly 19-1, a first sliding block 19-2 and a first bottle supporting groove 19-3, the first bottle supporting groove is fixedly arranged on the first sliding block, and the first sliding block is driven by the first screw rod type driving assembly to horizontally move below the bottle bin.

The lower bottle pushing sliding table is arranged in the middle of the four sets of bottle bins and is positioned below the bottle receiving sliding table, and the lower bottle pushing sliding table and the bottle receiving sliding table are arranged in a crossed and staggered mode. The lower bottle pushing sliding table comprises a second screw rod type driving assembly 20-1, a second sliding block 20-2 and a first push plate 20-3, the first push plate is fixedly arranged on the second sliding block, and the second sliding block performs translation motion under the driving of the second screw rod type driving assembly.

The upper bottle pushing sliding table is arranged above the bottle bin, is parallel to the lower bottle pushing sliding table and is positioned on a vertical surface. The upward-pushing bottle sliding table comprises a fourth screw rod type driving assembly 22-1, a fourth sliding block 22-2 and a second pushing plate 22-3, the second pushing plate is fixedly arranged on the fourth sliding block, and the fourth sliding block performs translation motion under the driving of the fourth screw rod type driving assembly.

The bottle lifting sliding table is vertically arranged and is positioned at the right side of the bottle lifting sliding table and the front part of the bottle bin (as shown in fig. 12 and 13). The bottle lifting sliding table comprises a third screw rod type driving assembly 21-1, a third sliding block 21-2 and a second bottle supporting groove 21-3, the second bottle supporting groove is fixedly arranged on the third sliding block, and the third sliding block is driven by the third screw rod type driving assembly to perform lifting movement.

The bottle receiving sliding table, the bottle pushing sliding table and the bottle lifting sliding table all belong to linear guide rail forms and are screw rod sliding block devices driven by servo motors.

The structure of the bottle bin is shown in fig. 14. The bottle bin mainly comprises a bin body 18-1, a push-pull electromagnet 18-2, a rocker 18-3, a fulcrum 18-4, a support 18-5 and a clamping plate 18-6.

The bin body is a rectangular tubular box formed by folding and processing a thin steel plate, bottled beverages are stacked in the box, the bottle bodies 23 are embedded in the box, bottle necks extend out, and the bottle bodies are arranged orderly from bottom to top. The lower part of the bin body is provided with a push-pull electromagnet, a clamping plate and other parts. The clamping plate is a bent plate, the upper side and the lower side of the bent plate are both in a hook shape, the middle part of the bent plate is fixedly provided with a support shaft, and the support shaft is arranged at the lower part of the bin body through supports at the two sides. As can be seen in fig. 14, the catch plate can swing about the pivot center. The base body of the push-pull electromagnet is fixedly arranged on one side of the lower part of the bin body, the lower end part of the mandrel of the push-pull electromagnet is connected with a rocker through a hinge support, and the other end of the rocker is fixedly connected with a fulcrum shaft.

Example 2

The application method of the service robot for the various bottled beverages in the embodiment is realized by the service robot in the embodiment 1, and comprises a working process of a bottle bin when a bottle taking and supplying system takes a bottle, a working process of supplying after taking the bottle, and a working process of opening a cover by matching a bottle holding hand with an opening hand. The method comprises the following specific steps:

(1) the working process of the bottle bin during bottle taking:

as shown in fig. 15(a) and 15(b), fig. 15(a) is an initial state, at this time, the push-pull electromagnet is not electrified, the lower hook of the clamping plate is contacted with the bottle body under the bin bottom, the bottle is clamped, and the bottle in the bin cannot slide down. Fig. 15(b) shows the state of the push-pull electromagnet being powered on, the push-pull electromagnet being actuated to cause the mandrel to move downward, the rocker being pushed to rotate the fulcrum, the chuck plate being driven to swing clockwise by an angle, the lower hook being disengaged from the bottle, the upper hook being clamped to the upper bottle, so that the lower bottle slides down and only releases a bottle of beverage, while the upper bottle remains stationary. After the push-pull electromagnet is powered off, the mandrel is enabled to go upwards to reset under the action of the spring force of the push-pull electromagnet, the rocker is pulled to enable the clamping plate to swing anticlockwise to return to the original position, namely the state shown in figure 15(a) is recovered, and the upper bottle body slides to the position in contact with the lower hook of the clamping plate.

(2) The working process of feeding after taking the bottles comprises the following steps:

as shown in fig. 16, in the embodiment, four sets of bottle bins can store four kinds of bottled beverages, the bottle receiving sliding table is installed at the bottom of the bottle bin, the first sliding block of the bottle receiving sliding table is provided with the first bottle supporting groove of a U-shaped structure, and the first lead screw driving assembly can drive the first sliding block to drive the first bottle supporting groove to perform linear motion in the horizontal direction. When the system is in an initial state, the first bottle supporting groove is positioned in the middle of the screw rod of the first screw rod type driving assembly; when the robot receives an instruction to provide bottled beverages of a certain variety (assuming that the bottled beverages are stored in a second set of bottle bin), the first screw rod type driving assembly of the bottle receiving sliding table acts, and the first bottle supporting groove is driven by the first sliding block to move to the lower part of the bottle bin; then, the push-pull type electromagnet of the bottle bin is electrified to release a bottle of beverage, and the bottle of beverage falls into the first bottle supporting groove; then under the drive of the first screw rod type driving assembly, the first bottle supporting groove brings the bottled beverage to return to the original position.

When the bottled beverage is supplied, as shown in fig. 17, after the first bottle supporting groove receives a bottle of beverage from the bottle bin and returns to the original middle position, at the moment, the second bottle supporting groove on the lifting sliding table is at the lowest position and is coaxial with the first bottle supporting groove, and the first push plate of the lower bottle pushing sliding table is at the left end position, is opposite to the bottle body and is at a distance from the bottle cap; then the bottle pushing sliding table is pushed down to act, a servo motor in a second screw rod type driving assembly drives a first push plate to move rightwards through a screw rod sliding block, a bottle body is pushed to enter a second bottle supporting groove from a first bottle supporting groove, and the first push plate moves leftwards to reset after the bottle pushing operation is finished; then the bottle lifting sliding table acts, a servo motor in a third screw rod type driving assembly drives a second bottle supporting groove to move upwards through a screw rod sliding block, and bottled beverages are lifted to the highest position and just positioned at the central line position of a second push plate in the bottle lifting sliding table; a servo motor in a fourth screw rod type driving assembly drives a second push plate to move rightwards through a screw rod sliding block to push the bottle body to pass through a bottle outlet hole 17 of the robot body from a second bottle supporting groove and slide on the upper surface of the bottle cap bin 14; so far, a bottle of beverage is sent out of the robot body from the robot body; and then, the second push plate moves leftwards to reset, the second bottle supporting groove descends to reset, and the next work instruction is waited.

(3) The operation of the cover opening is shown in fig. 18:

the right hand (namely the bottle holding hand) and the left hand (namely the cap opening hand) of the service robot are at initial positions, the folding center of the movable claw on the right hand is over against the bottle outlet hole on the robot, and after bottled beverages are pushed out of the robot, the bottled beverages slide forwards and enter the movable claw on the right hand of the robot until the bottoms of the bottles touch the supporting plate. And then, a servo motor inside the right hand drives the two movable claws to further close to clamp the bottle body through the driving gear and the driven gear.

The right wrist joint of the service robot rotates to drive the right hand to rotate 90 degrees, so that the bottle body is upright.

The left elbow joint of the service robot rotates to drive the left front arm to swing inwards by a certain angle, so that the rectangular groove of the cover opening seat on the left hand is sleeved in the bottle neck, and the cover opening plate is clamped into the bottle cap to realize positioning.

The left wrist joint rotates to drive the left hand to rotate (anticlockwise as shown in figure 18), the bottle cap is pried by the cap opening plate in the left wrist joint, and meanwhile, the electromagnet on the cap opening seat is electrified to tightly suck the bottle cap separated from the bottle opening.

The left elbow joint rotates to drive the left front arm to continuously swing inwards for a certain angle, so that the cover opening seat of the left hand is positioned above the cover falling hole of the bottle cover bin, the electromagnet on the cover opening seat is powered off, the bottle cover in the cover opening seat loses the electromagnetic attraction force, and falls downwards into the cover falling hole to enter the bottle cover bin; meanwhile, the right elbow joint rotates to drive the right forearm to swing outwards for a certain angle, and bottle delivering action is performed; then, the servo motor in the right hand drives the paw to open, and the bottle body is loosened to wait for the consumer to take the bottle.

After the work is finished, the right forearm, the right hand, the left forearm and the left hand of the robot are reset, return to the initial position and wait for the next work instruction.

Example 3

Compared with embodiment 1, the difference between the service robot for various bottled beverages in the embodiment is that: in holding bottle hand, the inboard that two activity clamping jaws are relative is equipped with the elastic gasket respectively, and the elastic gasket that increases can effectively improve the frictional force between activity clamping jaw and the bottle, further guarantees the stability of grabbing the bottle.

Example 4

Compared with embodiment 1, the difference between the service robot for various bottled beverages in the embodiment is that: in the bottle bin, two groups of clamping plate assemblies are symmetrically arranged on two sides of the bin body and are respectively connected with the push-pull type electromagnet; each cardboard subassembly includes rocker, counter roll, support and cardboard constitution cardboard subassembly respectively, and plug-type electro-magnet includes base member and dabber, and the dabber runs through in the base member middle part, and the dabber periphery is equipped with the spring, and the base member is installed on storehouse body side wall, and each cardboard middle part is equipped with the counter roll, and each counter roll both ends are respectively through support mounting on storehouse body side wall, and the one end of each counter roll is passed through the rocker and is connected with plug-type electro-magnet's dabber. When the push-pull electromagnet is powered on or powered off, the two groups of clamping plate assemblies act simultaneously.

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 (10)

1. The utility model provides a many varieties bottled beverage service robot, its characterized in that includes the robot body, gets bottle feeding system, holds bottle hand and the hand of uncapping, gets inside bottle feeding system locates the robot body, is equipped with out the bottle hole on the robot body, goes out the output end of bottle hole department as getting bottle feeding system, holds bottle hand and uncapping hand and installs respectively on the wrist joint of robot body both sides.

2. The multi-variety bottled beverage service robot according to claim 1, wherein the bottle holding hand part comprises a first hand seat, movable clamping jaws and a supporting plate, the first hand seat is mounted on a wrist joint of the robot body, a clamping jaw driving assembly is arranged in the first hand seat, two movable clamping jaws are symmetrically arranged on two sides of the first hand seat, one end of each movable clamping jaw extends into the first hand seat and is connected with the clamping jaw driving assembly, the supporting plate is arranged between the two movable clamping jaws, and one end of the supporting plate is fixedly mounted on the first hand seat.

3. The multi-variety bottled beverage service robot according to claim 2, wherein the bottle holding hand portion is provided with elastic gaskets on opposite inner sides of the two movable clamping jaws.

4. The multi-variety bottled beverage service robot according to claim 1, wherein the uncovering hand comprises a second hand seat, a fixed claw, an uncovering seat, an uncovering plate and an electromagnet, the second hand seat is mounted on the other wrist joint of the robot body, one side of the fixed claw is mounted on the second hand seat, the other side of the fixed claw is mounted with the uncovering seat, and the uncovering plate and the electromagnet are respectively mounted on the uncovering seat.

5. The multi-variety bottled beverage service robot as claimed in claim 4, wherein the bottom of the open cover seat is an open slot, an open cover plate is obliquely arranged in the open slot, and an open cover opening is arranged on the open cover plate.

6. The multi-variety bottled beverage service robot of claim 1, wherein the bottle taking and feeding system comprises a bottle bin, a bottle receiving sliding table, a lower bottle pushing sliding table, a bottle lifting sliding table and an upper bottle pushing sliding table; the bottle receiving sliding tables are arranged below the bottle bins in the horizontal direction, the lower bottle pushing sliding tables and the bottle receiving sliding tables are arranged in a cross shape, and the bottle lifting sliding tables are arranged outside the bottle bins in the vertical direction; in the same vertical plane, an upper bottle pushing sliding table and a lower bottle pushing sliding table are arranged in parallel, and the upper bottle pushing sliding table and the lower bottle pushing sliding table are respectively and vertically arranged at the upper part and the lower part of the bottle lifting sliding table; the bottle storehouse includes the storehouse body and spacing subassembly, and the storehouse body is the open rectangle tubulose casket in bottom, and storehouse body bottom is located to spacing subassembly.

7. The multi-variety bottled beverage service robot of claim 6, wherein the limiting component comprises a push-pull electromagnet, a rocker, a fulcrum, a support and a clamping plate; the push-pull electromagnet comprises a base body and a mandrel, the mandrel penetrates through the middle of the base body, a spring is arranged on the periphery of the mandrel, the base body is installed on the side wall of the bin body, a support shaft is arranged in the middle of the clamping plate, two ends of the support shaft are installed on the side wall of the bin body through supports respectively, and one end of the support shaft is connected with the mandrel of the push-pull electromagnet through a rocker; the clamping plate is a bent plate with hook-shaped structures at the upper side and the lower side respectively, and the clamping plate hooks the bottle body in the bin body for limiting through the hook-shaped structure at the upper side or the hook-shaped structure at the lower side when swinging.

8. The multi-variety bottled beverage service robot of claim 7, wherein the rocker, the fulcrum, the support and the clamping plate form a clamping plate assembly, and the clamping plate assembly comprises one group or two groups; when the clamping plate assemblies are in one group, the clamping plate assemblies are arranged on one side of the bin body; when the cardboard subassembly is two sets of, the both sides in the storehouse body are located to two sets of cardboard subassembly symmetries, and are connected with plug-type electro-magnet respectively.

9. The multi-variety bottled beverage service robot according to claim 6, wherein the bottle receiving sliding table comprises a first screw rod type driving assembly, a first sliding block and a first bottle supporting groove, the first bottle supporting groove is fixedly installed on the first sliding block, and the first sliding block is driven by the first screw rod type driving assembly to translate below the bottle bin;

the lower bottle pushing sliding table comprises a second screw rod type driving assembly, a second sliding block and a first pushing plate, the first pushing plate is fixedly arranged on the second sliding block, and the second sliding block performs translation action under the driving of the second screw rod type driving assembly;

the bottle lifting sliding table comprises a third screw rod type driving assembly, a third sliding block and a second bottle supporting groove, the second bottle supporting groove is fixedly arranged on the third sliding block, and the third sliding block is driven by the third screw rod type driving assembly to perform lifting movement;

the upward-pushing bottle sliding table comprises a fourth screw rod type driving assembly, a fourth sliding block and a second pushing plate, the second pushing plate is fixedly installed on the fourth sliding block, and the fourth sliding block is driven by the fourth screw rod type driving assembly to perform translation motion.

10. The multi-variety bottled beverage service robot as claimed in claim 1, wherein the robot body comprises a head, a body, an upper right arm, an elbow joint, a forearm, a wrist joint, an upper left arm, an elbow joint, a forearm, a wrist joint, a foot, a bottle cap bin and a back door, the head is connected to the top of the body, the foot is connected to the bottom of the body, the upper right arm, the elbow joint, the forearm and the wrist joint are sequentially connected to the right side of the body, a bottle holding hand is mounted on the wrist joint, the upper left arm, the elbow joint, the forearm and the wrist joint are sequentially connected to the left side of the body, a cover opening hand is mounted on the wrist joint, the bottle cap bin is arranged on the front side of the body, the back door is arranged on the back side of the body, and a bottle outlet is arranged on the front side of the body.

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