CN214241593U - Mechanical hand-held bottle opening device - Google Patents

Abstract

The utility model discloses a mechanical hand-held bottle uncovering device, which comprises a bottle holding hand part and an uncovering hand part which are matched, wherein the bottle holding hand part and the uncovering hand part are respectively arranged on wrist joints at two sides of a robot and are driven by the wrist joints to turn over; the bottle holding hand part is provided with a movable clamping jaw for gripping the bottle, and the bottle opening hand part is provided with an opening cover plate for opening the bottle cap. The method comprises the steps that after a bottle holding hand grips and clamps a bottle body of bottled beverage through a movable clamping jaw, the bottle holding hand is driven by a wrist joint of a 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. The utility model discloses be applied to among the bottled drink service robot, can realize the automatic quick uncapping of bottled drink, convenient to use, degree of automation is high.

Description

Mechanical hand-held bottle opening device

Technical Field

The utility model relates to a service type, the type of selling goods and service type robot technical field, in particular to handheld bottle device of uncapping of machinery.

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 mechanical hand-held bottle device of uncapping, be applied to bottled drink service robot with this uncork device, can realize the automatic quick uncapping of bottled drink, convenient to use, degree of automation is high.

The technical scheme of the utility model is that: a mechanical hand-held bottle uncovering device comprises a bottle holding hand part and an uncovering hand part which are matched, wherein the bottle holding hand part and the uncovering hand part are respectively arranged on wrist joints at two sides of a robot; the bottle holding hand part is provided with a movable clamping jaw for gripping the bottle, and the bottle opening hand part is provided with an opening cover plate for opening the bottle cap. Wherein, holding bottle hand mainly used and receiving and getting and the bottle of centre gripping bottled drink from the robot, uncapping the hand and act as uncapping ware, overturn the action under wrist articulated drive, mainly used accomplishes the action of opening the bottle lid from the bottle, through holding the cooperation between bottle hand and the uncapping hand, can realize automatic quick uncork.

The bottle holding hand part comprises a first hand seat and movable clamping jaws, the first hand seat is installed on a wrist joint of the robot, 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, and one end of each movable clamping jaw extends into the first hand seat and is connected with the clamping jaw driving assembly. The first hand seat is used as a mounting base, one side of the first hand seat is assembled on a wrist joint of the robot through a flange plate, and the other side of the first hand seat is provided with two movable clamping jaws and a supporting plate. During the use, the wrist joint of robot 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.

The bottle holding hand further comprises a supporting plate, the supporting plate is arranged between the two movable clamping jaws, and one end of the supporting plate is fixedly arranged on the first hand seat. The supporting plate plays a role in supporting the bottom of the bottle body.

As a preferred scheme, 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 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.

The clamping jaw driving assembly comprises a servo motor, a driving gear and a driven gear, the servo motor is connected with the driving gear, the driving gear is meshed with the driven gear, the driving gear is installed on a disc at one end of one movable clamping jaw, and the driven gear is installed on a disc at the end of the other movable clamping jaw. When the clamping jaw is used, the servo motor drives the driving gear to rotate, the driving gear drives the driven gear to rotate in the reverse direction, and therefore the two movable clamping jaws are driven to rotate in the reverse direction, and opening or closing actions are achieved.

Further, in the bottle holding hand part, the inner sides, opposite to the two movable clamping jaws, of the two movable clamping jaws are respectively provided with an elastic gasket, and the added elastic gaskets can effectively improve the friction force between the movable clamping jaws and the bottle body, so that the stability of grabbing the bottle is further ensured.

The cover opening hand part comprises a second hand seat, a fixed claw, a cover opening seat and a cover opening plate, the second hand seat is installed on the other wrist joint of the robot, one side of the fixed claw is installed on the second hand seat, the other side of the fixed claw is installed with the cover opening seat, and the cover opening plate is installed on the cover opening seat. 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.

The uncovering hand part also comprises an electromagnet which is arranged on the uncovering seat. Through the electro-magnet circular telegram production magnetic force to can produce the adsorption to the bottle lid, increase the chucking power of the board of uncapping 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 (as following the bottle collecting hole department on the bottle lid storehouse), rethread electromagnet outage, the adsorption to the bottle lid is cancelled, makes the bottle lid drop to in the appointed collecting container.

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.

In addition, still be equipped with the bottle lid storehouse on the above-mentioned robot, be equipped with the bottle collection hole on the bottle lid storehouse, the bottle collection hole is located the hand below of uncapping.

The mechanical hand-held bottle uncovering method can be realized through the device, and specifically comprises the following steps: 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:

this handheld bottle device of uncapping of machinery is to bottled drink service robot and propose, after the robot provides the required bottled drink of user, through holding bottle hand and uncapping the cooperation between the hand, can realize automatic uncapping fast, convenient to use and interesting is favorable to improving user experience, improves the market competition of robot.

In the mechanical hand-held bottle opening device, the bottle holding hand part can better ensure the stability when clamping the bottle body and avoid the bottle body from sliding down by 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 view of the robot hand-held bottle uncapping device when applied to a robot.

Fig. 2 is a schematic structural view of a bottle holding hand.

Fig. 3 is a top view of the bottle holding hand with the first hand seat cover plate opened.

Fig. 4 is a cross-sectional view of the bottle holding hand taken along the line a-a of fig. 3.

Fig. 5 is a sectional view of the bottle holding hand portion in the direction B-B of fig. 4.

Fig. 6 is a schematic structural diagram of a single movable paw.

Fig. 7 is a schematic structural view of the uncapping hand.

Fig. 8 is a front view of the lid-opening hand shown in fig. 7.

Fig. 9 is a schematic view of the uncapping principle of the mechanical bottle-holding uncapping device.

In the above figures, the components indicated by the respective reference numerals are as follows: the automatic bottle opening device comprises a robot 1, a bottle holding hand 2, a first hand seat 2-1, a movable clamping jaw 2-2, a supporting plate 2-3, a driving motor 2-4, a driving gear 2-5, a driven gear 2-6, a disc 2-7, a support shaft 2-8, an opening hand 3, a second hand seat 3-1, a fixed jaw 3-2, an opening seat 3-3, an opening cover plate 3-4, an electromagnet 3-5 and a bottle outlet 4.

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 mechanical hand-held bottle uncovering device comprises a bottle holding hand part 2 and an uncovering hand part 3 which are matched with each other, wherein the bottle holding hand part and the uncovering hand part are respectively arranged on wrist joints at two sides of a robot 1 and are driven by the wrist joints to turn over; the bottle holding hand part is provided with a movable clamping jaw for gripping the bottle, and the bottle opening hand part is provided with an opening cover plate for opening the bottle cap. Wherein, holding bottle hand portion mainly used and receiving and the bottle of centre gripping bottled drink from the robot, uncapping the hand and act as uncapping ware, mainly used accomplishes the action of opening the bottle lid from the bottle, through holding the bottle hand portion and uncapping the cooperation between the hand, can realize automatic quick uncork.

In this embodiment, the right hand of robot is for holding bottle hand portion for press from both sides and get and hold the bottle, and the left hand of robot is the hand of uncapping, acts as the ware of uncapping, and with the right hand cooperation, open bottled drink's crown cover. The specific structure of each hand is as follows:

as shown in figure 2, the bottle holding hand part mainly comprises a first hand seat 2-1, a movable clamping jaw 2-2, a supporting plate 2-3 and the like. As shown in fig. 3-5, the first hand seat is internally provided with a servo motor 2-4 and a gear device (including a driving gear 2-5 and a driven gear 2-6 which are engaged with each other), and can drive a pair of movable clamping jaws to open and close, so as to clamp or release the bottle body. The supporting plate is fixedly assembled at the lower part of the first hand seat and is positioned between the two movable clamping jaws. When the two movable clamping jaws clamp the bottle body, the bottle bottom is supported by the supporting plate, and even if the clamping jaws are 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 figure 6, one side of the clamping jaw is provided with two disks 2-7 which are distributed up and down, and each disk is connected with the first hand seat through a fulcrum 2-8. 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.

As shown in fig. 6 or 7, the uncovering hand part mainly comprises a second hand seat 3-1, a fixed claw 3-2, an uncovering seat 3-3, an uncovering plate 3-4, an electromagnet 3-5 and the like. The fixed claw is a rigid frame body and is fixedly installed on the second hand seat, and the rectangular notch in the front part of the fixed claw is embedded into the cover opening seat and is fastened through screws.

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 plate is inclined at a certain angle, as shown in fig. 7. The cover opening plate is the same as a crown-shaped cover opener which is usually used, and a cover opening is processed in the middle of the cover opening plate and can be matched with the crown-shaped cover of the bottle opening and 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 of the robot through a flange plate on the back of the second hand seat. When the left wrist joint rotates, the whole transposition of the uncovering hand part can be driven.

The mechanical hand-held bottle uncapping method realized by the device is shown in fig. 9, and the specific process is as follows:

(1) the right hand (namely the bottle holding hand) and the left hand (namely the cap opening hand) of the robot are at initial positions, the folding center of the movable paw on the right hand is over against the bottle outlet 4 on the robot, and when bottled beverages are pushed out of the robot, the bottled beverages slide forwards and enter the movable paw 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.

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

(3) The left hand of robot removes to the bottle top, and left wrist joint is rotatory simultaneously, drives left forearm and inwards swings certain angle, makes the rectangular channel of the last opening of cover seat of left hand embolia the bottleneck, and the board income bottle lid of uncapping realizes the location.

(4) The left wrist joint rotates to drive the left hand to rotate (anticlockwise as shown in figure 9), 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.

(5) After the left hand drives the bottle cap to leave the bottle body, the electromagnet is powered off, so that the bottle cap loses the electromagnetic attraction force and falls for collection; at the same time, the left hand delivers the opened bottle.

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

Example 2

Compared with embodiment 1, the mechanical hand-held bottle opening device of the embodiment is different in 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.

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. A mechanical hand-held bottle uncovering device is characterized by comprising a bottle holding hand part and an uncovering hand part which are matched, wherein the bottle holding hand part and the uncovering hand part are respectively arranged on wrist joints at two sides of a robot; the bottle holding hand part is provided with a movable clamping jaw for gripping the bottle, and the bottle opening hand part is provided with an opening cover plate for opening the bottle cap.

2. The mechanical hand-held bottle cap opening device is characterized in that the bottle holding hand part comprises a first hand seat and movable clamping jaws, the first hand seat is mounted on a wrist joint of the robot, 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, and one end of each movable clamping jaw extends into the first hand seat and is connected with the clamping jaw driving assembly.

3. The mechanical hand-held bottle uncovering device is characterized in that the bottle holding hand further comprises a supporting plate, the supporting plate is arranged between the two movable clamping jaws, and one end of the supporting plate is fixedly arranged on the first hand seat.

4. The mechanical hand-held bottle cap opening device is characterized in that the main body of the movable clamping jaw is arc-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.

5. The mechanical hand-held bottle cap opening device as claimed in claim 4, wherein the clamping jaw driving assembly comprises a servo motor, a driving gear and a driven gear, the servo motor is connected with the driving gear, the driving gear is meshed with the driven gear, the driving gear is mounted on a disc at one end of the movable clamping jaw, and the driven gear is mounted on a disc at the other end of the movable clamping jaw.

6. A mechanical hand-held bottle cap-opening device according to claim 3, wherein the bottle-holding hand part is provided with elastic gaskets on the opposite inner sides of the two movable clamping jaws.

7. The mechanical hand-held bottle uncovering device is characterized in that the uncovering hand comprises a second hand seat, a fixed claw, an uncovering seat and an uncovering plate, the second hand seat is installed on the other wrist joint of the robot, one side of the fixed claw is installed on the second hand seat, the other side of the fixed claw is installed on the uncovering seat, and the uncovering plate is installed on the uncovering seat.

8. The mechanical hand-held bottle opener device of claim 7, wherein the opener hand further comprises an electromagnet, and the electromagnet is mounted on the opener seat.

9. A mechanical hand-held bottle cap opening device as claimed in claim 7, wherein the bottom of the cap opening seat is an open groove body, a cap opening plate is obliquely arranged in the open groove body, and a cap opening is arranged on the cap opening plate.

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