CN215207238U

CN215207238U - Get beverage machine tool arm

Info

Publication number: CN215207238U
Application number: CN201920361471.3U
Authority: CN
Inventors: 吴晨涛; 位达; 刘状
Original assignee: Shanghai Shenlin Technology Development Co ltd
Current assignee: Shanghai Shenlin Technology Development Co ltd
Priority date: 2019-03-20
Filing date: 2019-03-20
Publication date: 2021-12-17
Anticipated expiration: 2029-03-20

Abstract

The utility model discloses a beverage taking mechanical arm, which comprises six mechanical arms, wherein the bottoms of the six mechanical arms are provided with sliding blocks, and the sliding blocks are inserted into sliding grooves on a base and can slide along the length direction of the sliding grooves; the sliding grooves are formed in one sliding rod, and two ends of the sliding rod are inserted into the sliding rod grooves which are opposite to each other to slide; and the end part of the six-axis mechanical arm is connected with a clamping claw. Through setting up six arms, the utility model discloses a get beverage machine tool arm accessible removes the gripper jaw in the certain limit, accomplishes automatically and gets empty cup, beverage dress cup and place beverage and goblet's operation, has greatly liberated operator's loaded down with trivial details action, has increased the time that operator and client exchanged, has great practicality and economic nature.

Description

Get beverage machine tool arm

Technical Field

The utility model relates to a service robot technical field especially relates to a get beverage machine tool arm.

Background

With the pace of modern human life increasing, people seek to invent and use more robots to replace some of the boring and repetitive work of people, and thus do as many things as possible in a limited time.

Many beverage stores today make beverages on-site, sell them and drink them instantly, such as coffee shops.

In the existing coffee shops, a traditional full-process manual operation mode is mostly adopted, customers place orders, operators operate a coffee machine after receiving orders, coffee beans are ground and brewed, then empty cups are taken out and coffee is received, and the brewed coffee cups are placed on a counter for the customers to take or send to the front of the tables of the customers. However, the whole-process manual operation mode is not beneficial to the communication between the operator and the customer, and in the operation process, the customer can only wait for the operation in a foolproof manner, so the consumption experience is not good, and the pleasure consumption experience of the customer is greatly influenced.

Thus, the prior art is yet to be improved and enhanced.

SUMMERY OF THE UTILITY MODEL

In view of the above-mentioned defect of the instant mode of making of current beverage, the utility model aims to provide a get beverage machine arm to practice thrift operating personnel's repeated mechanical labor.

The technical scheme of the utility model as follows:

the utility model discloses a beverage taking mechanical arm, which comprises six mechanical arms, wherein the bottom of each of the six mechanical arms is provided with at least one raised sliding block, and the sliding block is inserted into a sliding groove on a base and can slide along the length direction of the sliding groove;

the sliding grooves are formed in one sliding rod, two opposite side edges of the base are provided with mutually opposite sliding rod grooves, and two ends of each sliding rod can be transversely inserted into the corresponding sliding rod grooves in a sliding mode;

and the end part of the six-axis mechanical arm is connected with a clamping claw.

Preferably, the slider is slidably engaged with the slide groove.

Preferably, the clamping jaw comprises two legs of a split arc.

More preferably, the supporting claw is sleeved with an inflatable cushion, and the inflatable cushion is connected with an air source through an inflatable tube for inflation and deflation.

Preferably, the six-axis robotic arm comprises six joints rotatably connected, wherein:

the first joint is in a frustum shape and comprises a near-end bottom surface with a larger area and contacted with the base through the sliding block and a far-end front surface with a smaller area and contacted with the second joint;

the front surface of the far end of the first joint is rotatably connected with the front surface of the near end of the second joint;

the distal side of the second joint is rotatably connected with the proximal side of the third joint;

the far end side surface of the third joint is rotatably connected with the near end side surface of the fourth joint;

the distal side surface of the fourth joint is rotatably connected with the proximal side surface of the fifth joint;

the front surface of the far end of the fifth joint is rotatably connected with the side surface of the near end of the sixth joint;

the front surface of the far end of the sixth joint is connected with the clamping claw;

two adjacent joints are respectively connected with a driving motor and a motor rotating shaft;

the near end is the end close to the base, and the far end is the end away from the base;

the front surface is a surface perpendicular to a central axis of the joint, and the side surface is a surface parallel to the central axis.

More preferably, the proximal and distal flanks of the third joint face in the same direction.

More preferably, the proximal and distal flanks of the fourth joint face in the same direction.

More preferably, two adjacent joints are respectively fixedly connected with a driving motor and a motor rotating shaft.

Preferably, the six-axis mechanical arm further comprises a control mechanism, wherein the control mechanism comprises a control terminal, and the control terminal is electrically connected with and controls the deformation of the six-axis mechanical arm.

More preferably, the control mechanism further comprises a learning module that remembers the operation of the drink-taking robot arm.

Drawings

Fig. 1 is a schematic view of the general structure of the drinking mechanical arm of the present invention.

Fig. 2 is a schematic view of the base structure of the mechanical arm for taking beverage of the present invention.

Fig. 3 is a schematic structural view of the inflatable cushion sleeved on the gripper jaw of the mechanical arm for taking beverage of the present invention.

In the figure, 100 is a first joint, 200 is a second joint, 300 is a third joint, 400 is a fourth joint, 500 is a fifth joint, 600 is a sixth joint, 650 is a clamping claw driving motor, 700 is a clamping claw, 710 is a first supporting claw, 720 is a second supporting claw, 730 is an inflatable cushion, 740 is an inflatable tube, 750 is a beverage cup, 800 is a sliding block, 900 is a sliding chute, 950 is a sliding rod, 955 is a sliding rod groove, 990 is a base

Detailed Description

The utility model provides a get beverage machine tool arm, for making the utility model discloses a purpose, technical scheme and effect are clearer, clear and definite, and it is right that the following reference is drawn and the example is lifted the utility model discloses further detailed description. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.

The utility model discloses a get beverage machine arm, as shown in fig. 1, including a six arms, a end connection gripper 700 of six arms, the bottom of six arms sets up on base 990. Specifically, the bottom of the six-axis mechanical arm is provided with at least one protruding slider 800, and the slider 800 is inserted into the sliding groove 900 on the base 990 and can slide along the length direction of the sliding groove. In particular, in a more preferred embodiment, the slider 800 is engaged with the sliding groove 900 but can slide along the longitudinal direction of the sliding groove 900. Therefore, the stability of the mechanical arm for taking the beverage can be improved, and the toppling can be prevented.

The base 990, as shown in fig. 2, comprises at least two opposite sides, on which opposite sliding grooves 955 are formed. The sliding groove 900 is disposed on the sliding bar 950, and both ends of the sliding bar 950 are inserted into the sliding bar grooves 955 in a laterally slidable manner, i.e., in a direction perpendicular to the sliding bar 950. The six-axis robot arm can reach any point on the base 990. I.e., have some horizontal movement space, to help cover a larger working range.

In a preferred embodiment, the sliding rod 950 and the sliding groove 900 thereon may be provided in two parallel to each other, and fixed to each other after being separated by a certain distance. Both ends of each slide bar 950 are inserted into the slide bar slots 955, thereby increasing the stability of the arm of the drink-taking robot.

The gripper 700 is preferably rotatably connected to an end of the six-axis robot arm, and specifically, a gripper driving motor 650 may be fixed to the end, and a rotation shaft of the gripper driving motor 650 is fixedly connected to the gripper 700.

The gripper 700 is shown in FIG. 3 and includes two separate legs, a first leg 710 and a second leg 720. Considering that beverage cup 750 is a generally circular cylinder or cone, the prongs are preferably arcuate accordingly. In a better embodiment, considering that the size of the beverage cup 750 may not be uniform, an air cushion 730 may be sleeved on the supporting jaw, and the air cushion 730 is connected with an air source through an air filling pipe 740 for air filling and air releasing, so that the stability of clamping the beverage cup 750 can be ensured.

Specifically, as shown in fig. 1, the six-axis robot arm includes six joints rotatably connected: wherein the slider 800 is disposed on the proximal bottom surface of the first joint 100; the distal front surface of the first joint 100 is rotatably connected with the proximal front surface of the second joint 200; the distal side of the second joint 200 is rotatably connected to the proximal side of the third joint 300; the distal side of the third joint 300 is rotatably connected with the proximal side of the fourth joint 400; the distal side of the fourth joint 400 is rotatably connected to the proximal side of the fifth joint 500; the distal front surface of the fifth joint 500 is rotatably connected with the proximal lateral surface of the sixth joint 600; the distal end of the sixth joint 600 is connected to the clamping claw 700.

Wherein the first joint is preferably frustum-shaped, as shown in fig. 1, and includes a proximal bottom surface with a larger area that contacts the base 990, and a distal front surface with a smaller area that contacts the second joint 200. Thereby increasing the stability of the whole mechanical arm for taking the beverage.

Wherein the proximal end is the end near the base 990, and the distal end is the end away from the base 990, i.e. the end near the clamping jaw 700; the front surface is a surface perpendicular to a central axis of the joint, and the side surface is a surface parallel to the central axis.

The rotatable connection between two adjacent joints can be realized by respectively connecting a driving motor and a rotating shaft of the driving motor.

In practice, the beverage taking robot may be placed in a position between the counter and the beverage machine, and after the base 990 is first placed, the operator may fine-tune the exact position of the beverage taking robot by moving the slide bar 950 and the slider 800. And when the accurate position is reached, the mechanical arm of the beverage taking machine can be locked in the position by the locking device. The locking device may be: for example, a fixing pin may be inserted between the slider 800 and the sliding groove 900, and when the precise position is found, the fixing pin is inserted, so that the slider 800 may be prevented from sliding continuously. Similarly, a locking device, for example, a fixing piece inserted between both ends of the sliding bar 950 and the sliding bar slot 955 may be provided between both ends of the sliding bar 950 and the sliding bar slot 955.

In order to reduce the space volume of the six-axis robot arm, in a preferred embodiment, as shown in fig. 1, the third joint 300 and the fourth joint 400 are preferably disposed on the same side of the joints connected up and down, and specifically, the proximal side and the distal side of the third joint 300 and the fourth joint 400 are facing the same direction.

In a preferred embodiment, the beverage taking mechanical arm further comprises a control mechanism, the control mechanism comprises a control terminal, such as a touch screen device, and the control mechanism controls the deformation of the six-axis mechanical arm, specifically, the control mechanism can control the rotation of the driving motors in the joints to adjust the clamping claws 700 to reach the required positions.

The control mechanism can be additionally provided with a learning module, so that during specific implementation, the mechanical arm for taking the beverage is controlled and operated manually to finish the whole process of taking empty cups, filling the beverages into the cups and placing the beverages on the counter, and the mechanical arm for taking the beverage saves the specific details of the whole operation and automatically and repeatedly realizes the operation in subsequent operations.

To sum up, the utility model discloses a beverage taking mechanical arm, which comprises six mechanical arms, wherein the bottoms of the six mechanical arms are provided with sliding blocks 800, and the sliding blocks 800 are inserted into sliding grooves 900 on a base 990 and can slide along the length direction of the sliding grooves 900; the sliding groove 900 is arranged on one sliding bar 950, and two ends of the sliding bar 950 are inserted into the sliding bar grooves 955 which are opposite to each other to slide; and the end of the six-axis robot arm is connected with a gripper 700. Through setting up six arms, the utility model discloses a get beverage machine tool arm accessible removes gripper jaw 700 in the certain limit, accomplishes automatically and gets empty cup, beverage dress cup and places beverage and goblet 750's operation, has greatly liberated operator's loaded down with trivial details action, has increased the time that operator and client exchanged, has great practicality and economic nature.

It is to be understood that the invention is not limited to the above-described embodiments, and that modifications and variations may be made by those skilled in the art in light of the above teachings, and all such modifications and variations are intended to be included within the scope of the invention as defined in the appended claims.

Claims

1. The mechanical arm for taking the beverage is characterized by comprising six mechanical arms, wherein the bottoms of the six mechanical arms are provided with at least one raised sliding block, and the sliding block is inserted into a sliding groove on a base and can slide along the length direction of the sliding groove;

2. The drink handling robot arm of claim 1, wherein the slider is slidably engaged in the slide slot.

3. The drink handling robot arm of claim 1, wherein the gripper jaw is rotatably connected to an end of the six-axis robot arm.

4. The drink handling robot of claim 1, wherein the gripper jaw comprises two spaced arcuate prongs.

5. The mechanical arm for taking beverage as claimed in claim 4, wherein the supporting jaw is sleeved with an inflatable cushion, and the inflatable cushion is connected with a gas source through an inflatable tube for inflation and deflation.

6. The drink handling robot arm of claim 1, wherein the six-axis robot arm comprises six joints rotatably connected, wherein:

7. The drink handling robot of claim 6, wherein the proximal side and the distal side of the third joint face in the same direction.

8. The drink handling robot of claim 6, wherein the proximal side and the distal side of the fourth joint face in the same direction.

9. The robotic arm as claimed in claim 6, wherein two adjacent joints are fixedly connected to a drive motor and a rotation shaft of the drive motor, respectively.

10. The beverage handling robot arm of claim 1, further comprising a control mechanism comprising control terminals electrically connected to and controlling deformation of the six-axis robot arm.