CN215968828U - Under-actuated end tool for kitchen robot to make dishes - Google Patents
Under-actuated end tool for kitchen robot to make dishes Download PDFInfo
- Publication number
- CN215968828U CN215968828U CN202122043864.XU CN202122043864U CN215968828U CN 215968828 U CN215968828 U CN 215968828U CN 202122043864 U CN202122043864 U CN 202122043864U CN 215968828 U CN215968828 U CN 215968828U
- Authority
- CN
- China
- Prior art keywords
- clamping piece
- assembly
- manipulator
- manipulator grabbing
- kitchen
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
- 230000033001 locomotion Effects 0.000 claims abstract description 5
- 230000005540 biological transmission Effects 0.000 claims description 48
- 230000000149 penetrating effect Effects 0.000 claims description 4
- 230000002093 peripheral effect Effects 0.000 claims description 3
- 238000010411 cooking Methods 0.000 claims 2
- 210000003734 kidney Anatomy 0.000 claims 2
- 238000000034 method Methods 0.000 description 3
- 238000010862 gear shaping Methods 0.000 description 2
- 230000006978 adaptation Effects 0.000 description 1
- 230000003044 adaptive effect Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
Images
Landscapes
- Manipulator (AREA)
Abstract
The utility model relates to a miniaturized underactuated end instrument of kitchen robot preparation dish belongs to intelligent household electrical appliances technical field. The tool comprises: the manipulator grabbing positioning assembly, the mechanical rotating assembly and the clamping piece assembly; one end of the mechanical rotating assembly is mechanically connected with the mechanical arm grabbing and positioning assembly, and the other end of the mechanical rotating assembly is fixedly connected with the clamping piece assembly; the clamping piece assembly comprises a left clamping piece and a right clamping piece; the manipulator grabbing and positioning assembly performs mechanical motion along a specified direction under the action of external force, so that the left clamping piece and the right clamping piece of the clamping piece assembly are driven by the mechanical rotating assembly to open and close to clamp articles. The tool provided by the utility model realizes automatic reset of the tool through an underactuated design without additional power.
Description
Technical Field
The utility model relates to an intelligence household electrical appliances technical field especially relates to a kitchen robot makes underactuated end instrument of dish.
Background
With the development of the robot technology, the new requirements that the robot replaces people to make various gourmets in a kitchen and the manipulator replaces hands to be dry and alive are provided. Because the existing kitchen ware is convenient for people to use, in order to meet the requirement of the robot on working in a kitchen environment, a tool which is convenient for the robot to grab kitchen supplies or food needs to be redesigned. However, currently, there are few studies on kitchen robots, and most electric tools used for kitchen robots are directly mounted on the robots and are inconvenient to replace, and on the other hand, the electric tools require additional driving force, external leads are inconvenient, and battery capacity and driving force of battery driving are also a big problem.
SUMMERY OF THE UTILITY MODEL
In order to overcome the problems in the related art, the embodiments of the present disclosure provide an under-actuated end tool for a kitchen robot to prepare dishes, which not only facilitates the robot to be quickly replaced, but also does not require additional electric driving. The technical scheme is as follows:
according to a first aspect of embodiments of the present disclosure, there is provided an under-actuated end tool for a kitchen robot to make dishes, comprising: the manipulator grabbing positioning assembly, the mechanical rotating assembly and the clamping piece assembly; one end of the mechanical rotating assembly is mechanically connected with the mechanical arm grabbing and positioning assembly, and the other end of the mechanical rotating assembly is fixedly connected with the clamping piece assembly; the clamping piece assembly comprises a left clamping piece and a right clamping piece; the manipulator grabbing and positioning assembly performs mechanical motion along a specified direction under the action of external force, so that the left clamping piece and the right clamping piece of the clamping piece assembly are driven by the mechanical rotating assembly to open and close to clamp articles.
The technical scheme provided by the embodiment of the disclosure can have the following beneficial effects:
according to the under-actuated end tool system for the kitchen robot to make dishes, on one hand, through the under-actuated design, the automatic resetting of the tool is realized, no extra power is needed, the unpowered switching of the whole quick-change system is realized, and the complexity of the system is reduced; on the other hand, the device has larger grabbing and positioning fault tolerance, so that the working reliability of the kitchen robot is improved.
In one embodiment, the robotic grasping positioning assembly includes:
a body, the body being hollow inside;
the two mechanical arm grabbing blocks are respectively arranged at the two ends of the body in the specified direction; each manipulator grabbing block is connected with the body through a sliding assembly, and the manipulator grabbing blocks can slide in a reciprocating mode along the designated direction relative to the body;
a first return spring and a second return spring; one end of the first reset spring is fixed inside the body, the other end of the first reset spring is fixedly connected with one side face of one manipulator grabbing block, which is opposite to the body, one end of the second reset spring is fixed inside the body, and the other end of the second reset spring is fixedly connected with one side face of the other manipulator grabbing block, which is opposite to the body.
In one embodiment, the robotic grasping positioning assembly includes:
a body, the body being hollow inside;
the two mechanical arm grabbing blocks are respectively arranged at the two ends of the body in the specified direction; each manipulator grabbing block is connected with the body through a sliding assembly, and the manipulator grabbing blocks can slide in a reciprocating mode along the designated direction relative to the body;
and the two ends of the third return spring are fixedly connected with the opposite side surfaces of the two manipulator grabbing blocks respectively.
In one embodiment, one end of the manipulator grabbing block is nested in the body, a boss is arranged on the end face nested in the body, and the peripheral size of the boss in a plane perpendicular to the specified direction is larger than the size of the part where the manipulator grabbing block and the body are nested mutually.
In one embodiment, the mechanical turn assembly comprises: two first transmission connecting rods and two second transmission connecting rods;
one end of each first transmission connecting rod is movably connected with one manipulator grabbing block, the other end of each first transmission connecting rod is movably connected with one end of one second transmission connecting rod, and the middle part of each first transmission connecting rod is hinged and fixed through a first hinge point;
the other end of the two second transmission connecting rods is respectively and fixedly connected with the left clamping piece and the right clamping piece, and the middle parts of the two second transmission connecting rods are hinged and fixed through second hinge points.
In one embodiment, the first drive link comprises a first arm and a second arm, the first arm and the second arm being integrally formed in an L-shape; the first hinge point is positioned at the turning position of the L shape;
the first arm is provided with a first waist-shaped hole, and the first arm is connected with the manipulator grabbing block through a connecting piece penetrating through the first waist-shaped hole.
In one embodiment, a second kidney-shaped hole is formed in the second transmission connecting rod, and the second transmission connecting rod is connected with the first transmission connecting rod through a connecting piece penetrating through the second kidney-shaped hole.
In one embodiment, the lower end of the second transmission connecting rod is provided with a slot, the upper ends of the left clamping piece and the right clamping piece are provided with gear shaping, and the external dimension of the gear shaping is matched with the slot.
It is to be understood that both the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the disclosure.
Drawings
The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the present disclosure and together with the description, serve to explain the principles of the disclosure.
FIG. 1 is a schematic structural diagram of an under-actuated end tool for a kitchen robot to prepare dishes, according to the present invention;
FIG. 2 is a schematic view of a robot hand of the kitchen robot grasping the tool of FIG. 1;
fig. 3 is a schematic view of the internal structure of an under-actuated end tool for a kitchen robot to prepare dishes according to the present invention.
Detailed Description
Reference will now be made in detail to the exemplary embodiments, examples of which are illustrated in the accompanying drawings. When the following description refers to the accompanying drawings, like numbers in different drawings represent the same or similar elements unless otherwise indicated. The implementations described in the exemplary embodiments below are not intended to represent all implementations consistent with the present disclosure. Rather, they are merely examples of apparatus and methods consistent with certain aspects of the present disclosure, as detailed in the appended claims.
The disclosed embodiment provides an under-actuated end tool for a kitchen robot to make dishes, as shown in fig. 1, the tool includes: the manipulator grabbing positioning assembly 1, the mechanical rotating assembly 2 and the clamping piece assembly; one end of the mechanical rotating component 2 is mechanically connected with the mechanical arm grabbing and positioning component 1, and the other end is fixedly connected with the clamping piece component; the clip assembly includes a left clip 31 and a right clip 32.
Fig. 2 is a schematic view of the robot hand 4 of the kitchen robot gripping the tool shown in fig. 1. The working principle of the tool shown in fig. 1 is as follows: the mechanical arm grabbing and positioning assembly 1 performs mechanical movement along a designated direction under the action of external force (namely, force generated when the kitchen robot grabs the mechanical arm 4 to grab the positioning assembly 1 when using the tool), so that the mechanical rotating assembly 2 drives the left clamping piece 31 and the right clamping piece 32 of the clamping piece assembly to open and close to clamp an article. For the device shown in fig. 1, the specified direction is the left-right direction in fig. 1.
Fig. 3 is a schematic view of the internal structure of the under-actuated end tool of the kitchen robot of fig. 1 for preparing dishes. As shown in fig. 3, the robot gripping positioning assembly 1 includes: the manipulator grabbing device comprises a body 11, two manipulator grabbing blocks 12, a first return spring 13 and a second return spring 14.
Wherein, the body 11 is hollow inside; the two manipulator grabbing blocks 12 are respectively arranged at two ends of the body 11 in the designated direction, each manipulator grabbing block 12 is connected with the body 11 through a sliding assembly, and the manipulator grabbing blocks 12 can slide in a reciprocating manner along the designated direction relative to the body 11; inside first reset spring 13 one end was fixed in body 11, the other end and the right flank fixed connection that the left side manipulator snatched piece 12 in fig. 3, inside second reset spring 14 one end was fixed in body 11, the other end and the left flank fixed connection that the right side manipulator snatched piece 12 in fig. 3.
In an alternative embodiment, the first return spring 13 and the second return spring 14 shown in fig. 3 can also be implemented as a third return spring, that is, the robot gripping and positioning assembly 1 includes: the manipulator comprises a body 11, two manipulator grabbing blocks 12 and a third return spring. Wherein, the body 11 is hollow inside; the two manipulator grabbing blocks 12 are respectively arranged at two ends of the body 11 in the designated direction, each manipulator grabbing block 12 is connected with the body 11 through a sliding assembly, and the manipulator grabbing blocks 12 can slide in a reciprocating manner along the designated direction relative to the body 11; third reset spring installs inside body 11, and third reset spring's both ends snatch the relative side fixed connection of piece 12 with two manipulators respectively, snatch piece 12 to two manipulators shown in fig. 3 promptly, and third reset spring's left end and left side manipulator snatch the right flank fixed connection of piece 12, and third reset spring's right-hand member and right side manipulator snatch the left flank fixed connection of piece 12.
In the tool shown in fig. 3, when the kitchen robot grips the left and right robot gripping blocks 12 in the direction of arrow A, B in fig. 3, the robot gripping blocks 12 slide towards the inside of the body 11 relative to the body 11, so as to drive the mechanical rotating assembly 2 to move, and then, when the external force in the direction of arrow A, B disappears, the left and right robot gripping blocks 12 slide towards the two sides relative to the body 11 under the action of the first return spring 13 and the second return spring 14 (or the third return spring), so as to drive the mechanical rotating assembly 2 to move in the opposite direction.
Preferably, as shown in fig. 3, one end of the manipulator gripping block 12 is nested inside the body 11, and an end surface nested inside the body 11 is provided with a boss 121, and the peripheral dimension of the boss 121 in a plane perpendicular to the designated direction is larger than the dimension of a portion where the manipulator gripping block 12 and the body 11 are nested with each other. For example, when the main body of the robot gripping block 12 is a cylinder with an end face diameter of R1, the boss is a circular boss with an end face diameter of R2 and R2> R1. Therefore, when the manipulator grabbing block 12 slides outwards relative to the body 11 under the action of the return spring, the boss 121 can limit the maximum stroke of the manipulator grabbing block 12 moving outwards, and the nesting end of the manipulator grabbing block 12 is prevented from sliding out of the body 11.
In an alternative embodiment, as shown in fig. 3, the mechanical rotating assembly 2 may comprise: two first transmission links 21 and two second transmission links 22; wherein, one end of each first transmission link 21 is movably connected with one manipulator grabbing block 12, the other end is movably connected with one end of one second transmission link 22, and the middle part of each first transmission link 21 is hinged and fixed through a first hinge point C, for example, as shown in fig. 3, the first hinge point C may be fixed on a side back plate of a housing 23 of the mechanical rotating assembly 2; in addition, the other ends of the two second transmission connecting rods 22 are respectively and fixedly connected with a left clamping piece 31 and a right clamping piece 32, and the middle part of each second transmission connecting rod 22 is hinged and fixed through a second hinge point D.
Preferably, as shown in fig. 3, the first transmission link 21 includes a first arm 211 and a second arm 212, the first arm 211 and the second arm 212 being integrally formed in an L-shape; the first hinge point C is positioned at the turning position of the L shape; the first arm 211 is provided with a first kidney-shaped hole, and the first arm 211 is connected with the manipulator grabbing block 12 through a connecting piece penetrating through the first kidney-shaped hole.
Preferably, as shown in fig. 3, a second kidney-shaped hole is formed on the second transmission link 22, and the second transmission link 22 is connected to the first transmission link 21 by a connection member passing through the second kidney-shaped hole.
Preferably, as shown in fig. 3, the second transmission link 22 has a slot at the lower end thereof, and the left and right jaws 31 and 32 have gear teeth at the upper ends thereof, the gear teeth having a size matched with the slot so that the left or right jaw 31 or 32 is inserted into the slot of the second transmission link 22 and fixed, which can facilitate the replacement of the jaws.
The working principle of the tool shown in fig. 3 is as follows: when the manipulator 4 of the kitchen robot presses the manipulator grabbing blocks 12 symmetrically installed on both sides of the body 11, the manipulator grabbing blocks 12 slide on the body 11, and in the sliding process, the upper end of the first transmission connecting rod 21 is driven to move towards the middle of the inner side of the body 11, because the middle of the first transmission connecting rod 21 is hinged and fixed, the lower end of the first transmission connecting rod 21 is opened towards the left and right sides of the drawing plane shown in fig. 3 relative to the body 11, namely, the first transmission connecting rods 21 on the left and right sides drive the upper ends of the second transmission connecting rods 22 on the left and right sides to open relative to the center of the body 11, because the middle of the second transmission connecting rods 22 is hinged and fixed, the lower end of the second transmission connecting rod 22 on the left side drives the left clamping piece 31 to move towards the right, and the lower end of the second transmission connecting rod 22 on the right side drives the right clamping piece 32 to move towards the left, namely, the two clamping pieces move towards the middle simultaneously, to realize the clamping of the real object. In the whole process, due to the action of the return spring, the manipulator grabbing block 12 can be in close contact with the manipulator 4 of the kitchen robot, when the pressing force is loosened, due to the action of the return spring, the manipulator grabbing block 12 can be automatically separated towards two sides, and therefore the left clamping piece and the right clamping piece are driven to be separated through the movement of the first transmission connecting rod 21 and the second transmission connecting rod 22. In order to facilitate the quick grabbing of the manipulator 4 of the kitchen robot to the manipulator grabbing positioning assembly 1, the appearance of the manipulator grabbing block 12 and the shape of the grabbing surface of the manipulator 4 of the kitchen robot are designed in an adaptive mode, so that the manipulator of the kitchen robot and the manipulator grabbing block 12 have high fault tolerance, and quick and accurate grabbing is guaranteed.
Other embodiments of the disclosure will be apparent to those skilled in the art from consideration of the specification and practice of the disclosure disclosed herein. This application is intended to cover any variations, uses, or adaptations of the disclosure following, in general, the principles of the disclosure and including such departures from the present disclosure as come within known or customary practice within the art to which the disclosure pertains. It is intended that the specification and examples be considered as exemplary only, with a true scope and spirit of the disclosure being indicated by the following claims.
It will be understood that the present disclosure is not limited to the precise arrangements described above and shown in the drawings and that various modifications and changes may be made without departing from the scope thereof. The scope of the present disclosure is limited only by the appended claims.
Claims (8)
1. An under-actuated end tool for a kitchen robot to prepare dishes, comprising: the manipulator grabbing positioning assembly (1), the mechanical rotating assembly (2) and the clamping piece assembly (3); one end of the mechanical rotating assembly (2) is mechanically connected with the mechanical arm grabbing positioning assembly (1), and the other end of the mechanical rotating assembly is fixedly connected with the clamping piece assembly (3); the clamping piece assembly (3) comprises a left clamping piece (31) and a right clamping piece (32); the manipulator grabbing and positioning assembly (1) performs mechanical motion along a specified direction under the action of external force, so that the manipulator grabbing and positioning assembly can drive a left clamping piece (31) and a right clamping piece (32) of the clamping piece assembly (3) to open and close to clamp an article through the mechanical rotating assembly (2).
2. Under-actuated end tool for kitchen robot dishes making according to claim 1, characterized in that the robot gripping and positioning assembly (1) comprises:
a body (11), the body (11) being hollow inside;
the two manipulator grabbing blocks (12) are respectively arranged at two ends of the body (11) in the specified direction; each manipulator grabbing block (12) is connected with the body (11) through a sliding assembly, and the manipulator grabbing blocks (12) can slide in a reciprocating mode along the designated direction relative to the body (11);
first reset spring (13) and second reset spring (14), first reset spring (13) one end is fixed in inside body (11), and the other end snatchs a side fixed connection of piece (12) relative body (11) with a manipulator, second reset spring (14) one end is fixed in inside body (11), and the other end snatchs a side fixed connection of piece (12) relative body (11) with another manipulator.
3. Under-actuated end tool for kitchen robot dishes making according to claim 1, characterized in that the robot gripping and positioning assembly (1) comprises:
a body (11), the body (11) being hollow inside;
the two manipulator grabbing blocks (12) are respectively arranged at two ends of the body (11) in the specified direction; each manipulator grabbing block (12) is connected with the body (11) through a sliding assembly, and the manipulator grabbing blocks (12) can slide in a reciprocating mode along the designated direction relative to the body (11);
and the third return spring is arranged inside the body (11), and two ends of the third return spring are respectively fixedly connected with opposite side surfaces of the two manipulator grabbing blocks (12).
4. The underactuated end tool for kitchen robot dishes making according to claim 2 or 3, wherein one end of the manipulator grabbing block (12) is nested inside the body (11), and the end surface nested inside the body (11) is provided with a boss (121), and the peripheral dimension of the boss (121) in the plane perpendicular to the designated direction is larger than the dimension of the nested part of the manipulator grabbing block (12) and the body (11).
5. Under-actuated end tool for kitchen robotic preparation of dishes, according to claim 1, characterized in that said mechanical rotating group (2) comprises: two first transmission links (21) and two second transmission links (22);
one end of each first transmission connecting rod (21) is movably connected with one manipulator grabbing block (12), the other end of each first transmission connecting rod is movably connected with one end of one second transmission connecting rod (22), and the middle part of each first transmission connecting rod (21) is hinged and fixed through a first hinge point;
the other end of each of the two second transmission connecting rods (22) is fixedly connected with the left clamping piece and the right clamping piece respectively, and the middle part of each of the two second transmission connecting rods (22) is hinged and fixed through a second hinge point.
6. Under-actuated end tool for kitchen robotic cooking as claimed in claim 5, characterized in that said first transmission link (21) comprises a first arm (211) and a second arm (212), said first arm (211) and second arm (212) being integrally formed in an L-shape; the first hinge point is positioned at the turning position of the L shape;
the first arm (211) is provided with a first waist-shaped hole, and the first arm (211) is connected with the manipulator grabbing block (12) through a connecting piece penetrating through the first waist-shaped hole.
7. The underactuated end tool for kitchen robotic cooking as claimed in claim 5, wherein said second transmission link (22) is provided with a second kidney shaped hole, said second transmission link (22) being connected to said first transmission link (21) by a connection element passing through said second kidney shaped hole.
8. The under-actuated end tool for kitchen robotic dishes making according to claim 5, wherein said second transmission link (22) has slots at its lower end, and said left jaw (31) and right jaw (32) have gear teeth at their upper ends, said gear teeth having a profile size matching said slots.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202122043864.XU CN215968828U (en) | 2021-08-27 | 2021-08-27 | Under-actuated end tool for kitchen robot to make dishes |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202122043864.XU CN215968828U (en) | 2021-08-27 | 2021-08-27 | Under-actuated end tool for kitchen robot to make dishes |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN215968828U true CN215968828U (en) | 2022-03-08 |
Family
ID=80579773
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202122043864.XU Active CN215968828U (en) | 2021-08-27 | 2021-08-27 | Under-actuated end tool for kitchen robot to make dishes |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN215968828U (en) |
-
2021
- 2021-08-27 CN CN202122043864.XU patent/CN215968828U/en active Active
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN104139396B (en) | A kind of under-driven adaptive manipulator | |
| CN115056252A (en) | Multifunctional grabbing device of industrial robot | |
| CN108214522A (en) | Orthogonal swing slip pipe array adaptive robot arm device | |
| CN215968828U (en) | Under-actuated end tool for kitchen robot to make dishes | |
| CN208215370U (en) | A kind of robotic gripping apparatus | |
| CN110216704B (en) | Parallel robot dexterous hand | |
| CN216180593U (en) | Multifunctional robot paw | |
| CN217097785U (en) | Two-dimensional manipulator and manipulator arm for multi-station machining | |
| CN115946144A (en) | Mechanical arm tail end clamp | |
| CN214446394U (en) | Multi-functional assembly mechanical gripper based on six robots | |
| CN212736057U (en) | Electromagnetic adsorption transfer manipulator | |
| CN211306349U (en) | Clamping jaw device | |
| CN212218516U (en) | A anchor clamps for industrial robot | |
| CN211440054U (en) | Mechanical gripper | |
| CN211967565U (en) | Manipulator snatchs structure | |
| CN217513687U (en) | Retractable mechanical gripper | |
| CN218018505U (en) | Mechanical arm | |
| CN102528818A (en) | Multi-loop coupling connecting rod working device with complex hinge | |
| CN219255599U (en) | Mechanical arm tail end clamp | |
| CN220719378U (en) | Flexible fixture mechanism of industrial robot | |
| CN218965452U (en) | Bionic clamp holder | |
| CN212741517U (en) | Hanging tool for optical coating of rear cover plate of mobile phone | |
| CN209796787U (en) | Mechanical arm | |
| CN218342144U (en) | Manipulator for forging precision gear | |
| CN218052675U (en) | Manipulator for precision finishing |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| TR01 | Transfer of patent right |
Effective date of registration: 20240509 Address after: 255422, No. 65, city street, Qi Zhen Town, Linzi District, Shandong, Zibo Patentee after: Dianke North Electronic Technology (Shandong) Co.,Ltd. Country or region after: China Address before: No.7, 1st floor, building 5, No.108, Beiyuan Road, Chaoyang District, Beijing Patentee before: Beijing Ruying Intelligent Technology Co.,Ltd. Country or region before: China |