WO2023138688A1 - Coffee powder spoon mechanical gripper having cup fork - Google Patents
Coffee powder spoon mechanical gripper having cup fork Download PDFInfo
- Publication number
- WO2023138688A1 WO2023138688A1 PCT/CN2023/073436 CN2023073436W WO2023138688A1 WO 2023138688 A1 WO2023138688 A1 WO 2023138688A1 CN 2023073436 W CN2023073436 W CN 2023073436W WO 2023138688 A1 WO2023138688 A1 WO 2023138688A1
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- WIPO (PCT)
- Prior art keywords
- gripper
- powder spoon
- coffee powder
- connection
- spoon
- Prior art date
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- 239000000843 powder Substances 0.000 title claims abstract description 83
- 238000009434 installation Methods 0.000 claims description 15
- 238000001179 sorption measurement Methods 0.000 abstract description 2
- 238000004519 manufacturing process Methods 0.000 description 4
- 238000000034 method Methods 0.000 description 4
- 238000010586 diagram Methods 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 238000000605 extraction Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/02—Gripping heads and other end effectors servo-actuated
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/06—Gripping heads and other end effectors with vacuum or magnetic holding means
Definitions
- the invention relates to the technical field of coffee automatic production equipment, in particular to a coffee powder spoon mechanical gripper with a cup fork.
- the object of the present invention is to provide a coffee powder spoon mechanical gripper with a cup fork to solve the problems mentioned in the background technology.
- the present invention provides the following technical solutions: a coffee powder spoon mechanical gripper with a cup fork, comprising a mechanical arm powder spoon gripper seat and a coffee powder spoon gripper, the coffee powder spoon gripper can be detachably connected to the mechanical arm powder spoon gripper seat, the mechanical arm powder spoon gripper seat includes a gripper connection seat, the gripper connection seat is connected to the front end of the mechanical arm through a connecting flange, an installation cavity is opened inside the gripper connection seat, an electromagnet is installed inside the installation cavity, and a cup fork is connected below the gripper connection seat;
- the gripper of the coffee powder scoop includes a connection flange of the powder scoop, and a magnetic block is fixed inside the connection flange of the powder scoop.
- the connection flange of the powder scoop is connected to one end of a connection pipe, and the other end of the connection pipe is connected to the coffee powder scoop.
- positioning holes on the connecting seat of the gripper, and there are two positioning holes, which are located at the electric
- a guide sleeve is installed inside the positioning hole
- a guide nail is installed on the magnetic block, and the position and structure of the guide nail correspond to the guide sleeve.
- a mounting groove is formed above the handle connecting seat, and a proximity switch is installed inside the mounting groove.
- the cup fork includes a fork body and a connecting rod, one end of the connecting rod is connected to the handle connecting seat, and the other end is connected to the fork body, the fork body is in an arc-shaped structure, and the fork body and the connecting rod are integrally structured.
- This device is different from the electric, pneumatic and oil pressure grippers used by general mechanical arms, and adopts the principle of electromagnet adsorption.
- the gripper of this connection method has simple structure, reliable function, convenient gripper switching, low cost and few supporting facilities.
- Fig. 1 is the structural representation of the gripper seat of the powder spoon of the mechanical arm of the present invention
- Fig. 2 is the structural representation of the coffee powder scoop handle of the present invention
- Fig. 3 is a working schematic diagram of the present invention.
- a coffee powder spoon mechanical gripper with a cup fork as shown in Figure 1 and Figure 2 includes a mechanical arm powder spoon gripper seat 1 and a coffee powder spoon gripper 2, the coffee powder spoon gripper 2 can be detachably connected to the mechanical arm powder spoon gripper seat 1, the mechanical arm powder spoon gripper seat 1 includes a gripper connecting seat 3, and the gripper connecting seat 3 is connected to the front end of the mechanical arm 5 through a connecting flange 4.
- the coffee powder scoop gripper 2 includes a powder scoop connection flange 9 inside which a magnetic block 10 is fixed, the powder scoop connection flange 9 is connected to one end of a connection pipe 11 , and the other end of the connection pipe 11 is connected to a coffee powder scoop 12 .
- a coffee powder spoon mechanical gripper with a cup fork includes a mechanical arm powder spoon gripper seat 1 and a coffee powder spoon gripper 2.
- the coffee powder spoon gripper 2 can be detachably connected to the mechanical arm powder spoon gripper seat 1.
- the mechanical arm powder spoon gripper seat 1 includes a gripper connection seat 3.
- the gripper connection seat 3 is connected to the front end of the mechanical arm 5 through a connection flange 4.
- An electromagnet 7 is installed inside the installation cavity 6.
- a cup is connected below the gripper connection seat 3. fork 8;
- the coffee powder scoop handle 2 includes a powder scoop connection flange 9, and a magnetic block 10 is fixed inside the powder scoop connection flange 9.
- the powder scoop connection flange 9 is connected to one end of a connecting pipe 11, and the other end of the connecting pipe 11 is connected to a coffee powder scoop 12;
- positioning holes 13 on the handle connection seat 3, and two positioning holes 13 are located on both sides of the electromagnet 7.
- Guide sleeves 14 are installed inside the positioning holes 13, and guide nails 15 are installed on the magnetic block 7. The position and structure of the guide nails 15 correspond to the guide sleeves 14;
- An installation groove 16 is opened above the handle connecting seat 3, and a proximity switch 17 is installed inside the installation groove 16;
- the cup fork 8 includes a fork body 18 and a connecting rod 19, one end of the connecting rod 19 is connected to the handle connecting seat 3, and the other end is connected to the fork body 18, the fork body 18 is an arc structure, and the fork body 18 and the connecting rod 19 are integrally structured.
- the mechanical arm 5 is installed at a designated position according to the needs.
- the mechanical arm 5 drives the powder spoon gripper seat 1 of the robotic arm to reach the gripper box where the coffee powder spoon gripper 2 is placed.
- the proximity switch 17 detects that the distance between the coffee powder spoon gripper 2 and the coffee powder spoon gripper 2 reaches a set value.
- the two guide nails 15 on the coffee powder spoon gripper 2 are embedded in the guide sleeve 14 on the powder spoon gripper seat 1 of the mechanical arm, which can ensure the accuracy of the position of the coffee powder spoon gripper 2 grasped by the powder spoon gripper seat 1 of the mechanical arm.
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Table Equipment (AREA)
Abstract
Disclosed in the present invention is a coffee powder spoon mechanical gripper having a cup fork. The coffee powder spoon mechanical gripper comprises a mechanical arm powder spoon gripper base and a coffee powder spoon gripper, and the coffee powder spoon gripper is separably connected to the mechanical arm powder spoon gripper base. The mechanical arm powder spoon gripper base comprises a gripper connection base, the gripper connection base being connected to the front end of a mechanical arm by means of a connection flange. A mounting cavity is formed in the gripper connection base, and a magnet is installed in the mounting cavity. A cup fork is connected to the lower portion of the gripper connection base. The coffee powder spoon gripper comprises a powder spoon connection flange, a magnetic attraction block being fixed in the powder spoon connection flange, the powder spoon connection flange being connected to one end of a connection pipe, and the other end of the connection pipe being connected to a coffee powder spoon. The present device is different from electric, pneumatic and oil pressure-type grippers adopted by common mechanical arms, and uses the electromagnet adsorption principle. The gripper in this connection mode achieves a simple structure, reliable functions, convenient gripper switching, low cost and few supporting facilities.
Description
本发明涉及咖啡自动化制作设备技术领域，具体涉及一种带杯叉的咖啡粉勺机械抓手。The invention relates to the technical field of coffee automatic production equipment, in particular to a coffee powder spoon mechanical gripper with a cup fork.
随着第四次工业革命深入发展，自动化替代劳动力的趋势正在不断增强，机械手臂的发展和应用越来越多，在运用机械手臂代替人工实现手工咖啡的制作过程中，机械手臂要完成咖啡浓缩液的淬取，需要先到磨豆机上接取咖啡粉，然后到布粉机上对咖啡粉进行均匀布粉，再到压粉机上对咖啡粉进行压紧，最后才到咖啡机处进行咖啡淬取，这些制作过程都需要使用到咖啡粉勺。咖啡粉勺作为制作咖啡的一个关键设备，机械手臂如何准确地抓取咖啡粉勺，并使用它在各个生产环节进行运转，将影响到咖啡成品的品质。且现有的机械手臂和咖啡勺不易分离，不便于咖啡勺的更换。With the in-depth development of the fourth industrial revolution, the trend of automation replacing labor is increasing, and the development and application of robotic arms are increasing. In the process of using robotic arms to replace manual coffee production, the robotic arm needs to pick up the coffee powder from the grinder first, then distribute the coffee powder evenly on the powder distribution machine, then compress the coffee powder on the powder compactor, and finally go to the coffee machine for coffee extraction. These production processes require the use of a coffee powder spoon. The coffee powder spoon is a key equipment for making coffee. How the robotic arm accurately grabs the coffee powder spoon and uses it to operate in various production links will affect the quality of the finished coffee. And the existing mechanical arm and the coffee spoon are not easy to separate, and it is inconvenient to replace the coffee spoon.
发明内容Contents of the invention
本发明的目的在于提供一种带杯叉的咖啡粉勺机械抓手，以解决背景技术中提到的问题。为实现上述目的，本发明提供如下技术方案：一种带杯叉的咖啡粉勺机械抓手，包括机械手臂粉勺抓手座和咖啡粉勺抓手，所述咖啡粉勺抓手可分离连接机械手臂粉勺抓手座，所述机械手臂粉勺抓手座包括抓手连接座，所述抓手连接座通过连接法兰连接机械手臂前端，所述抓手连接座内部开有安装腔，所述安装腔内部安装有电磁铁，所述抓手连接座的下方连接有杯叉；The object of the present invention is to provide a coffee powder spoon mechanical gripper with a cup fork to solve the problems mentioned in the background technology. In order to achieve the above object, the present invention provides the following technical solutions: a coffee powder spoon mechanical gripper with a cup fork, comprising a mechanical arm powder spoon gripper seat and a coffee powder spoon gripper, the coffee powder spoon gripper can be detachably connected to the mechanical arm powder spoon gripper seat, the mechanical arm powder spoon gripper seat includes a gripper connection seat, the gripper connection seat is connected to the front end of the mechanical arm through a connecting flange, an installation cavity is opened inside the gripper connection seat, an electromagnet is installed inside the installation cavity, and a cup fork is connected below the gripper connection seat;
所述咖啡粉勺抓手包括粉勺连接法兰，所述粉勺连接法兰内部固定有磁吸块，所述粉勺连接法兰连接连接管一端，所述连接管的另一端连接咖啡粉勺。The gripper of the coffee powder scoop includes a connection flange of the powder scoop, and a magnetic block is fixed inside the connection flange of the powder scoop. The connection flange of the powder scoop is connected to one end of a connection pipe, and the other end of the connection pipe is connected to the coffee powder scoop.
优选地，所述抓手连接座上开有定位孔，所述定位孔设有两个，位于电
磁铁的两侧，所述定位孔内部安装有导向套，所述磁吸块上安装有导向钉，所述导向钉的位置、结构与导向套对应。Preferably, there are positioning holes on the connecting seat of the gripper, and there are two positioning holes, which are located at the electric On both sides of the magnet, a guide sleeve is installed inside the positioning hole, and a guide nail is installed on the magnetic block, and the position and structure of the guide nail correspond to the guide sleeve.
优选地，所述抓手连接座的上方开有安装槽，所述安装槽内部安装有接近开关。Preferably, a mounting groove is formed above the handle connecting seat, and a proximity switch is installed inside the mounting groove.
优选地，所述杯叉包括叉体和连接杆，所述连接杆的一端连接抓手连接座，另一端连接叉体，所述叉体为弧形结构，所述叉体和连接杆为一体结构。Preferably, the cup fork includes a fork body and a connecting rod, one end of the connecting rod is connected to the handle connecting seat, and the other end is connected to the fork body, the fork body is in an arc-shaped structure, and the fork body and the connecting rod are integrally structured.
本发明的技术效果和优点：本装置不同于一般机械手臂所采用的电动、气动和油压方式的抓手，采用了电磁铁吸附原理，这种连接方式的抓手，具有结构简单，功能可靠，抓手切换方便，成本较低，配套设施少。The technical effects and advantages of the present invention: This device is different from the electric, pneumatic and oil pressure grippers used by general mechanical arms, and adopts the principle of electromagnet adsorption. The gripper of this connection method has simple structure, reliable function, convenient gripper switching, low cost and few supporting facilities.
图1为本发明的机械手臂粉勺抓手座结构示意图；Fig. 1 is the structural representation of the gripper seat of the powder spoon of the mechanical arm of the present invention;
图2为为本发明的咖啡粉勺抓手结构示意图；Fig. 2 is the structural representation of the coffee powder scoop handle of the present invention;
图3为本发明的工作示意图。Fig. 3 is a working schematic diagram of the present invention.
图中：1-机械手臂粉勺抓手座，2-咖啡粉勺抓手，3-抓手连接座，4-连接法兰，5-机械手臂，6-安装腔，7-电磁铁，8-杯叉，9-粉勺连接法兰，10-磁吸块，11-连接管，12-咖啡粉勺，13-定位孔，14-导向套，15-导向钉，16-安装槽，17-接近开关，18-叉体，19-连接杆。In the picture: 1-robotic arm powder spoon grasping handpan, 2-coffee powder spoon grasped, 3-grabbed connecting seats, 4-connecting flange, 5-robotic arm, 6-installation cavity, 7-electromagnet, 8-cup fork, 9-powder spoon connecting flange, 10-magnetic block, 11-connecting tube, 12-coffee powder spoon, 14-guideline nails, 1 1-1-1-1-1-1-1-1-1-1-1-1-1-1-1-1-1-1-1-1-1-1-1-1-1-1-1-1-1-1-1-1-1-1-1-1-1-1-1-1-1- 1 6-Installation groove, 17-close to switch, 18-fork, 19-connecting rods.
为了使本发明的实现技术手段、创作特征、达成目的与功效易于明白了解，下面结合具体图示，进一步阐述本发明，在本发明的描述中，需要说明的是，除非另有明确的规定和限定，术语“安装”、“连”、“连接”应做广义理解，例如，可以是固定连接，也可以是可拆卸连接，或一体地连接或是机械连接，也可以是电连接；可以是直接相连，也可以通过中间媒介间接相连，可以两个元件内部的连通。In order to make the realization of the technical means, creative features, goals and effects of the present invention easy to understand, the present invention will be further elaborated below in conjunction with specific diagrams. In the description of the present invention, it should be noted that unless otherwise specified and limited, the terms "installation", "connection" and "connection" should be understood in a broad sense.
实施例1
Example 1
如图1和图2所示的一种带杯叉的咖啡粉勺机械抓手，包括机械手臂粉勺抓手座1和咖啡粉勺抓手2，所述咖啡粉勺抓手2可分离连接机械手臂粉勺抓手座1，所述机械手臂粉勺抓手座1包括抓手连接座3，所述抓手连接座3通过连接法兰4连接机械手臂5前端，所述抓手连接座3内部开有安装腔6，所述安装腔6内部安装有电磁铁7，所述抓手连接座3的下方连接有杯叉8；A coffee powder spoon mechanical gripper with a cup fork as shown in Figure 1 and Figure 2, includes a mechanical arm powder spoon gripper seat 1 and a coffee powder spoon gripper 2, the coffee powder spoon gripper 2 can be detachably connected to the mechanical arm powder spoon gripper seat 1, the mechanical arm powder spoon gripper seat 1 includes a gripper connecting seat 3, and the gripper connecting seat 3 is connected to the front end of the mechanical arm 5 through a connecting flange 4. There is an installation cavity 6 inside the gripper connecting seat 3, and an electromagnet 7 is installed inside the installation cavity 6, and a cup is connected below the gripper connecting seat 3 fork 8;
所述咖啡粉勺抓手2包括粉勺连接法兰9，所述粉勺连接法兰9内部固定有磁吸块10，所述粉勺连接法兰9连接连接管11一端，所述连接管11的另一端连接咖啡粉勺12。The coffee powder scoop gripper 2 includes a powder scoop connection flange 9 inside which a magnetic block 10 is fixed, the powder scoop connection flange 9 is connected to one end of a connection pipe 11 , and the other end of the connection pipe 11 is connected to a coffee powder scoop 12 .
实施例2Example 2
如图1和图2所示的一种带杯叉的咖啡粉勺机械抓手，包括机械手臂粉勺抓手座1和咖啡粉勺抓手2，所述咖啡粉勺抓手2可分离连接机械手臂粉勺抓手座1，所述机械手臂粉勺抓手座1包括抓手连接座3，所述抓手连接座3通过连接法兰4连接机械手臂5前端，所述抓手连接座3内部开有安装腔6，所述安装腔6内部安装有电磁铁7，所述抓手连接座3的下方连接有杯叉8；As shown in Figure 1 and Figure 2, a coffee powder spoon mechanical gripper with a cup fork includes a mechanical arm powder spoon gripper seat 1 and a coffee powder spoon gripper 2. The coffee powder spoon gripper 2 can be detachably connected to the mechanical arm powder spoon gripper seat 1. The mechanical arm powder spoon gripper seat 1 includes a gripper connection seat 3. The gripper connection seat 3 is connected to the front end of the mechanical arm 5 through a connection flange 4. There is an installation cavity 6 inside the gripper connection seat 3. An electromagnet 7 is installed inside the installation cavity 6. A cup is connected below the gripper connection seat 3. fork 8;
所述咖啡粉勺抓手2包括粉勺连接法兰9，所述粉勺连接法兰9内部固定有磁吸块10，所述粉勺连接法兰9连接连接管11一端，所述连接管11的另一端连接咖啡粉勺12；The coffee powder scoop handle 2 includes a powder scoop connection flange 9, and a magnetic block 10 is fixed inside the powder scoop connection flange 9. The powder scoop connection flange 9 is connected to one end of a connecting pipe 11, and the other end of the connecting pipe 11 is connected to a coffee powder scoop 12;
所述抓手连接座3上开有定位孔13，所述定位孔13设有两个，位于电磁铁7的两侧，所述定位孔13内部安装有导向套14，所述磁吸块7上安装有导向钉15，所述导向钉15的位置、结构与导向套14对应；There are positioning holes 13 on the handle connection seat 3, and two positioning holes 13 are located on both sides of the electromagnet 7. Guide sleeves 14 are installed inside the positioning holes 13, and guide nails 15 are installed on the magnetic block 7. The position and structure of the guide nails 15 correspond to the guide sleeves 14;
所述抓手连接座3的上方开有安装槽16，所述安装槽16内部安装有接近开关17；An installation groove 16 is opened above the handle connecting seat 3, and a proximity switch 17 is installed inside the installation groove 16;
所述杯叉8包括叉体18和连接杆19，所述连接杆19的一端连接抓手连接座3，另一端连接叉体18，所述叉体18为弧形结构，所述叉体18和连接杆19为一体结构。
The cup fork 8 includes a fork body 18 and a connecting rod 19, one end of the connecting rod 19 is connected to the handle connecting seat 3, and the other end is connected to the fork body 18, the fork body 18 is an arc structure, and the fork body 18 and the connecting rod 19 are integrally structured.
本发明工艺流程和工作原理为：如图3所示，根据需要将机械手臂5安装于指定位置，当机械手臂5需要使用该装置时，机械手臂5带动机械手臂粉勺抓手座1到达放置咖啡粉勺抓手2的抓手盒前，接近开关17检测与咖啡粉勺抓手2之间的距离到达设定值，机械手臂粉勺抓手座1上安装的电磁铁7电源导通，使电磁铁7具有磁能，将咖啡粉勺抓手2上的磁吸块10牢牢吸住，同时咖啡粉勺抓手2上的两个导向钉15嵌入机械手臂粉勺抓手座1上的导向套14内部，可保证机械手臂粉勺抓手座1抓取咖啡粉勺抓手2位置的准确，当不需要使用咖啡粉勺时，断开电磁铁7的电源，就可断开咖啡粉勺抓手2和机械手臂粉勺抓手座1的连接，机械手臂粉勺抓手座1可以通过杯叉8抓取咖啡杯进行后续操作。The process flow and working principle of the present invention are as follows: as shown in Figure 3, the mechanical arm 5 is installed at a designated position according to the needs. When the mechanical arm 5 needs to use the device, the mechanical arm 5 drives the powder spoon gripper seat 1 of the robotic arm to reach the gripper box where the coffee powder spoon gripper 2 is placed. The proximity switch 17 detects that the distance between the coffee powder spoon gripper 2 and the coffee powder spoon gripper 2 reaches a set value. At the same time, the two guide nails 15 on the coffee powder spoon gripper 2 are embedded in the guide sleeve 14 on the powder spoon gripper seat 1 of the mechanical arm, which can ensure the accuracy of the position of the coffee powder spoon gripper 2 grasped by the powder spoon gripper seat 1 of the mechanical arm.
最后应说明的是：以上所述仅为本发明的优选实施例而已，并不用于限制本发明，尽管参照前述实施例对本发明进行了详细的说明，对于本领域的技术人员来说，其依然可以对前述各实施例所记载的技术方案进行修改，或者对其中部分技术特征进行等同替换，凡在本发明的精神和原则之内，所作的任何修改、等同替换、改进等，均应包含在本发明的保护范围之内。
Finally, it should be noted that the above is only a preferred embodiment of the present invention, and is not intended to limit the present invention. Although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art can still modify the technical solutions described in the foregoing embodiments, or perform equivalent replacements to some of the technical features. Within the spirit and principles of the present invention, any modifications, equivalent replacements, improvements, etc., should be included within the scope of protection of the present invention.
Claims (4)
- 一种带杯叉的咖啡粉勺机械抓手，包括机械手臂粉勺抓手座和咖啡粉勺抓手，其特征在于：所述咖啡粉勺抓手可分离连接机械手臂粉勺抓手座，所述机械手臂粉勺抓手座包括抓手连接座，所述抓手连接座通过连接法兰连接机械手臂前端，所述抓手连接座内部开有安装腔，所述安装腔内部安装有电磁铁，所述抓手连接座的下方连接有杯叉；A coffee powder spoon mechanical gripper with a cup fork, comprising a mechanical arm powder spoon gripper seat and a coffee powder spoon gripper, characterized in that: the coffee powder spoon gripper can be detachably connected to the mechanical arm powder spoon gripper seat, the mechanical arm powder spoon gripper seat includes a gripper connection seat, the gripper connection seat is connected to the front end of the mechanical arm through a connecting flange, an installation cavity is opened inside the gripper connection seat, an electromagnet is installed inside the installation cavity, and a cup fork is connected below the gripper connection seat;所述咖啡粉勺抓手包括粉勺连接法兰，所述粉勺连接法兰内部固定有磁吸块，所述粉勺连接法兰连接连接管一端，所述连接管的另一端连接咖啡粉勺。The gripper of the coffee powder scoop includes a connection flange of the powder scoop, and a magnetic block is fixed inside the connection flange of the powder scoop. The connection flange of the powder scoop is connected to one end of a connection pipe, and the other end of the connection pipe is connected to the coffee powder scoop.
- 根据权利要求1所述的一种带杯叉的咖啡粉勺机械抓手，其特征在于：所述抓手连接座上开有定位孔，所述定位孔设有两个，位于电磁铁的两侧，所述定位孔内部安装有导向套，所述磁吸块上安装有导向钉，所述导向钉的位置、结构与导向套对应。A mechanical gripper for coffee powder and spoon with a cup fork according to claim 1, characterized in that: said gripper connecting seat is provided with positioning holes, said positioning holes are provided with two, located on both sides of the electromagnet, said positioning holes are equipped with guide sleeves, said magnetic block is equipped with guide nails, and the position and structure of said guide nails correspond to the guide sleeves.
- 根据权利要求1所述的一种带杯叉的咖啡粉勺机械抓手，其特征在于：所述抓手连接座的上方开有安装槽，所述安装槽内部安装有接近开关。The mechanical gripper for coffee powder and spoon with a cup fork according to claim 1, characterized in that: an installation groove is opened above the gripper connecting seat, and a proximity switch is installed inside the installation groove.
- 根据权利要求1所述的一种带杯叉的咖啡粉勺机械抓手，其特征在于：所述杯叉包括叉体和连接杆，所述连接杆的一端连接抓手连接座，另一端连接叉体，所述叉体为弧形结构，所述叉体和连接杆为一体结构。 A mechanical gripper for coffee powder and spoon with a cup fork according to claim 1, characterized in that: the cup fork includes a fork body and a connecting rod, one end of the connecting rod is connected to the handle connecting seat, and the other end is connected to the fork body, the fork body is an arc-shaped structure, and the fork body and the connecting rod are integrally structured.
Applications Claiming Priority (4)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202220159430.8 | 2022-01-21 | ||
| CN202220159430.8U CN216884023U (en) | 2022-01-21 | 2022-01-21 | Mechanical gripper with cup fork for coffee powder spoon |
| CN202210069103.8 | 2022-01-21 | ||
| CN202210069103.8A CN114378856A (en) | 2022-01-21 | 2022-01-21 | Mechanical gripper with cup fork for coffee powder spoon |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| WO2023138688A1 true WO2023138688A1 (en) | 2023-07-27 |
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ID=87347893
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| PCT/CN2023/073436 WO2023138688A1 (en) | 2022-01-21 | 2023-01-20 | Coffee powder spoon mechanical gripper having cup fork |
Country Status (1)
| Country | Link |
|---|---|
| WO (1) | WO2023138688A1 (en) |
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| CN114378856A (en) * | 2022-01-21 | 2022-04-22 | 武山(上海)餐饮有限公司 | Mechanical gripper with cup fork for coffee powder spoon |
| CN216884023U (en) * | 2022-01-21 | 2022-07-05 | 武山(上海)餐饮有限公司 | Mechanical gripper with cup fork for coffee powder spoon |
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2023
- 2023-01-20 WO PCT/CN2023/073436 patent/WO2023138688A1/en active Application Filing
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP0561308A1 (en) * | 1992-03-17 | 1993-09-22 | Graphic Management Associates, Inc. | Device with a traveling conveyor and grippers |
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