Clamping jaw for automatic catering device and clamping method of clamping jaw

A gripper and catering technology, which is applied in chucks, manipulators, program-controlled manipulators, etc., can solve the problems of complex gripper structure, cumbersome maintenance process, and inability to judge the completion of the gripping action, and achieve low production cost and high gripper quality. Simple structure and easy maintenance

Pending Publication Date: 2020-01-31
比率机器人科技(北京)有限公司
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

For this reason, the purpose of the present invention is to solve the problems of complex structure of the existing jaws, cumbersome maintenance process and inability to judge the completion of the gripping action.

Method used

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  • Clamping jaw for automatic catering device and clamping method of clamping jaw
  • Clamping jaw for automatic catering device and clamping method of clamping jaw
  • Clamping jaw for automatic catering device and clamping method of clamping jaw

Examples

Experimental program
Comparison scheme
Effect test

Embodiment 1

[0029] See attached Figure 1-3 , a gripper for an automatic catering device, comprising: a gripper 311 for gripping items, a mechanical arm 313 for controlling the gripper 311, and a gripper fixture for connecting the gripper 311 and the robotic arm 313 312, wherein the gripper 311 includes: a gripper finger 3111 for gripping an article and a sensor 314 arranged at the junction of the gripper finger 3111 and the gripper fixture 312, the sensor 314 is used to detect whether the gripper finger 3111 will grip The object is clamped in place.

[0030] Preferably, the side of the gripper finger 3111 close to the object to be picked is arranged in an arc shape, and the side connected to the gripper fixture 312 is provided with a connection surface 3113 . By setting the side of the gripper finger 3111 close to the gripping object to be arc-shaped, the design of the cup body in the prior art can be better targeted to facilitate the gripping of the cup body; The connection surface 31...

Embodiment 2

[0044] refer to figure 1 and Figure 4 The difference from Embodiment 1 is that the mechanical arm 313 includes: a rotating arm 3131 fixed at any position, a connecting arm 3132 / 3133 connected to the rotating arm 3131, and an end of the connecting arm 3132 / 3133 away from the rotating arm 3131 The clamping control arm 3134 of the clamping jaw fixture 312 is connected to the clamping control arm 3134 .

[0045] Preferably, the rotating arm 3131 is arranged on the base 3130, and the base 3130 can be fixed at any position, and a horizontal rotating member 3135 is provided between the rotating arm 3131 and the base 3130, so that the rotating arm can move in the horizontal direction To rotate, the end of the rotating arm 3131 away from the base 3130 is used to connect with the connecting arm.

[0046] Further preferably, a connecting arm rotating member 3136 is provided at the joint between the rotating arm 3131 and the connecting arm, and the connecting arm rotating member 3136 c...

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PUM

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Abstract

The invention provides a clamping jaw for an automatic catering device. The clamping jaw comprises a clamping jaw body, a mechanical arm and a clamping jaw fixing part. The clamping jaw body comprisesa clamping jaw finger and a sensor. The sensor is used for detecting whether the clamping jaw finger clamps a clamped object in place or not. According to the clamping jaw for the automatic cateringdevice, the clamping jaw can be flexibly controlled to flexibly move through the mechanical arm, and the clamping jaw can stably and precisely clamp the object in the moving process; and the clampingjaw is simple in structure, low in manufacturing cost and convenient to maintain.

Description

technical field [0001] The invention relates to the field of beverage automation, in particular to a gripper for an automatic catering device and a gripping method thereof. Background technique [0002] Catering places such as bars, cafes or restaurants can usually provide catering services for customers. With the continuous development of science and technology, even the aforementioned traditional catering places have gradually realized automation to reduce the use of human labor. These automated catering devices are service robot category. Catering services need to use a large number of containers, these containers are used to hold food or beverages, and these containers were previously operated manually, and in the prior art, manipulators are also used to operate, and manipulators are used to operate The labor cost can be reduced, but the existing manipulators (jaws) still have relatively large defects in the scope of work and the flexibility of work. [0003] For examp...

Claims

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Application Information

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IPC IPC(8): B25J15/08B25J9/02B25J11/00B25J19/02
CPCB25J9/02B25J11/008B25J15/08B25J19/02
Inventor王紫彤
Owner比率机器人科技(北京)有限公司