Device and method for taking and holding cups through mechanical arm
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A technology of manipulators and cups, applied in the field of robotics, can solve the problems of difficulty in popularization, large floor space, and many batching stations, and achieve the effect of continuous cup taking and cup holding, high degree of automation, and simple principle
Inactive Publication Date: 2020-02-28
GUANGDONG TECHN COLLEGE OF WATER RESOURCES & ELECTRIC ENG
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[0004] However, the robots currently used in the catering and sales industry still have relatively large limitations, such as the above-mentioned two types of robots: the first type of robots (ie delivery robots), in essence, this form of robots is only equivalent to a The human-shaped AGV car can only realize the delivery according to the track navigation, and the function is single, so it is difficult to attract consumers for a long time
The second ty
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[0044] Example 1
[0045] This embodiment is a cup taking and holding cup device with a manipulator, which is applied to a cup-pour type beverage supply robot, such as figure 1 As shown, it is mainly composed of a cup divider 1 and a cup grasping manipulator 2. The specific structure of each component is as follows:
[0046] 1. The structure of the cup divider:
[0047] The cup divider is mainly used for the separation and extraction of disposable paper cups or plastic cups. It can continuously and automatically decompose the nested cups and take them out one by one.
[0048] Such as Figure 2 to Figure 5 As shown, the cup divider is arranged horizontally as a whole, mainly composed of servo motor 1-1, advancing screw 1-2, guide rod 1-3, extraction electric cylinder 1-4, suction cup 1-5, and limit piece 1-6 , Right support plate 1-7, left support plate 1-8, transmission belt 1-9, first pulley 1-10, second pulley 1-11 and connecting rod 1-12. Among them, the servo motor, the advancin...
Example Embodiment
[0059] Example 2
[0060] This embodiment is a method for taking a cup and holding a cup by a manipulator, which is applied to a cup-type beverage supply robot and is implemented by the device described in embodiment 1. The specific process and working principle are as follows figure 1 or Picture 12 As shown, the details are as follows:
[0061] The cup divider is installed in the body of the robot 4 and arranged horizontally. The left support plate is close to the back of the body, and the right support plate is close to the chest of the body. There is a round hole on the chest corresponding to the cup body outlet on the right support plate. The cup grasping manipulator is installed on the arm and wrist of the robot.
[0062] When working, the cup body 3 telescopically formed into a long cylindrical shape is placed in the screw-type cup body separating mechanism. For the nested cup bodies, the lower part of the edge of the cup mouth is in contact with the advancing screw, and bot...
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Abstract
The invention discloses a device and method for taking and holding cups through a mechanical arm. The device comprises a rack, a cup body separation mechanism, a cup body extraction mechanism and thecup grabbing mechanical arm. The cup body separation mechanism and the cup body extraction mechanism are mounted on the rack. Sleeved and stacked cup bodies are transversely placed on the cup body separation mechanism, the extraction end of the cup body extraction mechanism is located on the outer sides of the bottoms of the cup bodies, and clamping claws of the cup grabbing mechanical arm are arranged on the peripheries of the extracted cup bodies. The method comprises the steps that the cup bodies are firstly conveyed through the cup body separation mechanism and are preliminarily separatedthrough screw pitch changes; then the extraction end of the cup body extraction mechanism is utilized for adsorbing the bottoms of the cup bodies to take out the cup bodies; and the cup grabbing mechanical arm is utilized for clamping and fixing the taken-out cup bodies and is converted to the cup holding state. According to the device and method, the principle is simple, the device is flexible touse and stable in running, continuous automatic cup taking and cup holding action can be achieved, the automation degree is high, and the device can be used in cooperation with a pouring type drink supply robot better and can be applied to other occasions or equipment needing cup taking better.
Description
technical field [0001] The invention relates to the technical field of robots, in particular to a device and method for taking and holding cups by a manipulator. Background technique [0002] Beverages are indispensable in catering services. There are various types of beverages, large volumes and wide ranges. It is a very huge market, and all brands and businesses are competing fiercely. Beverage sales are everywhere, including shopping malls, restaurants, casinos and other public places. [0003] Beverage sales are traditionally manual or self-service. With the development of automation technology, sales and supply methods are constantly changing, and unmanned vending machines have appeared. With the popularization and application of robot technology, some businesses in the catering industry will also introduce robot services as a marketing tool, such as using robots to deliver food to Taiwan in restaurants. In addition, there are also manufacturers currently developing u...
Claims
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Application Information
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