A feeding machine

Abstract

This application discloses a feeding machine, which includes a spoon, a robotic arm, and a clamping structure. The spoon is used to pick up food and includes a spoon handle extending along a preset direction and a spoon body disposed on one side of the spoon handle along the preset direction. The robotic arm has a circular mounting groove, the opening of which extends outward to form multiple notches. The clamping structure includes a clamping component and multiple positioning flanges. All positioning flanges are disposed on the periphery of the clamping component, and each positioning flange corresponds to a notch. The positioning flanges extend into the circular mounting groove through the notches. The clamping component drives the positioning flanges to rotate relative to the robotic arm by a preset angle, thereby clamping the positioning flanges between the groove walls of the circular mounting groove. The clamping component can clamp spoon handles with different cross-sectional shapes perpendicular to the preset direction. Users can clamp and fix the spoons they need to use onto the corresponding clamping component as needed, thereby effectively enhancing the applicability of the feeding machine.

Description

Technical Field

[0001] This application relates to the field of complementary food equipment technology, and more particularly to a feeding machine. Background Technology

[0002] In the related technology, the feeding machine with patent number CN211030016U includes a base 60, a robotic arm 40, a lunch box 10 and a lunch box lid 20. The robotic arm 40 is used to hold the feeding utensils 50, the lunch box 10 is used to hold food, and the lunch box lid 20 is used to position the lunch box 10 on the base 60.

[0003] The robotic arm 40 has mounting holes into which the feeding utensils 50 are directly inserted to achieve a relatively fixed position between them and the robotic arm 40. Since the shape and size of the mounting holes on the robotic arm 40 are pre-designed, these holes can only be used to install the single feeding utensils 50 provided. If the feeding utensils 50 are accidentally damaged or lost, the user will be unable to use the feeding machine, causing inconvenience. Summary of the Invention

[0004] This application provides a feeding machine that can solve the problem of inconvenience to users caused by the fact that robotic arms can only be used to install a single set of matching feeding utensils in related technologies.

[0005] In a first aspect, embodiments of this application provide a feeding machine; the feeding machine includes a spoon, a robotic arm, and a clamping structure; the spoon is used to pick up food, and the spoon includes a spoon handle extending along a preset direction and a spoon body disposed on one side of the spoon handle along the preset direction; the robotic arm is provided with a circular mounting groove, and the opening of the circular mounting groove extends outward to form multiple notches; the clamping structure includes a clamping component and multiple positioning flanges, all positioning flanges are disposed on the periphery of the clamping component, the positioning flanges correspond one-to-one with the notches, the positioning flanges extend into the circular mounting groove through the notches, and the clamping component drives the positioning flanges to rotate relative to the robotic arm by a preset angle so that the positioning flanges are clamped between the groove walls of the circular mounting groove; the clamping component can clamp spoon handles with different cross-sectional shapes along a preset direction.

[0006] Based on the embodiments of this application, the entire clamping structure is positioned within the mounting groove of the robotic arm by rotation. The clamping force of the groove wall on the positioning flange ensures that the relative position between the entire clamping structure and the robotic arm is fixed after the clamping assembly drives the positioning flange to rotate relative to the robotic arm by a preset angle. The clamping assembly can clamp spoon handles with different cross-sectional shapes along a preset direction. Users can clamp and fix the spoons they need to use onto the corresponding clamping assembly as needed, thereby effectively enhancing the applicability of the feeding machine and providing convenience for users' lives.

[0007] In some embodiments, the clamping assembly includes a main body and multiple clamping units. The main body has a circular positioning groove on one side facing away from the plane of the circular mounting groove, and all positioning flanges are disposed on the periphery of the main body. Multiple clamping units are disposed on the main body around the circumference of the circular positioning groove. All clamping units are adapted to generate elastic deformation in the radial direction along the circular positioning groove to clamp the spoon handle between all clamping units.

[0008] Based on the above embodiments, when the spoon handle is located between all the clamping units, all the clamping units generate elastic deformation in the radial direction along the circular positioning groove. Under the action of the elastic force corresponding to the elastic deformation generated by the clamping units, the spoon handle is clamped and fixed between all the clamping units, thereby realizing the relative fixation of the position between the spoon handle and the clamping structure, and thus realizing the relative fixation of the position between the entire spoon and the robotic arm.

[0009] In some embodiments, the sidewall of the circular positioning groove is provided with a plurality of sliding grooves extending radially along the circular positioning groove, and each clamping unit is slidably connected to one sliding groove; the clamping unit includes a slider, a spring and a clamping block; the slider is partially located inside the sliding groove and is slidably connected to the sliding groove; the first end of the spring is fixedly connected to the slider, and the second end of the spring is fixedly connected to the bottom wall of the sliding groove; the clamping block is located outside the sliding groove and is fixedly connected to the side of the slider away from the bottom wall of the sliding groove.

[0010] Based on the above embodiments, the slide extends radially along the circular positioning groove, and the slider is slidably connected to the slide, so that the slider can move radially relative to the main body along the circular positioning groove. When the spoon handle is clamped between all the clamping blocks, the spoon handle pushes the clamping blocks, causing the slider to move relative to the main body toward the bottom of the slide. At this time, the slider movement compresses the spring connected to it, causing the spring to compress radially along the circular positioning groove. Under the action of the elastic force corresponding to the elastic deformation generated by the spring, the spoon handle is clamped and fixed between all the clamping blocks, realizing the relative fixation of the position between the spoon handle and the clamping structure, thereby realizing the relative fixation of the position between the entire spoon and the robotic arm.

[0011] In some embodiments, the slider has a groove on the side facing the bottom wall of the groove, a portion of the spring is located in the groove, and the first end of the spring is fixedly connected to the bottom wall of the groove.

[0012] Based on the above embodiments, by opening a groove on the side of the slider facing the bottom wall of the groove, and accommodating part of the spring in the groove, the size of the clamping unit along the radial direction of the circular positioning groove can be effectively reduced, thereby achieving the purpose of reducing the overall volume of the clamping structure.

[0013] In some embodiments, the surface of the clamping block facing away from the bottom wall of the groove is a curved surface adapted to the outer surface of the spoon handle; and / or, the clamping block is made of one of rubber, silicone, and resin.

[0014] Based on the above embodiments, by designing the surface of the clamping block facing away from the bottom wall of the slide groove as a curved surface adapted to the outer surface of the spoon handle, when the spoon handle is clamped between all the clamping blocks, the surface of the clamping block facing away from the bottom wall of the slide groove can completely fit with the outer surface of the spoon handle. This effectively increases the contact area between the clamping block and the spoon handle, thereby enhancing the connection stability between the spoon handle and the clamping block, and thus effectively enhancing the connection stability between the spoon and the robotic arm. By designing the clamping block to be made of rubber, silicone, or resin, when the spoon handle is clamped between all the clamping blocks, the static friction between the outer surface of the spoon handle and the clamping block can be effectively increased, thereby enhancing the connection stability between the spoon handle and the clamping block, and thus effectively enhancing the connection stability between the spoon and the robotic arm.

[0015] In some embodiments, when the spoon handle is rectangular along a cross section perpendicular to a preset direction, there are two sets of clamping units, and the two sets of clamping units are radially distributed along a circular positioning groove.

[0016] Based on the above embodiments, by designing the two sets of clamping units to be radially distributed along the circular positioning groove, when the spoon handle with a rectangular cross-section is clamped between the two sets of clamping units, the two sets of clamping units can clamp and fix the spoon handle from one of the opposite sides of the spoon handle, thereby enhancing the connection stability between the spoon handle and the clamping block, and thus effectively enhancing the connection stability between the spoon and the robotic arm.

[0017] In some embodiments, the opening of the circular positioning groove extends outward to form two snap-fit ​​grooves, which are radially distributed along the circular positioning groove, and the first line connecting the two snap-fit ​​grooves is perpendicular to the second line connecting the two clamping units.

[0018] Based on the above embodiments, by designing the two snap-fit ​​slots to be radially distributed along the positioning slot, when the spoon handle is clamped between the two sets of clamping units, the two snap-fit ​​slots can snap and fix the spoon handle from the other opposite sides of the spoon handle, so as to cooperate with the two sets of clamping units to clamp and fix one of the opposite sides of the spoon handle, thereby further enhancing the connection stability between the spoon handle and the clamping block, and thus further effectively enhancing the connection stability between the spoon and the robotic arm.

[0019] In some embodiments, when the spoon handle is circular along a cross section perpendicular to a preset direction, the number of clamping units is three, and the three clamping units are evenly distributed along the circumference of the circular positioning groove.

[0020] Based on the above embodiments, by designing the three sets of clamping units to be equally spaced along the circumference of the circular positioning groove, when the spoon handle with a circular cross-section is clamped between the three sets of clamping units, the three sets of clamping units can clamp and fix the spoon handle from the circumference of the spoon handle, thereby enhancing the connection stability between the spoon handle and the clamping block, and thus effectively enhancing the connection stability between the spoon and the robotic arm.

[0021] In some embodiments, the feeding machine further includes a limiting structure disposed on the groove wall of the positioning flange and the circular mounting groove, the limiting structure being used to restrict the circumferential movement of the positioning flange relative to the robotic arm around the circular mounting groove.

[0022] Based on the above embodiments, by designing a limiting structure, the limiting structure can restrict the circumferential movement of the positioning flange relative to the robotic arm around the mounting groove, thereby restricting the circumferential movement of the clamping component connected to the positioning flange relative to the robotic arm around the mounting groove, so as to effectively enhance the connection stability between the clamping structure and the robotic arm.

[0023] In some embodiments, the limiting structure includes a limiting protrusion and a limiting groove. The limiting protrusion is disposed on one of the positioning flange and the groove wall of the circular mounting groove, and the limiting groove is disposed on the other of the groove wall of the positioning flange and the circular mounting groove. The limiting protrusion and the limiting groove are engaged and connected.

[0024] Based on the above embodiments, by designing a limiting protrusion and a limiting groove, the limiting protrusion engages with the limiting groove, so that the groove wall of the limiting groove restricts the limiting protrusion, thereby effectively limiting the circumferential movement of the mounting structure relative to the robotic arm around the circular mounting groove, and enhancing the connection stability between the mounting structure and the robotic arm. Attached Figure Description

[0025] To more clearly illustrate the technical solutions in the embodiments of this application or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0026] Figure 1 This is a schematic diagram of the structure of a feeding machine according to one embodiment of this application;

[0027] Figure 2 This is a schematic diagram of a clamping structure mounted on a robotic arm in one embodiment of this application.

[0028] Figure 3 This is a schematic diagram of the clamping structure mounted on a robotic arm in another embodiment of this application.

[0029] Figure 4This is a schematic diagram of the clamping structure in one embodiment of this application;

[0030] Figure 5 This is a schematic diagram of the clamping structure in another embodiment of this application;

[0031] Figure 6 This is a partial cross-sectional schematic diagram of a clamping unit in one embodiment of this application;

[0032] Figure 7 This is a partial cross-sectional schematic diagram of the clamping unit in another embodiment of this application;

[0033] Figure 8 This is a partial cross-sectional schematic diagram of a rectangular spoon handle being held in a clamping structure in one embodiment of this application.

[0034] Figure 9 This is a partial cross-sectional schematic diagram of a spoon handle with a circular cross-section held in a clamping structure in one embodiment of this application.

[0035] Reference numerals: 1. Feeding machine; 10. Spoon; 11. Spoon handle; 12. Spoon body; 20. Robotic arm; 21. Circular mounting groove; 22. Notch; 30. Clamping structure; 31. Clamping assembly; 311. Main body; 3111. Circular positioning groove; 3112. Slide groove; 3113. Snap-fit ​​groove; 312. Clamping unit; 3121. Slider; 31211. Groove; 3122. Spring; 3123. Clamping block; 32. Positioning flange; 40. Limiting structure; 41. Limiting protrusion; 50. Base. Detailed Implementation

[0036] To make the objectives, technical solutions, and advantages of this application clearer, the following detailed description is provided in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative and not intended to limit the scope of this application.

[0037] Please refer to Figures 1-3 As shown, the first aspect of this application proposes a feeding machine 1, which allows users to use different spoons 10 as needed, effectively enhancing the applicability of the feeding machine 1 and providing convenience for users' lives.

[0038] The feeding machine 1 includes a spoon 10, a robotic arm 20, and a clamping structure 30. The spoon 10 is used to pick up food. The spoon 10 includes a spoon handle 11 extending in a preset direction and a spoon body 12 disposed on one side of the spoon handle 11 in a preset direction. The robotic arm 20 is provided with a circular mounting groove 21. The opening of the circular mounting groove 21 extends outward to form multiple notches 22. The clamping structure 30 includes a clamping component 31 and multiple positioning flanges 32. All positioning flanges 32 are disposed on the periphery of the clamping component 31. The positioning flanges 32 correspond one-to-one with the notches 22. The positioning flanges 32 extend into the circular mounting groove 21 through the notches 22. The clamping component 31 drives the positioning flanges 32 to rotate relative to the robotic arm 20 by a preset angle so that the positioning flanges 32 are clamped between the groove walls of the circular mounting groove 21. The clamping component 31 can clamp spoon handles 11 with different cross-sectional shapes perpendicular to the preset direction.

[0039] The following combination Figures 1-9 The specific structure of the feeding machine 1 will be described in detail.

[0040] like Figures 1-3 As shown, the feeding machine 1 includes a spoon 10, a robotic arm 20, and a clamping structure 30.

[0041] The spoon 10 serves as the feeding utensil for the feeding machine 1, used to pick up food. The specific material of the spoon 10 is not limited here; designers can choose according to actual needs. For example, the material of the spoon 10 can be, but is not limited to, stainless steel, plastic, silicone, or wood.

[0042] The spoon 10 includes a spoon handle 11 and a spoon body 12. The spoon handle 11 extends in a preset direction, that is, the spoon handle 11 is a long strip structure extending in a preset direction. The spoon body 12 is disposed on one side of the spoon handle 11 in a preset direction. The spoon body 12 can be, but is not limited to, forming an integral structure with the spoon handle 11 by injection molding or 3D molding.

[0043] The robotic arm 20 serves as the power source for the feeding machine 1, driving the spoon 10 to move. The robotic arm 20 has multiple degrees of freedom in multiple directions. According to the user's needs, the robotic arm 20 moves along a preset path through relevant program design to accurately deliver the food taken from the plate of the feeding machine 1 by the spoon 10 to the user's mouth.

[0044] like Figures 1-3 As shown, the clamping structure 30 is a structural component in the feeding machine 1 used to clamp the spoon 10 and position the spoon 10 on the robotic arm 20.

[0045] The clamping structure 30 includes a clamping component 31 and multiple positioning flanges 32. All positioning flanges 32 are located on the periphery of the clamping component 31, and each positioning flange 32 corresponds to a notch 22. The positioning flanges 32 extend into the circular mounting groove 21 through the notches 22. The clamping component 31 rotates the positioning flanges 32 relative to the robotic arm 20 by a preset angle, clamping the positioning flanges 32 between the groove walls of the circular mounting groove 21. In other words, the entire clamping structure 30 is positioned within the mounting groove of the robotic arm 20 by rotation, and the clamping force of the groove walls on the positioning flanges 32 ensures that the relative position between the entire clamping structure 30 and the robotic arm 20 remains fixed after the clamping component 31 rotates the positioning flanges 32 relative to the robotic arm 20 by a preset angle.

[0046] The clamping component 31 can clamp spoon handles 11 with different cross-sectional shapes along a preset direction. The specific form of the clamping component 31 will be described in detail below. It should be noted that the feeding machine 1 includes multiple spoons 10, and the spoon handles 11 of all spoons 10 have different cross-sectional shapes along a preset direction. The feeding machine 1 also includes multiple clamping structures 30. Each spoon 10 is equipped with at least one clamping structure 30 that matches the cross-sectional shape of its spoon handle 11, so that the user can select the appropriate clamping structure 30 according to the spoon 10 to be used, and position the spoon 10 on the robotic arm 20 through the clamping structure 30.

[0047] The feeding machine 1 may also include a base 50, which serves as the foundation for the feeding machine 1. Other components of the feeding machine 1, such as circuit boards and batteries, can be installed within the base 50. The specific shape of the base 50 is not limited here; designers can design it appropriately according to actual needs. Similarly, the base 50 should be made of a material with good rigidity and strength so that when components such as the robotic arm 20 are supported on the base 50, the base 50 is not prone to failure (such as deformation or breakage). The specific material used to manufacture the base 50 is also not limited here; designers can choose appropriately according to actual needs.

[0048] The robotic arm 20 is connected to the base 50. For example, the fixed end of the robotic arm 20 can be fixedly connected to the base 50 by tightening screws.

[0049] Based on the feeding machine 1 in this embodiment, the entire clamping structure 30 is positioned in the mounting groove of the robotic arm 20 by rotation. The clamping force of the groove wall on the positioning flange 32 ensures that the relative position between the entire clamping structure 30 and the robotic arm 20 is fixed after the clamping component 31 drives the positioning flange 32 to rotate relative to the robotic arm 20 by a preset angle. The clamping component 31 can clamp spoon handles 11 with different cross-sectional shapes along a preset direction. Users can clamp and fix the spoons 10 they need to use on the corresponding clamping component 31 as needed, thereby effectively enhancing the applicability of the feeding machine 1 and providing convenience for users' lives.

[0050] Furthermore, considering that the gripping component 31 can connect with the robotic arm 20 on the one hand, and grip the spoon handle 11 on the other hand, thereby fixing the relative position between the spoon 10 and the robotic arm 20, in order to enable the gripping component 31 to have the corresponding functions, it is designed as follows: Figures 4-5 As shown, in some embodiments, the clamping assembly 31 includes a main body 311 and clamping units 312; the main body 311 has a circular positioning groove 3111 on one side of the plane opposite to the opening of the circular mounting groove 21, and all positioning flanges 32 are disposed on the periphery of the main body 311; the number of clamping units 312 is multiple (two or more), and multiple sets of clamping units 312 are disposed on the main body 311 around the circumference of the circular positioning groove 3111. All clamping units 312 are adapted to generate elastic deformation in the radial direction along the circular positioning groove 3111 to clamp the spoon handle 11 between all clamping units 312. In other words, when the spoon handle 11 is located between all the clamping units 312, all the clamping units 312 generate elastic deformation in the radial direction along the circular positioning groove 3111. Under the action of the elastic force corresponding to the elastic deformation generated by the clamping unit 312, the spoon handle 11 is clamped and fixed between all the clamping units 312, thereby achieving relative fixation of the position between the spoon handle 11 and the clamping structure 30, and thus achieving relative fixation of the position between the entire spoon 10 and the robotic arm 20.

[0051] Furthermore, considering that the clamping unit 312 is suitable for generating elastic deformation in the radial direction along the circular positioning groove 3111 to clamp and fix the spoon handle 11 between all the clamping units 312, in order to enable the clamping unit 312 to have the corresponding function, it is designed as follows: Figures 6-7As shown, in some embodiments, the sidewall of the circular positioning groove 3111 is provided with a plurality of sliding grooves 3112 extending radially along the circular positioning groove 3111, and each clamping unit 312 is slidably connected to one sliding groove 3112. The clamping unit 312 includes a slider 3121, a spring 3122, and a clamping block 3123; a portion of the slider 3121 is located inside the sliding groove 3112 and is slidably connected to the sliding groove 3112; the first end of the spring 3122 is fixedly connected to the slider 3121, and the second end of the spring 3122 is fixedly connected to the bottom wall of the sliding groove 3112; the clamping block 3123 is located outside the sliding groove 3112, and the clamping block 3123 is fixedly connected to the side of the slider 3121 opposite to the bottom wall of the sliding groove 3112. The slide groove 3112 extends radially along the circular positioning groove 3111, and the slider 3121 is slidably connected to the slide groove 3112, so that the slider 3121 can move radially relative to the main body 311 along the circular positioning groove 3111. When the spoon handle 11 is clamped between all the clamping blocks 3123, the spoon handle 11 pushes the clamping blocks 3123, causing the slider 3121 to move relative to the main body 311 toward the bottom of the slide groove 3112. At this time, the slider 3121 moves to compress the spring 3122 connected to it, so that the spring 3122 is compressed radially along the circular positioning groove 3111. Under the action of the elastic force corresponding to the elastic deformation generated by the spring 3122, the spoon handle 11 is clamped and fixed between all the clamping blocks 3123, realizing the relative fixation of the position between the spoon handle 11 and the clamping structure 30, thereby realizing the relative fixation of the position between the entire spoon 10 and the robotic arm 20.

[0052] It should be noted that when the spoon handle 11 is not clamped between all the clamping blocks 3123, all the clamping blocks 3123 abut against each other and the spring 3122 is in a compressed state. This design can further enhance the stability of the spoon handle 11 clamped between all the clamping blocks 3123.

[0053] Furthermore, considering that the spoon 10 is mounted on the head of the robotic arm 20 via the clamping structure 30, and the feeding machine 1 also includes a camera module, in order to facilitate the camera module acquiring positional information of the user, such as the mouth, it is usually mounted on the head of the robotic arm 20. To reduce the space occupied by the clamping structure 30 on the robotic arm 20 and to provide sufficient installation space for components such as the camera module in the feeding machine 1, the design is as follows: Figures 6-7As shown, in some embodiments, a groove 31211 is provided on the side of the slider 3121 facing the bottom wall of the groove 3112, and a portion of the spring 3122 is located in the groove 31211, with one end of the spring 3122 fixedly connected to the bottom wall of the groove 31211. In this design, by providing a groove 31211 on the side of the slider 3121 facing the bottom wall of the groove 3112, and accommodating a portion of the spring 3122 within the groove 31211, the radial dimension of the clamping unit 312 along the circular positioning groove 3111 can be effectively reduced, thereby achieving the purpose of reducing the overall volume of the clamping structure 30.

[0054] Furthermore, such as Figures 6-7 As shown, in order to further enhance the connection stability between the clamping block 3123 and the spoon handle 11, and to enhance the connection stability between the spoon 10 and the robotic arm 20, the specific form of the clamping block 3123 may be one or more of the following embodiments, but is not limited to them.

[0055] In the first embodiment, the surface of the clamping block 3123 facing away from the bottom wall of the slide groove 3112 is a curved surface adapted to the outer surface of the spoon handle 11. For example, when the spoon handle 11 has a rectangular cross-section perpendicular to the aforementioned preset direction, the surface of the clamping block 3123 facing away from the bottom wall of the slide groove 3112 is a curved surface, and the radius of curvature of this curved surface is relatively large to adapt to the outer surface of the spoon handle 11. When the spoon handle 11 has a circular cross-section perpendicular to the aforementioned preset direction, the surface of the clamping block 3123 facing away from the bottom wall of the slide groove 3112 is an arc surface, and the radius of curvature of this curved surface is relatively small to adapt to the outer surface of the spoon handle 11. In this design, by designing the surface of the clamping block 3123 facing away from the bottom wall of the slide groove 3112 as a curved surface that adapts to the outer surface of the spoon handle 11, when the spoon handle 11 is clamped between all the clamping blocks 3123, the surface of the clamping block 3123 facing away from the slide groove 3112 can completely fit with the outer surface of the spoon handle 11, effectively increasing the contact area between the clamping block 3123 and the spoon handle 11, thereby enhancing the connection stability between the spoon handle 11 and the clamping block 3123, and thus effectively enhancing the connection stability between the spoon 10 and the robotic arm 20.

[0056] In the second embodiment, the clamping block 3123 is made of one of rubber, silicone, and resin. In this design, by making the clamping block 3123 of one of rubber, silicone, or resin, when the spoon handle 11 is clamped between all the clamping blocks 3123, the static friction between the outer surface of the spoon handle 11 and the clamping blocks 3123 can be effectively increased, thereby enhancing the connection stability between the spoon handle 11 and the clamping blocks 3123, and thus effectively enhancing the connection stability between the spoon 10 and the robotic arm 20.

[0057] Furthermore, considering that the clamping assembly 31 can be used to clamp spoon handles 11 with different cross-sectional shapes along a preset direction depending on the number of clamping units 312 included in the clamping assembly 31, the specific number of clamping units 312 may be, but is not limited to, the following embodiments.

[0058] like Figure 8 As shown, in the first embodiment, when the spoon handle 11 has a rectangular cross-section perpendicular to a preset direction, there are two sets of clamping units 312, and the two sets of clamping units 312 are radially distributed along the circular positioning groove 3111. In this design, by designing the two sets of clamping units 312 to be radially distributed along the circular positioning groove 3111, when the rectangular spoon handle 11 is clamped between the two sets of clamping units 312, the two sets of clamping units 312 can clamp and fix the spoon handle 11 from one of the opposite sides of the spoon handle 11, thereby enhancing the connection stability between the spoon handle 11 and the clamping block 3123, and thus effectively enhancing the connection stability between the spoon 10 and the robotic arm 20.

[0059] Of course, at this time, the opening of the circular positioning groove 3111 can extend outward to form two snap-fit ​​grooves 3113. The two snap-fit ​​grooves 3113 are distributed radially along the circular positioning groove 3111, and the first line connecting the two snap-fit ​​grooves 3113 is perpendicular to the second line connecting the two clamping units 312. That is to say, the two snap-fit ​​grooves 3113 and the two sets of clamping units 312 are alternately arranged along the circumference of the circular positioning groove 3111, and the two snap-fit ​​grooves 3113 and the two sets of clamping units 312 are equally spaced along the circumference of the circular positioning groove 3111. In this design, by designing the two snap-fit ​​slots 3113 to be radially distributed along the positioning slot, when the spoon handle 11 is clamped between the two sets of clamping units 312, the two snap-fit ​​slots 3113 can snap and fix the spoon handle 11 from the other opposite sides of the spoon handle 11, so as to cooperate with the two sets of clamping units 312 to clamp and fix one of the opposite sides of the spoon handle 11, thereby further enhancing the connection stability between the spoon handle 11 and the clamping block 3123, and thus further effectively enhancing the connection stability between the spoon 10 and the robotic arm 20.

[0060] like Figure 9As shown, in the second embodiment, when the spoon handle 11 has a circular cross-section perpendicular to a preset direction, the number of clamping units 312 is three, and the three sets of clamping units 312 are equally spaced along the circumference of the circular positioning groove 3111. That is, along the circumference of the circular positioning groove 3111, the included angle between two adjacent sets of clamping units 312 is 120 degrees. In this design, by designing the three sets of clamping units 312 to be equally spaced along the circumference of the circular positioning groove 3111, when the spoon handle 11 with a circular cross-section is clamped between the three sets of clamping units 312, the three sets of clamping units 312 can clamp and fix the spoon handle 11 from the circumference of the spoon handle 11, thereby enhancing the connection stability between the spoon handle 11 and the clamping block 3123, and thus effectively enhancing the connection stability between the spoon 10 and the robotic arm 20.

[0061] Furthermore, to enhance the connection stability between the clamping structure 30 and the robotic arm 20, the following design is employed: Figures 4-5 As shown, in some embodiments, the feeding machine 1 further includes a limiting structure 40, which is disposed on the groove wall of the positioning flange 32 and the circular mounting groove 21. The limiting structure 40 is used to restrict the circumferential movement of the positioning flange 32 relative to the robotic arm 20 around the circular mounting groove 21. In this design, by designing the limiting structure 40, the limiting structure 40 can restrict the circumferential movement of the positioning flange 32 relative to the robotic arm 20 around the mounting groove, thereby restricting the circumferential movement of the clamping assembly 31 connected to the positioning flange 32 relative to the robotic arm 20 around the mounting groove, so as to effectively enhance the connection stability between the clamping structure 30 and the robotic arm 20.

[0062] Specifically, the specific form of the limiting structure 40 may be, but is not limited to, one or more of the following embodiments.

[0063] like Figures 4-5 As shown, in the first embodiment, the limiting structure 40 includes a limiting protrusion 41 and a limiting groove (not shown in the figure). The limiting protrusion 41 is disposed on one of the positioning flange 32 and the groove wall of the circular mounting groove 21, and the limiting groove is disposed on the other of the groove wall of the positioning flange 32 and the circular mounting groove 21. The limiting protrusion 41 and the limiting groove are engaged and connected. In this design, by designing the limiting protrusion 41 and the limiting groove, the limiting protrusion 41 engages with the limiting groove, so that the groove wall of the limiting groove restricts the limiting protrusion 41, thereby effectively limiting the circumferential movement of the mounting structure relative to the robotic arm 20 around the circular mounting groove 21 and enhancing the connection stability between the mounting structure and the robotic arm 20.

[0064] It should be noted that when the spoon handle 11 has a rectangular cross-section perpendicular to the preset direction, there are two notches 22, and the two notches 22 are radially distributed along the circular mounting groove 21; there are also two positioning flanges 32, and the two positioning flanges 32 are radially distributed along the circular positioning groove 3111; at this time, the clamping assembly 31 drives the positioning flange 32 to rotate 90 degrees relative to the robotic arm 20 (that is, one of the preset angles mentioned above) so that the positioning flange 32 is clamped between the groove walls of the circular mounting groove 21. At this time, there are also two limiting protrusions 41 and two limiting grooves. Each limiting protrusion 41 and a limiting groove form a limiting group. The limiting protrusion 41 in the limiting group is set on the positioning flange 32, and the limiting groove in the limiting group is set on the groove wall of the circular mounting groove 21 corresponding to the limiting protrusion 41 after the positioning flange 32 has rotated by the preset angle. For example, when the spoon handle 11 has a circular cross-section perpendicular to a preset direction, there are three notches 22, and these three notches 22 are radially distributed along the circular mounting groove 21; there are also three positioning flanges 32, which are radially distributed along the circular positioning groove 3111; at this time, the clamping assembly 31 drives the positioning flanges 32 to rotate 60 degrees relative to the robotic arm 20 (that is, the other of the preset angles mentioned above) so that the positioning flanges 32 are clamped between the groove walls of the circular mounting groove 21. At this time, there are also three limiting protrusions 41 and three limiting grooves. Each limiting protrusion 41 and a limiting groove form a limiting group. The limiting protrusions 41 in the limiting group are set on the positioning flanges 32, and the limiting grooves in the limiting group are set on the groove walls of the circular mounting groove 21 corresponding to the limiting protrusions 41 after the positioning flanges 32 have rotated by a preset angle.

[0065] Furthermore, in the second embodiment, the limiting structure 40 includes a limiting pin and a limiting hole. The limiting hole is disposed on the positioning flange 32. The robot arm is also provided with an insertion hole communicating with the circular mounting groove 21. The limiting pin passes through the insertion hole and is inserted into the limiting hole to limit the circumferential movement of the clamping structure 30 relative to the robot arm 20 around the circular mounting groove 21.

[0066] In the accompanying drawings of this embodiment, the same or similar reference numerals correspond to the same or similar components. In the description of this application, it should be understood that if terms such as "upper," "lower," "left," and "right" indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, they are only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, the terms used to describe positional relationships in the accompanying drawings are only for illustrative purposes and should not be construed as limiting this patent. For those skilled in the art, the specific meaning of the above terms can be understood according to the specific circumstances.

[0067] The above description is merely a preferred embodiment of this application and is not intended to limit this application. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of this application should be included within the protection scope of this application.

Claims

1. A feeding machine, characterized by include: A spoon, used for picking up food, includes a spoon handle extending in a preset direction and a spoon body disposed on one side of the spoon handle in the preset direction; The robotic arm is provided with a circular mounting groove, the opening of which extends outward to form multiple notches; The clamping structure includes a clamping component and a plurality of positioning flanges. All the positioning flanges are disposed on the periphery of the clamping component. Each positioning flange corresponds to a notch. The positioning flanges extend into the circular mounting groove through the notches. The clamping component drives the positioning flanges to rotate relative to the robotic arm by a preset angle so that the positioning flanges are clamped between the groove walls of the circular mounting groove. The clamping component can clamp spoon handles with different cross-sectional shapes along the preset direction. The clamping assembly includes: The main body has a circular positioning groove on one side of the main body facing away from the plane where the circular mounting groove is located, and all the positioning flanges are provided on the periphery of the main body. Multiple clamping units are arranged circumferentially around the circular positioning groove on the main body. All clamping units are adapted to generate elastic deformation in the radial direction along the circular positioning groove to clamp the spoon handle between all the clamping units. The circular positioning groove has a plurality of sliding grooves extending radially along the circular positioning groove on its sidewall, and each clamping unit is slidably connected to one of the sliding grooves. The clamping unit includes a slider, which is partially located within the slide groove and slidably connected to the slide groove. A spring, the first end of which is fixedly connected to the slider, and the second end of which is fixedly connected to the bottom wall of the groove; A clamping block is located outside the slide groove and is fixedly connected to the side of the slider that is away from the bottom wall of the slide groove; The slider has a groove on the side facing the bottom wall of the groove, a portion of the spring is located in the groove, and the first end of the spring is fixedly connected to the bottom wall of the groove.

2. The feeding machine according to claim 1, wherein The surface of the clamping block facing away from the bottom wall of the groove is a curved surface that matches the outer surface of the spoon handle; And / or the clamping block is made of one of rubber, silicone, and resin.

3. The feeding machine according to any one of claims 1-2, wherein When the spoon handle is rectangular along the cross section perpendicular to the preset direction, the number of clamping units is two sets, and the two sets of clamping units are radially distributed along the circular positioning groove.

4. The feeding apparatus of claim 3, wherein The opening of the circular positioning groove extends outward to form two snap-fit ​​grooves. The two snap-fit ​​grooves are distributed radially along the circular positioning groove, and the first line connecting the two snap-fit ​​grooves is perpendicular to the second line connecting the two clamping units.

5. The feeding machine according to any one of claims 1 to 2, wherein When the spoon handle is circular along the cross section perpendicular to the preset direction, the number of clamping units is three, and the three clamping units are evenly distributed along the circumference of the circular positioning groove.

6. The feeding apparatus of any one of claims 1-2, wherein, The feeding machine also includes a limiting structure, which is disposed on the positioning flange and the groove wall of the circular mounting groove. The limiting structure is used to restrict the circumferential movement of the positioning flange relative to the robotic arm around the circular mounting groove.

7. The feeding apparatus of claim 6, wherein The limiting structure includes a limiting protrusion and a limiting groove. The limiting protrusion is disposed on one of the positioning flange and the groove wall of the circular mounting groove, and the limiting groove is disposed on the other of the positioning flange and the groove wall of the circular mounting groove. The limiting protrusion and the limiting groove are engaged and connected.

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