Mechanical flexible hand grabbing mechanism based on catering robot

Abstract

The invention discloses a mechanical flexible hand grabbing mechanism based on a catering robot, and belongs to the technical field of catering robots. A mechanical flexible hand grabbing mechanism based on a catering robot comprises an electric clamp, a cavity is formed in a clamping jaw of the electric clamp, an air column is arranged in the cavity, a plurality of through holes are formed in the top of the clamping jaw of the electric clamp at equal intervals, the through holes communicate with the cavity, lifting blocks are inserted into the through holes, and the lifting blocks are connected with the clamping jaw of the electric clamp. The bottom of the lifting block is fixedly glued to the top of the air column, a supporting pad is installed at one end of the top of the lifting block through a spherical coupling, supporting frames are welded to the outer walls of clamping jaws of the electric clamp, and movable openings are formed in the end faces of the tops of the supporting frames. The problems that in the prior art, the flexible characteristic is not achieved, in the grabbing process of the catering robot, scratches are often left on the dinner plate, the dinner plate is damaged, most dinner plates are ceramic products, and the attractiveness of the dinner plate is affected are effectively solved.

Description

Technical Field

[0001] The present invention relates to the technical field of catering robots, and in particular to a mechanical flexible hand grasping mechanism based on a catering robot. Background Art

[0002] Catering robots refer to intelligent devices used in catering scenarios. They are robot systems that use artificial intelligence, autonomous navigation and automation technologies to complete services such as ordering, delivering food, and cooking. During the delivery process, catering robots usually use robotic arms to pass the plates.

[0003] After searching, the prior art (publication number: CN114347086A) robot gripper, the article proposes "including: a gripping assembly, the gripping assembly includes a gripping jaw and an electric actuator; the gripping jaw is used to grasp the grasped object, the electric actuator controls the suction and opening of the gripping jaw; the electric actuator includes a control box, the control box is equipped with a motor and a controller, the output end of the motor is connected to the transmission assembly, the motor is connected to the gripping jaw through the transmission assembly; the bottom end of the control box is fixedly connected to a slide rail, the gripping jaw is fixedly connected to the ... The claw is slidably connected to the slide rail; a self-locking component is installed in the control box, the self-locking component is correspondingly arranged with the transmission component, and the motor, the transmission component and the self-locking component are all electrically connected to the controller. However, the claws in the prior art are mostly made of metal materials and do not have flexible characteristics. When used in the grasping process of the catering robot, scratches are often left on the dinner plate, causing damage to the dinner plate. Most of the dinner plates are ceramic products, which will affect the aesthetics of the dinner plate. Therefore, it is necessary to design a mechanical flexible hand grasping mechanism based on the catering robot. Summary of the invention

[0004] The purpose of the present invention is to solve the problem that the existing design does not have flexible characteristics and often leaves scratches on the plates during the grasping process of the catering robot, causing damage to the plates, which, while most of the plates are made of ceramics, will affect the aesthetics of the plates.

[0005] In order to achieve the above object, the present invention adopts the following technical solutions:

[0006] A mechanical flexible hand grasping mechanism based on a catering robot, including an electric fixture. A cavity is provided inside the jaws of the electric fixture, and an air column is arranged inside the cavity. A number of through holes are equidistantly arranged at the top of the jaws of the electric fixture, and the through holes communicate with the cavity. A lifting block is inserted into the through hole, and the bottom of the lifting block is adhesively fixed to the top of the air column. A spherical coupling is installed at one end of the top of the lifting block with a support pad. Support frames are welded on the outer walls of the jaws of the electric fixture, and a movable opening is provided on the top end face of the support frame. A support block is installed on the movable opening through a rotating shaft. A first telescopic airbag is screwed at the bottom of the inner wall of the support frame, and one end of the top of the first telescopic airbag penetrates through the movable opening and fits with the bottom end face of the support block. A connecting pipe is screwed on the outer wall of the first telescopic airbag, and the connecting pipe communicates with the first telescopic airbag. A cross valve is arranged inside the connecting pipe. A sliding groove is provided at the bottom of the inner wall of the support frame. The other end of the connecting pipe is screwed with a second telescopic airbag. A push plate is slidably installed on the sliding groove, and the other end of the second telescopic airbag is screwed with the push plate. A communication port is provided on the jaws of the electric fixture, and a spring telescopic rod is inserted into the communication port. One end of the spring telescopic rod penetrates through the communication port and is screwed and fixed with the push plate. The other end of the spring telescopic rod is screwed with a clamping plate.

[0007] Preferably, the air column is made of polyethylene material, and an electric air pump is built in the air column. The air column is arc-shaped and can fill the inside of the cavity after inflation. The lifting block, the support pad and the support block are all made of nitrile rubber material. Anti-slip patterns are provided on the outer wall of the support pad, and the support block is triangular.

[0008] Preferably, the cross valve is a cross-shaped valve plate made of silica gel material.

[0009] Preferably, a circular frame is welded on the sliding groove, and the circular frame is sleeved outside the second telescopic airbag. Return springs are screwed at the top and bottom of the push plate, and the other ends of the return springs are screwed and fixed with the circular frame.

[0010] Preferably, a connecting frame is provided outside the electric fixture, and a bracket is screwed at one end of the connecting frame. The electric fixture is screwed and fixed on the bracket. A micro air pump is screwed inside the bracket, and an air charging pipe is inserted at the output end of the micro air pump. The two output ends of the air charging pipe respectively penetrate through the two support frames and are inserted and communicated with the first telescopic airbag.

[0011] Preferably, the two output ends of the air charging pipe are both composed of a PVC pipe and a rubber pipe. The PVC pipe is hermetically connected to the rubber pipe. The rubber pipe is connected to the first telescopic airbag. The two PVC pipes are welded and communicated, and the connection part is connected to the output end of the micro air pump.

[0012] Preferably, the clamping plate is arc-shaped, and a protective pad is adhesively bonded to the inner arc of the clamping plate. The protective pad is made of soft rubber material.

[0013] Preferably, the jaws of the electric clamp are semi-circular and made of stainless steel material.

[0014] Compared with the prior art, the present invention provides a mechanical flexible hand grasping mechanism based on a catering robot, having the following beneficial effects:

[0015] 1. The present invention can hold from the bottom of the dinner plate through the electric clamp. By the inflation of the air column, the lifting block can be pushed out of the through hole, and the dinner plate bottom can be supported by the support pad. Since the support pad is in a movable state, it can ensure close fitting with the bottom of the dinner plate. The micro air pump and the inflation tube can be used to inflate the first telescopic airbag, which can make the first telescopic airbag bulge and push the support block upward, so that the support block can support the dinner plate from both sides of the bottom for secondary support, improving the support effect on the dinner plate. When the gas in the first telescopic airbag is full, the excess gas will enter the connecting pipe and push open the cross valve under the action of air pressure, allowing the excess gas to enter the second telescopic airbag. As the second telescopic airbag bulges, it can push the push plate to move in the chute and push the spring telescopic rod outward. The clamping plate can be used to clamp and fix the bottom of the dinner plate, increasing the fixing effect of the device on the dinner plate, preventing the dinner plate from tipping over. This method can ensure the grasping effect of the catering robot on the dinner plate while avoiding damage to the dinner plate and preventing scratches, which may affect the aesthetics of the dinner plate.

[0016] 2. When the gas in the second telescopic airbag is pumped out, the second telescopic airbag will contract. At the same time, the reset spring will contract, pulling the push plate to move and making the spring telescopic rod contract into the inside of the support frame. Through the cooperation of the PVC pipe and the rubber pipe, the ventilation effect can be ensured while avoiding the excessive drooping of the pipe body. The protective pad can increase the friction of the clamping plate, making it more firm when fixing the dinner plate, and the soft rubber material can avoid abrasion to the dinner plate. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 An overall isometric view of a mechanical flexible hand grasping mechanism based on a catering robot proposed by the present invention;

[0018] Figure 2 A top view of the support frame of a mechanical flexible hand grasping mechanism based on a catering robot proposed by the present invention;

[0019] Figure 3 is Figure 2 An enlarged view of the structure at A;

[0020] Figure 4Schematic diagram of the overall structure of a mechanical flexible hand grasping mechanism based on a catering robot proposed by the present invention;

[0021] Figure 5 Overall sectional view of a mechanical flexible hand grasping mechanism based on a catering robot proposed by the present invention;

[0022] Figure 6 Schematic diagram of the bottom structure of a mechanical flexible hand grasping mechanism based on a catering robot proposed by the present invention.

[0023] Explanation of figure numbers: 1. Electric clamp; 2. Cavity; 3. Air column; 4. Through hole; 5. Lifting block; 6. Support pad; 7. Support frame; 8. Movable opening; 9. Support block; 10. First telescopic airbag; 11. Connecting pipe; 12. Cross valve; 13. Slide groove; 14. Second telescopic airbag; 15. Push plate; 16. Connecting port; 17. Spring telescopic rod; 18. Clamping plate; 19. Ring-shaped frame; 20. Return spring; 21. Connecting frame; 22. Support; 23. Micro air pump; 24. Inflation pipe; 25. Protective pad. Specific implementation manners

[0024] Next, the technical solutions in the embodiments of the present invention will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments.

[0025] Embodiment 1:

[0026] Please refer to Figures 1-6, a mechanical flexible hand grasping mechanism based on a catering robot, including an electric clamp 1. A cavity 2 is opened inside the claw of the electric clamp 1, and an air column 3 is arranged inside the cavity 2. A number of through holes 4 are equidistantly opened at the top of the claw of the electric clamp 1, and the through holes 4 communicate with the cavity 2. A lifting block 5 is inserted into the through hole 4, and the bottom of the lifting block 5 is adhesively fixed to the top of the air column 3. A spherical coupling is installed at one end of the top of the lifting block 5 with a support pad 6. Support frames 7 are welded on the outer walls of the claws of the electric clamp 1, and a movable opening 8 is opened on the top end face of the support frame 7. A support block 9 is installed on the movable opening 8 through a rotating shaft. A first telescopic airbag 10 is screwed at the bottom of the inner wall of the support frame 7, and one end of the top of the first telescopic airbag 10 penetrates through the movable opening 8 and fits with the bottom end face of the support block 9. A connecting pipe 11 is screwed on the outer wall of the first telescopic airbag 10, and the connecting pipe 11 communicates with the first telescopic airbag 10. A cross valve 12 is arranged inside the connecting pipe 11. A chute 13 is opened at the bottom of the inner wall of the support frame 7. The other end of the connecting pipe 11 is screwed with a second telescopic airbag 14. A push plate 15 is slidably installed on the chute 13, and the other end of the second telescopic airbag 14 is screwed with the push plate 15. A communication port 16 is opened on the claw of the electric clamp 1, and a spring telescopic rod 17 is inserted into the communication port 16. One end of the spring telescopic rod 17 penetrates through the communication port 16 and is screwed and fixed with the push plate 15. The other end of the spring telescopic rod 17 is screwed with a clamping plate 18. The air column 3 is made of polyethylene material, and an electric air pump is built in the air column 3. The air column 3 is arc-shaped and can fill the inside of the cavity 2 after inflation. The lifting block 5, the support pad 6 and the support block 9 are all made of nitrile rubber material. Anti-slip patterns are arranged on the outer wall of the support pad 6. The support block 9 is triangular. The nitrile rubber material is beneficial to improving the service life of the lifting block 5, the support pad 6 and the support block 9. At the same time, it has a good anti-slip effect. The cross valve 12 is a cross-shaped valve plate made of silica gel material. A connecting frame 21 is arranged outside the electric clamp 1, and a bracket 22 is screwed at one end of the connecting frame 21. The electric clamp 1 is screwed and fixed on the bracket 22. A micro air pump 23 is screwed inside the bracket 22, and an air charging pipe 24 is inserted into the output end of the micro air pump 23. The two output ends of the air charging pipe 24 respectively penetrate through the two support frames 7 and are inserted and communicated with the first telescopic airbag 10. The micro air pump 23 can inflate the first telescopic airbag 10 through the air charging pipe 24 and make the first telescopic airbag 10 bulge. The electric clamp 1 can be connected to the robotic arm of the catering robot by using the connecting frame 21;

[0027] The electric clamp 1 can hold from the bottom of the dinner plate. By inflating the air column 3, the lifting block 5 can be pushed out of the through hole 4, and the supporting pad 6 is used to support the bottom of the dinner plate. Since the supporting pad 6 is in a movable state, it can ensure close fitting with the bottom of the dinner plate. The micro air pump 23 and the air charging pipe 24 can be used to inflate the first telescopic airbag 10, making the first telescopic airbag 10 bulge and pushing the supporting block 9 to move upward, so that the supporting block 9 provides secondary support from both sides of the bottom of the dinner plate, improving the supporting effect on the dinner plate. When the first telescopic airbag 10 is filled with gas, the excess gas will enter the connecting pipe 11 and push open the cross valve 12 under the action of air pressure, allowing the excess gas to enter the second telescopic airbag 14. As the second telescopic airbag 14 bulges, it can push the push plate 15 to move in the sliding groove 13 and push the spring telescopic rod 17 outward. The clamping plate 18 can be used to clamp and fix the bottom of the dinner plate, increasing the fixing effect of the device on the dinner plate and preventing the dinner plate from tipping over. When the dinner plate moves to the designated position, the air column 3 will deflate, and the micro air pump 23 will pump air, causing the first telescopic airbag 10 and the second telescopic airbag 14 to contract, and then the dinner plate loses the auxiliary support. At this time, the electric clamp 1 expands, enabling the dinner plate to be completely separated.

[0028] Embodiment 2:

[0029] Please refer to Figures 1-6 , which is different from Embodiment 1 in that an annular frame 19 is welded on the sliding groove 13, and the annular frame 19 is sleeved outside the second telescopic airbag 14. The top and bottom of the push plate 15 are both screwed with return springs 20, and the other ends of the return springs 20 are screwed and fixed to the annular frame 19. When the gas in the second telescopic airbag 14 is pumped out, the second telescopic airbag 14 will contract. At the same time, the return spring 20 will contract, pulling the push plate 15 to move and making the spring telescopic rod 17 contract into the inside of the support frame 7. The two output ends of the air charging pipe 24 are composed of a PVC pipe and a rubber pipe. The PVC pipe is hermetically connected to the rubber pipe, and the rubber pipe is connected to the first telescopic airbag 10. The two PVC pipes are welded and connected, and the connection is connected to the output end of the micro air pump 23. Through the cooperation of the PVC pipe and the rubber pipe, while ensuring the ventilation effect, the pipe body can be prevented from hanging down too long. The clamping plate 18 is arc-shaped, and a protective pad 25 is glued to the inner arc of the clamping plate 18. The protective pad 25 is made of soft rubber material. The protective pad 25 can increase the friction of the clamping plate 18, making the fixation of the dinner plate more firm, and the soft rubber material can avoid abrasion to the dinner plate. The clamping jaws of the electric clamp 1 are semi-circular and made of stainless steel material;

[0030] When the gas in the second telescopic airbag 14 is pumped out, the second telescopic airbag 14 will contract. At the same time, the reset spring 20 will contract, which can pull the push plate 15 to move and make the spring telescopic rod 17 contract towards the inside of the support frame 7. Through the cooperation of the PVC pipe and the rubber pipe, while ensuring the ventilation effect, the problem of excessive drooping of the pipe body can be avoided. The use of the protective pad 25 can increase the friction of the clamping plate 18, making the fixation of the dinner plate more firm, and the soft rubber material can avoid abrasion to the dinner plate.

[0031] The electric clamp 1, the air column 3, the first telescopic airbag 10, the second telescopic airbag 14, the spring telescopic rod 17 and the micro air pump 23 used in the present invention are all existing mature technologies, so no specific description will be given in the following text. During use, the electric clamp 1 can be used to hold the dinner plate from the bottom. By inflating the air column 3, the lifting block 5 can be pushed out of the through hole 4, and the support pad 6 is used to support the bottom of the dinner plate. Since the support pad 6 is in a movable state, it can ensure that the support pad 6 is in close contact with the bottom of the dinner plate. The micro air pump 23 and the inflation pipe 24 can be used to inflate the first telescopic airbag 10, making the first telescopic airbag 10 bulge and pushing the support block 9 to move upward, so that the support block 9 provides secondary support from both sides of the bottom of the dinner plate, improving the support effect on the dinner plate. When the first telescopic airbag 10 is filled with gas, the excess gas will enter the connecting pipe 11 and push open the cross valve 12 under the action of air pressure, allowing the excess gas to enter the second telescopic airbag 14. As the second telescopic airbag 14 bulges, it can push the push plate 15 to move in the chute 13 and push the spring telescopic rod 17 outward. The clamping plate 18 can be used to clamp and fix the bottom of the dinner plate, increasing the fixing effect of the device on the dinner plate and preventing the dinner plate from tipping over. When the dinner plate moves to the designated position, the air column 3 will deflate and the micro air pump 23 will pump air, causing the first telescopic airbag 10 and the second telescopic airbag 14 to contract, and then the dinner plate loses the auxiliary support. At this time, the electric clamp 1 expands, allowing the dinner plate to be completely detached. When the gas in the second telescopic airbag 14 is pumped out, the second telescopic airbag 14 will contract. At the same time, the reset spring 20 will contract, which can pull the push plate 15 to move and make the spring telescopic rod 17 contract towards the inside of the support frame 7. Through the cooperation of the PVC pipe and the rubber pipe, while ensuring the ventilation effect, the problem of excessive drooping of the pipe body can be avoided. The use of the protective pad 25 can increase the friction of the clamping plate 18, making the fixation of the dinner plate more firm, and the soft rubber material can avoid abrasion to the dinner plate.

[0032] The above are only the preferred embodiments of the present invention. The protection scope of the present invention is not limited to the above embodiments. All technical solutions falling within the concept of the present invention belong to the protection scope of the present invention. It should be noted that for those of ordinary skill in the art, several improvements and refinements made without departing from the principle of the present invention should also be regarded as within the protection scope of this template.

[0033] In the description of the present invention, it should be understood that the terms "upper", "lower", "left", "right", etc. indicating the orientation or positional relationship are based on the orientation or positional relationship shown in the drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, as well as a specific orientation structure and operation. Therefore, it should not be construed as a limitation to the present invention. In addition, "first" and "second" are only for the purpose of description, and cannot be understood as indicating or implying relative importance or implicitly indicating the quantity of the indicated technical features. Therefore, the features defined with "first" and "second" may explicitly or implicitly include one or more of such features. In the description of the present invention, unless otherwise specified, the meaning of "a plurality" is two or more.

[0034] In the description of the present invention, it should be noted that unless otherwise clearly specified and limited, the terms "installed", "connected", "connected" and the like should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be directly connected, or indirectly connected through an intermediate medium, and it can be the communication inside two elements. For those of ordinary skill in the art, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0035] The above has described in detail one embodiment of the present invention, but the content described is only the preferred embodiment of the present invention and cannot be considered as used to limit the scope of implementation of the present invention. All equivalent changes and improvements made according to the scope of the application of the present invention should still fall within the scope covered by the patent of the present invention.

Claims

1. A mechanical flexible hand grasping mechanism based on a catering robot, comprising an electric fixture (1), characterized in that: A cavity (2) is provided inside the jaw of the electric clamp (1), and an air column (3) is arranged inside the cavity (2). A number of through holes (4) are equidistantly formed at the top of the jaw of the electric clamp (1), and the through holes (4) communicate with the cavity (2). A lifting block (5) is inserted into the through hole (4), and the bottom of the lifting block (5) is adhesively fixed to the top of the air column (3). A support pad (6) is installed at one end of the top of the lifting block (5) through a spherical coupling. Support frames (7) are welded to the outer walls of the jaws of the electric clamp (1), and a movable opening (8) is formed at the top end face of the support frame (7). A support block (9) is installed on the movable opening (8) through a rotating shaft. A first telescopic airbag (10) is screwed to the bottom of the inner wall of the support frame (7), and one end of the top of the first telescopic airbag (10) penetrates through the movable opening (8) and fits against the bottom end face of the support block (9). A communication pipe (11) is screwed to the outer wall of the first telescopic airbag (10), and the communication pipe (11) communicates with the first telescopic airbag (10). A cross valve (12) is arranged inside the communication pipe (11). A sliding groove (13) is formed at the bottom of the inner wall of the support frame (7). The other end of the communication pipe (11) is screwed to a second telescopic airbag (14). A push plate (15) is slidably installed on the sliding groove (13), and the other end of the second telescopic airbag (14) is screwed to the push plate (15). A communication port (16) is formed on the jaw of the electric clamp (1), and a spring telescopic rod (17) is inserted into the communication port (16). One end of the spring telescopic rod (17) penetrates through the communication port (16) and is screwed and fixed to the push plate (15). The other end of the spring telescopic rod (17) is screwed to a clamping plate (18).

2. The mechanical flexible hand grasping mechanism based on a catering robot according to claim 1, wherein: The air column (3) is made of polyethylene material, and an electric air pump is built in the air column (3). The air column (3) is arc-shaped and can fill the inside of the cavity (2) after inflation. The lifting block (5), the support pad (6) and the support block (9) are all made of nitrile rubber material. Anti-slip lines are provided on the outer wall of the support pad (6), and the support block (9) is triangular in shape.

3. A mechanical flexible hand grasping mechanism based on a catering robot according to claim 1, characterized in that: The cross valve (12) is a cross-shaped valve sheet made of silica gel material.

4. A mechanical flexible hand grasping mechanism based on a catering robot according to claim 1, characterized in that: A circular frame (19) is welded on the sliding groove (13), and the circular frame (19) is sleeved outside the second telescopic airbag (14). Return springs (20) are screwed to both the top and the bottom of the push plate (15), and the other ends of the return springs (20) are screwed and fixed to the circular frame (19).

5. A mechanical flexible hand grasping mechanism based on a catering robot according to claim 1, characterized in that: A connecting frame (21) is arranged outside the electric clamp (1), and a support (22) is screwed to one end of the connecting frame (21). The electric clamp (1) is screwed and fixed on the support (22). A micro air pump (23) is screwed to the inside of the support (22), and an air charging pipe (24) is inserted into the output end of the micro air pump (23). The two output ends of the air charging pipe (24) respectively penetrate through the two support frames (7) and are inserted and communicated with the first telescopic airbag (10).

6. The mechanical flexible hand grasping mechanism based on a catering robot according to claim 5, characterized in that: Both output ends of the charging pipe (24) are composed of a PVC pipe and a rubber pipe. The PVC pipe is hermetically connected to the rubber pipe, and the rubber pipe is connected to the first telescopic airbag (10). The two PVC pipes are fused and connected, and the connection part is connected to the output end of the micro air pump (23).

7. A mechanical flexible hand grasping mechanism based on a catering robot according to claim 1, characterized in that: The clamping plate (18) is arc-shaped, and a protective pad (25) is adhesively bonded to the inner arc of the clamping plate (18). The protective pad (25) is made of a soft rubber material.

8. A mechanical flexible hand grasping mechanism based on a catering robot according to claim 1, characterized in that: The jaws of the electric fixture (1) are semi-circular and made of stainless steel material.

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