Clamping jaw for grabbing bowls and chopsticks

Abstract

The utility model relates to the technical field of intelligent restaurants, and discloses a clamping jaw for grabbing bowls and chopsticks, which comprises a conversion head, a second electric jaw fixed at one end of the conversion head and a first electric jaw fixed at the other end of the conversion head, a dish gripper is mounted at one end of the second electric jaw, and a chopstick gripper is mounted at one end of the first electric jaw. A camera mounting seat is fixedly connected to the rear side of the robot quick-change disc, a camera cover is fixedly connected to the rear side of the camera mounting seat, and a 3D camera is mounted on the inner side of the camera cover. According to the utility model, the chopstick grippers are controlled through the first electric claw, so that chopsticks can be clamped; a second electric claw is used for controlling a bowl and plate gripper to clamp bowls and plates; therefore, one clamping jaw can clamp chopsticks, bowls and dishes at the same time, and operation is convenient. Visual collection is carried out through the 3D camera so as to determine the positions of bowls, dishes and chopsticks, and the bowls, dishes and chopsticks can be accurately clamped by the bowl and dish gripper and the chopstick gripper; and the automation degree and the intelligence degree are improved.

Description

Technical Field

[0001] The utility model relates to the technical field of intelligent restaurants, in particular to a clamping claw for grasping bowls and chopsticks. Background Art

[0002] With the continuous development of artificial intelligence restaurants, restaurants have combined advanced artificial intelligence technology with innovative formats of catering services; restaurants have improved catering service efficiency and customer experience by utilizing various smart devices, machine learning, natural language processing and other technologies, including automatic processing of pouring dishes, adding seasonings, and taking and placing plates; a single robot has been enabled to complete multiple complex actions; this requires the robot to cooperate with a gripper to complete.

[0003] However, the robots used in current smart restaurants often use separate grippers to pick up dishes and chopsticks separately, that is, each mechanical arm of the robot has only one type of gripper. When dishes and chopsticks need to be picked up, multiple grippers need to be used, which is inconvenient to operate. Utility Model Content

[0004] The purpose of the utility model is to provide a clamping claw for grabbing dishes and chopsticks, so as to solve the problems raised in the above-mentioned background technology.

[0005] In order to achieve the above purpose, the utility model provides the following technical solutions:

[0006] A clamping claw for grabbing dishes and chopsticks comprises a conversion head, a second electric claw fixed at one end of the conversion head, and a first electric claw fixed at the other end of the conversion head, wherein a dish gripper is mounted at one end of the second electric claw, and a second terminal is fixedly connected to the rear side of the second electric claw, a chopstick gripper is mounted at one end of the first electric claw, and a first terminal is fixedly connected to the front side of the first electric claw, a robot quick-change plate is fixedly connected to the upper end of the conversion head, and a camera mounting seat is fixedly connected to the rear side of the robot quick-change plate, a camera cover is fixedly connected to the rear side of the camera mounting seat, and a 3D camera is mounted on the inner side of the camera cover.

[0007] As a further solution of the utility model: the bowl and plate gripper includes a left bowl and plate finger, and a right bowl and plate finger matching the left bowl and plate finger, a left bowl and plate clamping block is provided at one end of the left bowl and plate finger, and a left bowl and plate slider is provided at the other end of the left bowl and plate finger, a right bowl and plate clamping block is provided at one end of the right bowl and plate finger, and a right bowl and plate slider is provided at the other end of the right bowl and plate finger, and the left bowl and plate slider and the right bowl and plate slider are both connected to the second electric claw.

[0008] As a further solution of the utility model: a left bowl positioning block is installed on the inner side of the left bowl finger, and a right bowl positioning block corresponding to the left bowl positioning block is installed on the inner side of the right bowl finger.

[0009] As a further solution of the utility model: the left bowl clamping block and the right bowl clamping block are both components made of food-grade polypropylene material.

[0010] As a further solution of the utility model: the chopstick gripper includes a left chopstick finger and a right chopstick finger matching the left chopstick finger, one end of the left chopstick finger is fixedly connected to a left chopstick slider, and the other end of the left chopstick finger is fixedly connected to a left chopstick clamping block, one end of the right chopstick finger is fixedly connected to a right chopstick slider, and the other end of the left chopstick finger is fixedly connected to a right chopstick clamping block, and the left chopstick slider and the right chopstick slider are both connected to the first electric claw.

[0011] As a further solution of the utility model: the left chopstick clamping block and the right chopstick clamping block are both components made of food-grade polypropylene material.

[0012] Compared with the prior art, the utility model has the following beneficial effects:

[0013] The utility model controls the chopstick gripper by the first electric claw to clamp the chopsticks; controls the bowl and plate gripper by the second electric claw to clamp the bowl and plate; thus, one gripper can clamp the chopsticks and the bowl and plate at the same time, which is easy to operate; the 3D camera is used to perform visual acquisition to determine the positions of the bowl and plate and chopsticks, so that the bowl and plate gripper and the chopstick gripper can accurately clamp the bowl and plate and chopsticks; thus, the degree of automation and intelligence is improved. BRIEF DESCRIPTION OF THE DRAWINGS

[0014] Figure 1 A schematic diagram of the structure of a clamping claw for grabbing dishes and chopsticks;

[0015] Figure 2 A schematic diagram of the structure of a bowl and plate gripper in a clamping jaw for grasping bowls and chopsticks;

[0016] Figure 3 A schematic diagram of the structure of a chopstick gripper in a clamping jaw for grasping bowls and chopsticks;

[0017] Figure 4 The present invention is a schematic diagram of the working of a gripper for grasping bowls, plates and chopsticks.

[0018] In the figure: 1. Robot quick-change plate; 2. Conversion head; 3. Camera mounting seat; 4. Camera cover; 5. First wiring head; 6. First electric claw; 7. Chopstick gripper; 71. Chopstick left finger; 72. Chopstick right finger; 73. Chopstick left clamping block; 74. Chopstick right clamping block; 75. Chopstick left slider; 76. Chopstick right slider; 8. Second electric claw; 9. Bowl and plate gripper; 91. Bowl and plate left finger; 92. Bowl and plate right finger; 93. Bowl and plate left positioning block; 94. Bowl and plate right positioning block; 95. Bowl and plate left clamping block; 96. Bowl and plate right clamping block; 97. Bowl and plate left slider; 98. Bowl and plate right slider; 10. Second wiring head; 11. 3D camera; 12. Chopsticks; 13. Bowl and plate. DETAILED DESCRIPTION

[0019] See also Figures 1 to 4 In an embodiment of the utility model, a clamping claw for grabbing dishes and chopsticks comprises a conversion head 2, a second electric claw 8 fixed at one end of the conversion head 2, and a first electric claw 6 fixed at the other end of the conversion head 2, a dish gripper 9 is installed at one end of the second electric claw 8, and a second wiring head 10 is fixedly connected to the rear side of the second electric claw 8, and the second wiring head 10 is connected to an external power source to provide power to the second electric claw 8; a chopstick gripper 7 is installed at one end of the first electric claw 6, and a first wiring head 5 is fixedly connected to the front side of the first electric claw 6, and the first wiring head 5 is connected to the external power source to provide power to the first electric claw 8. An electric claw 6 provides electric energy; the upper end of the conversion head 2 is fixedly connected to a robot quick-change plate 1, through which the entire gripper is connected to an external robot, and then the robot drives the entire gripper to move to a desired position; and a camera mounting seat 3 is fixedly connected to the rear side of the robot quick-change plate 1, and a camera cover 4 is fixedly connected to the rear side of the camera mounting seat 3, and a 3D camera 11 is installed on the inner side of the camera cover 4, and the 3D camera 11 is used to perform visual acquisition to determine the position of the bowl 13 and chopsticks 12, so that the bowl gripper 9 and the chopstick gripper 7 can accurately grip the bowl 13 and chopsticks 12;

[0020] The first electric claw 6 and the second electric claw 8 can be an electric claw disclosed in a Chinese patent (CN218707123U), which includes a housing, a drive module, a transmission rod, a first transmission assembly, a first clamping member, a second clamping member and a first electromagnetic clutch.

[0021] exist Figure 2In the figure, the bowl and plate gripper 9 includes a left bowl and plate finger 91 and a right bowl and plate finger 92 matched with the left bowl and plate finger 91. A left bowl and plate clamping block 95 is arranged at one end of the left bowl and plate finger 91, and a left bowl and plate slider 97 is arranged at the other end of the left bowl and plate finger 91. A right bowl and plate clamping block 96 is arranged at one end of the right bowl and plate finger 92, and a right bowl and plate slider 98 is arranged at the other end of the right bowl and plate finger 92. The left bowl and plate slider 97 and the right bowl and plate slider 98 are both connected to the second electric claw 8. After the second electric claw 8 is energized, it drives the left bowl and plate slider 97 and the right bowl and plate slider 98 to move relative to each other. Thereby, the left dish finger 91 and the right dish finger 92 are driven to move relative to each other, thereby causing the left dish clamping block 95 and the right dish clamping block 96 to open and close, thereby realizing the clamping or putting down of the dish 13; a left dish positioning block 93 is installed on the inner side of the left dish finger 91, and a right dish positioning block 94 corresponding to the left dish positioning block 93 is installed on the inner side of the right dish finger 92. Through the mutual cooperation of the left dish positioning block 93 and the right dish positioning block 94, the closing degree of the left dish clamping block 95 and the right dish clamping block 96 can be controlled to prevent excessive clamping and damage to the dish 13.

[0022] Preferably, the left bowl clamping block 95 and the right bowl clamping block 96 are both made of food-grade polypropylene material, thereby ensuring the safety of food and having a certain degree of elasticity to prevent the bowl 13 from being damaged during the clamping process.

[0023] exist Figure 3 In the figure, the chopstick gripper 7 includes a left chopstick finger 71 and a right chopstick finger 72 matching the left chopstick finger 71, one end of the left chopstick finger 71 is fixedly connected to a left chopstick slider 75, and the other end of the left chopstick finger 71 is fixedly connected to a left chopstick clamping block 73, one end of the right chopstick finger 72 is fixedly connected to a right chopstick slider 76, and the other end of the left chopstick finger 71 is fixedly connected to a right chopstick clamping block 74, the left chopstick slider 75 and the right chopstick slider 76 are both connected to the first electric claw 6, after the first electric claw 6 is energized, it drives the left chopstick slider 75 and the right chopstick slider 76 to move relative to each other, thereby driving the left chopstick finger 71 and the right chopstick finger 72 to move relative to each other, and then the left chopstick clamping block 73 and the right chopstick clamping block 74 are opened and closed, thereby realizing the clamping or putting down of the chopsticks 12.

[0024] Preferably, the left chopstick clamping block 73 and the right chopstick clamping block 74 are both made of food-grade polypropylene material, thereby ensuring food safety and having a certain degree of elasticity to prevent the chopsticks 12 from being damaged during the clamping process.

[0025] The working principle of the utility model is as follows: first, the robot quick-change plate 1 is connected to the external robot, and the robot drives the entire gripper to move; then the 3D camera 11 performs visual acquisition to determine the positions of the bowls and plates 13 and chopsticks 12 that need to be clamped;

[0026] like Figure 4 As shown, when the bowl and plate 13 needs to be clamped, the robot moves the bowl and plate gripper 9 to the lower part of the bowl and plate 13, and then the second electric claw 8 drives the bowl and plate left slider 97 and the bowl and plate right slider 98 to move relative to each other, thereby driving the bowl and plate left finger 91 and the bowl and plate right finger 92 to move relative to each other, and then the bowl and plate left clamping block 95 and the bowl and plate right clamping block 96 are closed, so that the bowl and plate 13 is clamped;

[0027] like Figure 4 As shown, when the chopsticks 12 need to be clamped, the chopstick gripper 7 is moved to the position of the chopsticks 12 by the robot; the left slider 75 and the right slider 76 of the chopsticks are driven to move relative to each other by the first electric claw 6, thereby driving the left finger 71 and the right finger 72 of the chopsticks to move relative to each other, and then the left clamping block 73 and the right clamping block 74 of the chopsticks are closed, thereby achieving the clamping of the chopsticks 12.

[0028] The above are only preferred specific implementation methods of the utility model, but the protection scope of the utility model is not limited to this. Any technician familiar with the technical field within the technical scope disclosed by the utility model, who makes equivalent replacements or changes based on the technical scheme and utility model concept of the utility model, should be covered by the protection scope of the utility model.

Claims

1. A clamping claw for grabbing dishes and chopsticks, comprising a conversion head (2), a second electric claw (8) fixed at one end of the conversion head (2), and a first electric claw (6) fixed at the other end of the conversion head (2), characterized in that: A bowl and plate gripper (9) is installed at one end of the second electric gripper (8), and a second terminal (10) is fixedly connected to the rear side of the second electric gripper (8); a chopstick gripper (7) is installed at one end of the first electric gripper (6), and a first terminal (5) is fixedly connected to the front side of the first electric gripper (6); the upper end of the conversion head (2) is fixedly connected to a robot quick-change disk (1); and a camera mounting seat (3) is fixedly connected to the rear side of the robot quick-change disk (1); a camera cover (4) is fixedly connected to the rear side of the camera mounting seat (3), and a 3D camera (11) is installed on the inner side of the camera cover (4).

2. A clamp for grabbing dishes and chopsticks according to claim 1, characterized in that: The bowl and plate gripper (9) comprises a left bowl and plate finger (91) and a right bowl and plate finger (92) matched with the left bowl and plate finger (91); a left bowl and plate clamping block (95) is arranged at one end of the left bowl and plate finger (91), and a left bowl and plate slider (97) is arranged at the other end of the left bowl and plate finger (91); a right bowl and plate clamping block (96) is arranged at one end of the right bowl and plate finger (92), and a right bowl and plate slider (98) is arranged at the other end of the right bowl and plate finger (92); the left bowl and plate slider (97) and the right bowl and plate slider (98) are both connected to the second electric claw (8).

3. The clamp for grabbing dishes and chopsticks according to claim 2, characterized in that: A left bowl positioning block (93) is installed on the inner side of the left bowl finger (91), and a right bowl positioning block (94) corresponding to the left bowl positioning block (93) is installed on the inner side of the right bowl finger (92).

4. The clamping claw for grabbing dishes and chopsticks according to claim 2 is characterized in that: The left bowl clamping block (95) and the right bowl clamping block (96) are both components made of food-grade polypropylene material.

5. The clamping claw for grabbing dishes and chopsticks according to claim 1 is characterized in that: The chopstick gripper (7) comprises a left chopstick finger (71) and a right chopstick finger (72) matched with the left chopstick finger (71); one end of the left chopstick finger (71) is fixedly connected to a left chopstick slider (75), and the other end of the left chopstick finger (71) is fixedly connected to a left chopstick clamping block (73); one end of the right chopstick finger (72) is fixedly connected to a right chopstick slider (76), and the other end of the left chopstick finger (71) is fixedly connected to a right chopstick clamping block (74); the left chopstick slider (75) and the right chopstick slider (76) are both connected to the first electric claw (6).

6. The clamp for grabbing dishes and chopsticks according to claim 5, characterized in that: The left chopstick clamping block (73) and the right chopstick clamping block (74) are both components made of food-grade polypropylene material.

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