Brewing container clamping manipulator and brewing equipment

Abstract

The utility model relates to a brewing container clamping manipulator and brewing equipment, including base, lifting mechanism, weight sensing device and gripping jaw, the number of gripping jaw is two, and the two gripping jaw is in mirror symmetry distribution with respect to central axis, the rear end of gripping jaw is connected with claw transmission mechanism, and the claw transmission mechanism is connected with the lifting mechanism. The claw transmission mechanism comprises a screw shaft and a transmission nut fixed on the screw shaft, the transmission nut is connected with the clamping claw through a transmission connecting rod, the screw shaft is arranged on a central axis, the lifting mechanism is connected with the base, the weight sensing device is connected with the lifting mechanism, and the clamping claw is arranged on the weight sensing device. The screw shaft transmission mechanism has the advantages that the screw shaft is used for transmitting the clamping jaws, the screw shaft transmission mechanism can achieve relatively high transmission precision and has the self-locking characteristic, in other words, when rotation is stopped, the stability of the position where the screw shaft transmission mechanism is located can be kept, the screw shaft transmission mechanism is not prone to being affected by external torque, and the situation that the clamping effect is affected by equipment vibration during movement, so that cups fall off from the clamping jaws is prevented.

Description

Technical Field

[0001] The present application belongs to the field of automatic manipulators, and in particular, relates to a brewing container clamping manipulator and a brewing device. Background Art

[0002] Mechanical grippers are widely used in industrial automation, robotics, assembly lines, and warehousing systems. They can perform a variety of gripping and grasping tasks, from small objects to large workpieces.

[0003] Patent CN205166923U discloses a cup-taking robot, including a driving mechanism and a clamping mechanism, wherein the power output end of the driving mechanism is connected to the clamping mechanism; the clamping mechanism includes an active claw mechanism, a driven claw mechanism, a base, and a first motor fixedly mounted on the base, wherein the output end of the first motor is fixedly connected to the power input end of the active claw mechanism, and the power output end of the active claw mechanism is connected to the driven claw mechanism to drive the driven claw mechanism to move toward or away from each other. The utility model controls the rotation of the first motor to make the active claw mechanism and the driven claw mechanism move toward or away from each other to achieve the action of clamping and releasing, and has the beneficial effects of simple structure, automatic control, and stable and reliable.

[0004] In the above patent, the mechanical claw transmission uses a gear structure mechanical transmission and has no self-locking mechanism. During the clamping process, the cup cannot be clamped stably, and the clamping force point with the cup is small, which can easily cause damage to the cup. Utility Model Content

[0005] The purpose of the utility model is to provide a brewing container clamping manipulator and a brewing device that can solve the above technical problems.

[0006] In order to achieve the above purpose, the utility model adopts the following technical solutions:

[0007] The brewing container clamping robot comprises a base, a lifting mechanism, a weight sensing device and a clamping claw, wherein the number of the clamping claws is two, and the two clamping claws are distributed in a mirror-symmetrical manner about a central axis, a claw transmission mechanism is connected to the rear end of the clamping claw, the claw transmission mechanism comprises a wire shaft and a transmission nut fixed on the wire shaft, the transmission nut is connected to the clamping claw through a transmission connecting rod, the wire shaft is arranged on the central axis, the lifting mechanism is connected to the base, the weight sensing device is connected to the lifting mechanism, and the clamping claw is placed on the weight sensing device.

[0008] Furthermore, the transmission connecting rod is rotationally connected to the clamping claw via a pin a, and the transmission connecting rod is rotationally connected to the transmission nut via a pin b.

[0009] Furthermore, the clamping claw is also provided with a fixed shaft, the clamping claw rotates around the fixed shaft, and the fixed shaft and the pin shaft a are on a first straight line.

[0010] Furthermore, the first straight line and the central axis are distributed at a crossing angle.

[0011] Furthermore, the aperture of the inner side wall of the clamping claw gradually decreases from top to bottom in the vertical direction.

[0012] Furthermore, a cup holder protrusion is provided on the inner side wall of the clamping claw.

[0013] Furthermore, the lifting mechanism includes a vertically arranged lifting rod, and one end of the weight sensing device is connected to the lifting rod.

[0014] Furthermore, the lifting mechanism may be any one of a screw-type lifting mechanism, a pneumatic lifting mechanism and a push rod lifting mechanism.

[0015] Furthermore, the weight sensing device comprises a sensing portion, and the clamping claw is vertically arranged above the sensing portion.

[0016] The present application also provides a brewing device, which includes the brewing container clamping robot.

[0017] Compared with the existing technology, the advantages of the present application are: by utilizing the wire shaft to drive the clamping claw, the wire shaft transmission mechanism can achieve relatively high transmission accuracy and has a self-locking characteristic, that is, it can maintain the stability of its position when it stops rotating and is not easily affected by external torque, thus preventing the vibration of the equipment from affecting the clamping effect during movement, causing the cup to fall from the clamping claw. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Figure 1 This is a top view of the main structure of the brewing container clamping manipulator of the utility model;

[0019] Figure 2 This is a bottom view of the main structure of the brewing container clamping manipulator of the utility model;

[0020] Figure 3 for Figure 1 Details of the main structure of the middle A area;

[0021] Figure 4 This is a diagram of the clamping claw structure of the utility model in an open state;

[0022] Figure 5 for Figure 4 A top view of the clamping claw structure of the utility model in an open state;

[0023] Figure 6This is a diagram of the clamping claw structure of the utility model in a closed state;

[0024] Figure 7 for Figure 6 A top view of the clamping claw structure of the utility model in an open state;

[0025] Figure 8 for Figure 6 Details of the main structure of the middle B area;

[0026] In the figure, base 1, lifting mechanism 2, lifting rod 20, weight sensing device 3, sensing part 30, clamping claw 4, claw transmission mechanism 40, wire shaft 400, transmission nut 401, transmission connecting rod 402, pin a 403, pin b 404, fixed shaft 405, cup holder protrusion 406, central axis x1, and first straight line x2. DETAILED DESCRIPTION

[0027] The following are specific embodiments of the present invention and the accompanying drawings to further describe the technical solution of the present invention, but the present invention is not limited to these embodiments.

[0028] Embodiment 1

[0029] The brewing container clamping robot comprises a base 1, a lifting mechanism 2, a weight sensing device 3 and a clamping claw 4. There are two clamping claws 4, and the two clamping claws 4 are distributed in a mirror-symmetrical manner about the central axis x1. The rear end of the clamping claw 4 is connected to a claw transmission mechanism 40. The claw transmission mechanism 40 comprises a wire shaft 400 and a transmission nut 401 fixed on the wire shaft 400. The transmission nut 401 is connected to the clamping claw 4 through a transmission connecting rod 402. The wire shaft 400 is set on the central axis x1. The lifting mechanism 2 is connected to the base 1, the weight sensing device 3 is connected to the lifting mechanism 2, and the clamping claw 4 is placed on the weight sensing device 3.

[0030] In this embodiment, the clamping claw 4 is used to clamp the cup, and the claw transmission mechanism 40 can make the clamping claw 4 open and close, so as to achieve the effect of clamping and releasing the cup; the transmission nut 401 and the wire shaft 400 are connected by a thread, and when the wire shaft 400 is driven by the rear-end motor to rotate forward or reverse, the transmission nut 401 can move in the direction of the central axis x1; the lifting mechanism 2 can drive the clamping claw 4 to move in the Z-axis direction.

[0031] The clamping claw 4 is arranged on the weight sensing device 3. When the clamping claw 4 clamps the cup and performs operation, the weight sensing device 3 can transmit a receipt signal to the control system according to the added weight in the cup, thereby achieving a system control effect.

[0032] The transmission connecting rod 402 is rotationally connected to the clamping claw 4 via a pin a 403 , and the transmission connecting rod 402 is rotationally connected to the transmission nut 401 via a pin b 404 .

[0033] The transmission connecting rod 402 connects the clamping claw 4 with the transmission nut 401 . When the transmission nut 401 moves along the central axis x1 , it drives the transmission connecting rod 402 to move.

[0034] A fixed shaft 405 is also provided on the clamping claw 4. The clamping claw 4 rotates around the fixed shaft 405. The fixed shaft 405 and the pin shaft a403 are located on a first straight line x2.

[0035] A torque is formed between the connection between the transmission connecting rod 402 and the clamping claw 4 and the fixed shaft 405, which then drives the clamping claw 4 to rotate around the fixed shaft 405, thereby achieving the effect of opening and closing the clamping claw 4.

[0036] The first straight line x2 is distributed at a crossing angle with the central axis x1.

[0037] The angular distribution is beneficial to the force transmission of the transmission link 402, so that the clamping claw 4 can perform the opening and closing movement more stably.

[0038] The aperture of the inner wall of the clamping claw 4 decreases gradually from top to bottom in the vertical direction.

[0039] The design of the gradually decreasing aperture of the inner side wall of the clamping claw 4 conforms to the outer contour of the clamped cup, so that the cup can be stably fixed in the clamping claw 4 .

[0040] A cup holder protrusion 406 is provided on the inner side wall of the clamping claw 4 .

[0041] The cup holder raised portion 406 cooperates with the raised ring portion at the mouth of the cup, so that the cup can be placed in the clamping claws.

[0042] The lifting mechanism 2 includes a vertically arranged lifting rod 20 , and one end of the weight sensing device 3 is connected to the lifting rod 20 .

[0043] One end of the lifting rod 20 is connected to a motor, and the motor drives the lifting rod 20, so that the weight sensing device 3 and the clamping claw 4 on the weight sensing device 3 move in the Z axis.

[0044] The lifting mechanism 2 can be any one of a screw type lifting mechanism, a pneumatic type lifting mechanism and a push rod type lifting mechanism.

[0045] In this embodiment, the lifting mechanism 2 is a screw-type lifting mechanism, and the weight sensing device 3 is connected to the lifting rod 20 through a threaded connection. The lifting rod 20 rotates to drive the weight sensing device 3 to move up and down.

[0046] The weight sensing device 3 includes a sensing portion 30 , and the clamping claw 4 is vertically disposed above the sensing portion 30 .

[0047] The sensing part 30 is provided with a pressure rod, which generates an electrical signal when the weight of the pressure rod changes and transmits the electrical signal to the control system.

[0048] Embodiment 2

[0049] The structure and principle of this embodiment are basically the same as those of the first embodiment, and the different structure is that, with respect to the brewing container clamping robot of the first embodiment, the brewing device of this embodiment includes a brewing container clamping robot.

[0050] In this embodiment, the brewing container clamping manipulator is fixed on a mobile platform, and the mobile platform can drive the brewing container clamping manipulator to move on the X-axis and the Y-axis, and cooperate with the lifting mechanism 2 in the brewing container clamping manipulator to operate within three axes to achieve multi-state position adjustment;

[0051] Working principle:

[0052] When the customer needs to use the brewing equipment, the mobile platform drives the brewing container clamping robot to move to the cup installation place, and the lifting mechanism 2 drives the clamping claw 4 to move up. After the cup falls into the clamping claw 4, the clamping claw 4 clamps the cup, and the mobile platform moves the brewing container clamping robot to the discharge area for loading. When the loading weight reaches the set value, the weight sensing device 3 transmits a signal to the system, and the system controls the mobile platform to move the brewing container clamping robot to the brewing area for adding water for brewing. After completion, the mobile platform drives the brewing container clamping robot to move to the finished product area, and the clamping claw 4 opens to place the cup in the finished product area to complete the operation process.

[0053] The specific embodiments described herein are merely examples of the spirit of the present invention. Those skilled in the art may make various modifications or additions to the specific embodiments described or replace them in similar ways, but they will not deviate from the spirit of the present invention or exceed the scope defined by the appended claims.

Claims

1. A brewing container clamping manipulator, comprising a base (1), a lifting mechanism (2), a weight sensing device (3) and a clamping claw (4), wherein the clamping claws (4) are two and the two clamping claws (4) are distributed in a mirror-symmetrical manner about a central axis (x1), characterized in that: The rear end of the clamping claw (4) is connected to a claw transmission mechanism (40), the claw transmission mechanism (40) comprises a wire shaft (400), a transmission nut (401) fixed on the wire shaft (400), the transmission nut (401) is connected to the clamping claw (4) via a transmission connecting rod (402), the wire shaft (400) is arranged on the central axis (x1), the lifting mechanism (2) is connected to the base (1), the weight sensing device (3) is connected to the lifting mechanism (2), and the clamping claw (4) is placed on the weight sensing device (3).

2. The brewing container gripping robot according to claim 1, characterized in that: The transmission connecting rod (402) is rotationally connected to the clamping claw (4) via a pin a (403), and the transmission connecting rod (402) is rotationally connected to the transmission nut (401) via a pin b (404).

3. The brewing container gripping robot according to claim 2, characterized in that: The clamping claw (4) is also provided with a fixed shaft (405), and the clamping claw (4) rotates around the fixed shaft (405), and the fixed shaft (405) and the pin shaft a (403) are located on a first straight line (x2).

4. The brewing container gripping robot according to claim 3, characterized in that: The first straight line (x2) and the central axis (x1) are distributed at a crossing angle.

5. The brewing container gripping robot according to claim 1, characterized in that: The aperture of the inner side wall of the clamping claw (4) gradually decreases from top to bottom in the vertical direction.

6. The brewing container gripping robot according to claim 5, characterized in that: A cup holder protrusion (406) is provided on the inner side wall of the clamping claw (4).

7. The brewing container gripping robot according to claim 1, characterized in that: The lifting mechanism (2) comprises a vertically arranged lifting rod (20), and one end of the weight sensing device (3) is connected to the lifting rod (20).

8. The brewing container gripping robot according to claim 7, characterized in that: The lifting mechanism (2) is any one of a screw-type lifting mechanism, a pneumatic lifting mechanism and a push rod lifting mechanism.

9. The brewing container gripping robot according to claim 1, characterized in that: The weight sensing device (3) comprises a sensing portion (30), and the clamping claw (4) is vertically arranged above the sensing portion (30).

10. A brewing device, characterized in that The brewing device comprises the brewing container clamping robot according to any one of claims 1-9.

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