Robot stirring equipment with stirrer convenient to replace

Abstract

The utility model discloses robot stirring equipment convenient for replacing stirrers, which comprises a base, a manipulator and a plurality of stirrers, the plurality of stirrers are circumferentially and uniformly arranged around the manipulator by taking the manipulator as a center, and the manipulator can clamp at least one of the stirrers arranged around. The stirrer is detachably connected with the manipulator, the manipulator is rotatably connected with the base, and the robot stirring equipment is convenient to clamp the stirrer, high in integration level, multiple in stirrer variety and convenient to operate.

Description

Technical Field

[0001] The utility model relates to the technical field of stirring equipment, in particular to a robot stirring equipment which is convenient for replacing a stirrer. Background Art

[0002] In existing robotic mixing equipment, the agitator and the manipulator often have an unreasonable layout problem, and the distance between the two is too far, which requires the manipulator to travel a long distance when grabbing the agitator. This not only increases the operation time, but also easily causes shaking during movement due to the long path, affecting the grabbing stability. When there are a large number of agitators, the placement of the agitators is prone to confusion, and at this time, it is easy for the manipulator to cause inconvenience when clamping the agitator it needs. Some existing processing workshops arrange for manual labor to take the agitator for installation, but this consumes a lot of manpower, is inconvenient to operate, and takes up a large space. Utility Model Content

[0003] In view of the deficiencies in the prior art, the purpose of the present invention is to provide a robotic stirring device that is easy to replace the stirrer, so as to solve the problems of inconvenience in replacing the stirrer by the manipulator and low integration of the stirrer raised in the above background technology.

[0004] To achieve the above-mentioned purpose, the utility model provides the following technical solutions: a robotic stirring device that is convenient for replacing stirrers, comprising a base, a manipulator, and a plurality of stirrers, wherein the plurality of stirrers are evenly distributed circumferentially around the manipulator with the manipulator as the center, and the manipulator is capable of clamping at least one of the stirrers arranged around it, the stirrer is detachably connected to the manipulator, and the manipulator is rotatably connected to the base.

[0005] As a further improvement of the present invention, the manipulator is provided with a clamping claw assembly and a driving mechanism for driving the clamping claw assembly to clamp the agitator. The driving mechanism includes an actuator and a gear. The actuator is connected to the gear, and the gear is connected to the clamping claw assembly. The actuator drives the gear to rotate to drive the clamping claw assembly to clamp the agitator.

[0006] As a further improvement of the present invention, the clamping jaw assembly includes a first claw arm, a second claw arm, and a third claw arm. The three claw arms are each provided with a tooth edge for engaging with the gear on one side corresponding to the gear. The first claw arm, the second claw arm, and the third claw arm are evenly distributed in the same direction along the outer peripheral wall of the gear.

[0007] As a further improvement of the present invention, two adjacent claw arms can offset each other after moving.

[0008] As a further improvement of the present invention, the stirrer is provided with a clamping head for cooperating with the clamping claw assembly for clamping, and the clamping head is arranged in a circular shape.

[0009] As a further improvement of the present invention, the inner walls of the first claw arm, the second claw arm and the third claw arm on the side corresponding to the clamping head are all provided with arc-shaped walls that match the outer peripheral walls thereof.

[0010] As a further improvement of the present invention, a non-slip rubber pad is pasted on the arc-shaped wall.

[0011] As a further improvement of the present invention, it further comprises a stirrer seat for placing the stirrer vertically on the ground, and a plurality of stirrers are evenly distributed and plugged into the stirrer seat.

[0012] Compared with the prior art, the present invention provides a robotic mixing device that facilitates the replacement of agitators, and has the following beneficial effects: By evenly distributing several agitators circumferentially with the manipulator as the center, the present invention greatly shortens the distance between the agitator and the manipulator, significantly shortens the manipulator's grasping stroke, reduces operation time, reduces the risk of grasping shaking, and improves stability. The circumferentially uniform layout also achieves compactness of the equipment, improves integration, and effectively saves installation space. The agitator and the manipulator adopt a detachable connection method, which facilitates and quickly replaces the agitator. The design of the rotatable connection between the manipulator and the base, combined with the circumferentially distributed agitators, allows the manipulator to flexibly rotate and select different agitators, firmly grasping various agitators, with strong versatility, improving the working efficiency and reliability of the equipment. BRIEF DESCRIPTION OF THE DRAWINGS

[0013] Figure 1 It is a three-dimensional diagram of the utility model;

[0014] Figure 2 This is a diagram showing the internal structure of the driving mechanism when the clamping jaw assembly of the present invention is released;

[0015] Figure 3 This is a diagram showing the internal structure of the drive mechanism of the utility model after the clamping jaw assembly is folded;

[0016] Figure 4 This is a top view of the agitators of the present invention arranged in an arc shape.

[0017] Figure numerals: 1. base; 2. manipulator; 3. agitator; 4. clamping claw assembly; 5. driving mechanism; 6. agitator base; 31. clamping head; 41. first claw arm; 42. second claw arm; 43. third claw arm; 44. tooth edge; 45. curved wall; 46. anti-slip rubber pad; 51. actuator; 52. gear. DETAILED DESCRIPTION

[0018] An embodiment of the present invention is shown in the figure. In order to achieve the above-mentioned purpose, the present invention provides a robot stirring device that is easy to replace the stirrer 3, including a base 1, a manipulator 2, and a plurality of stirrers 3. The plurality of stirrers 3 are circumferentially evenly distributed around the manipulator 2 with the manipulator 2 as the center. The manipulator 2 can clamp at least one of the stirrers 3 arranged around the four sides. The stirrer 3 is detachably connected to the manipulator 2, and the manipulator 2 is rotatably connected to the base 1.

[0019] During implementation of this solution, the base 1 serves as a basic support component and is placed on a working plane, which is generally the ground. The manipulator 2 can be connected to the base 1 by setting a revolute pair, and can be flexibly rotated around the base 1. A plurality of stirrers 3 are evenly distributed around the manipulator 2 with the manipulator 2 as the center. When the agitator 3 needs to be replaced, the manipulator 2 uses its own clamping mechanism to clamp the existing clamped agitator 3 to the position where the agitator 3 is placed, and releases the currently used agitator 3 through detachable methods such as snapping and clipping. Then, it rotates to the position of the agitator 3 to be replaced, and clamps the new agitator 3 with the same clamping methods such as snapping and clipping, and re-connects it firmly to the manipulator 2 through the detachable structure. During the whole process, the manipulator 2 can quickly locate each agitator 3 by virtue of the rotation connection with the base 1, so as to realize convenient replacement of the agitator 3. In this solution, several agitators 3 are evenly distributed around the manipulator 2 and arranged in an L shape, so that the manipulator 2 does not need to move, but only needs to rotate in place to clamp the agitators 3 at different positions. In other solutions, those skilled in the art may also arrange several agitators 3 in an arc position with the manipulator 2 as the center.

[0020] As an improved specific embodiment, the manipulator 2 is provided with a clamping jaw assembly 4 and a driving mechanism 5 for driving the clamping jaw assembly 4 to clamp the agitator 3. The driving mechanism 5 includes an actuator 51 and a gear 52. The actuator 51 is connected to the gear 52, and the gear 52 is connected to the clamping jaw assembly 4. The actuator 51 drives the gear 52 to rotate to drive the clamping jaw assembly 4 to clamp the agitator 3.

[0021] When this solution is implemented, the actuator 51 on the manipulator 2 is powered on and started, driving the gear 52 connected to it to start rotating. In this solution, a motor is preferably used as the actuator 51, and the gear 52 is correspondingly arranged at the output end of the motor. When the gear 52 rotates toward the loosening direction of the clamping jaw assembly 4, the clamping jaw can evenly loosen the currently used agitator 3. Subsequently, the manipulator 2 rotates to the position of the agitator 3 to be replaced, and the actuator 51 drives the gear 52 in reverse, driving the clamping jaw assembly 4 to close and clamp the new agitator 3. The actuator 51 controls the forward and reverse drive of the gear 52 to achieve stable clamping and loosening actions of the clamping jaw assembly 4, and cooperates with the rotation of the manipulator 2 to complete the clamping and replacement of the agitator 3.

[0022] As an improved specific embodiment, the clamping jaw assembly 4 includes a first claw arm 41, a second claw arm 42, and a third claw arm 43. The three claw arms are each provided with a tooth edge 44 for engaging with the gear 52 on one side corresponding to the gear 52. The first claw arm 41, the second claw arm 42, and the third claw arm 43 are evenly distributed in the same direction along the outer peripheral wall of the gear 52; two adjacent claw arms can offset each other after movement.

[0023] When this solution is implemented, the actuator 51 drives the gear 52 to rotate, and the first, second and third claw arms engage with the gear 52 through the tooth edge 44 and move synchronously in the radial direction. When the gear 52 rotates forward, the three claw arms move outward to loosen the agitator 3; when it rotates backward, the three claw arms move inward, and the adjacent claw arms abut against each other, clamping the agitator 3 from multiple directions. The forward rotation and reverse rotation of the gear 52 in this embodiment only represent two different and relative rotation directions, which are used to tighten or loosen the claw arms, and when the gear 52 is rotated to tighten the three claw arms, the end of the first claw arm 41 facing the second claw arm 42 can abut against the second claw arm 42, the end of the second claw arm 42 facing the third claw arm 43 can abut against the third claw arm 43, and the end of the third claw arm 43 facing the first claw arm 41 can abut against the first claw arm 41. The three are closed to form a triangle, and the gear 52 is located between the three. This scheme does not require the use of multiple gears 52 when implemented, has a simple structure, is easy to operate, and can tighten the three claw arms synchronously, and is not prone to position deviation.

[0024] As an improved specific embodiment, the agitator 3 is provided with a clamping head 31 for cooperating with the clamping claw assembly 4 for clamping, and the clamping head 31 is arranged in a circular shape; the inner walls of the first claw arm 41, the second claw arm 42, and the third claw arm 43 corresponding to the side of the clamping head 31 are all provided with an arc-shaped wall 45 adapted to the outer peripheral wall thereof; and the arc-shaped wall 45 is pasted with an anti-slip rubber pad 46.

[0025] When this solution is implemented, the circular clamping head 31 of the agitator 3 is adapted to the arc-shaped walls 45 of the inner walls of the first, second and third claw arms. For example, in this solution, the agitator 3 adopts a circular clamping head 31. At this time, the inner walls of the first, second and third claw arms should all be arc-shaped walls 45 to adapt to the outer peripheral walls of the circular clamping head 31. When the three claw arms move inward and clamp, the arc-shaped walls 45 fit the outer periphery of the clamping head 31. The anti-slip rubber pads 46 on the arc-shaped walls 45 increase the friction force to prevent the agitator 3 from slipping and achieve stable clamping. The anti-slip rubber pads 46 are set by gluing, which makes installation and replacement more convenient.

[0026] As an improved specific implementation method, it also includes a stirrer 3 seat for vertically placing the stirrer 3 on the ground, and a plurality of stirrers 3 are evenly distributed and plugged into the stirrer 3 seat.

[0027] When this solution is implemented, three stirrers are provided. The stirrers 3 can be evenly and vertically plugged into the stirrers 3 to facilitate the robot 2 to grab them, and the structure is simple.

[0028] The above description is merely a preferred embodiment of the present invention. The scope of protection of the present invention is not limited to the above embodiment. All technical solutions based on the concept of the present invention are within the scope of protection of the present invention. It should be noted that for those skilled in the art, certain improvements and modifications that do not depart from the principles of the present invention should also be considered within the scope of protection of the present invention.

Claims

1. A robotic stirring device that is easy to replace a stirrer, comprising a base, a manipulator, and several stirrers, characterized in that: Several agitators are evenly distributed around the manipulator with the manipulator as the center. The manipulator can clamp at least one of the agitators arranged around it. The agitator is detachably connected to the manipulator, and the manipulator is rotatably connected to the base.

2. The robot stirring device for facilitating stirrer replacement according to claim 1, characterized in that: The manipulator is provided with a clamping claw assembly and a driving mechanism for driving the clamping claw assembly to clamp the agitator. The driving mechanism includes an actuator and a gear. The actuator is connected to the gear, and the gear is connected to the clamping claw assembly. The actuator drives the gear to rotate to drive the clamping claw assembly to clamp the agitator.

3. The robot stirring device for facilitating stirrer replacement according to claim 2, characterized in that: The clamping jaw assembly includes a first claw arm, a second claw arm, and a third claw arm. The three claw arms are each provided with a tooth edge for engaging with the gear on one side corresponding to the gear. The first claw arm, the second claw arm, and the third claw arm are evenly distributed in the same direction along the outer peripheral wall of the gear.

4. The robotic stirring device for facilitating stirrer replacement according to claim 3, characterized in that: The two adjacent claw arms can offset each other after moving.

5. The robotic stirring device for facilitating stirrer replacement according to claim 3, characterized in that: The stirrer is provided with a clamping head for cooperating with the clamping claw assembly for clamping, and the clamping head is arranged in a circular shape.

6. The robotic stirring device for facilitating stirrer replacement according to claim 5, characterized in that: The inner walls of the first claw arm, the second claw arm and the third claw arm on one side corresponding to the clamping head are all provided with arc-shaped walls that match the outer peripheral walls thereof.

7. The robotic stirring device for facilitating stirrer replacement according to claim 6, characterized in that: An anti-slip rubber pad is pasted on the arc-shaped wall.

8. The robotic stirring device for facilitating stirrer replacement according to claim 1, characterized in that: The utility model also comprises a blender seat for vertically placing the blender on the ground, and a plurality of the blenders are evenly plugged into the blender seat.

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