Coffee robot with multifunctional clamping jaw

Abstract

The utility model discloses a coffee robot with a multifunctional clamping jaw, which relates to the technical field of coffee robots and comprises a mechanical arm body, a clamping mechanism and a rotating mechanism, a pneumatic clamping jaw body is arranged at the output end of the mechanical arm body, a slider is arranged at the output end of the pneumatic clamping jaw body, and the clamping mechanism comprises a connecting plate. Clamping pieces are arranged on the two sides of the connecting plate, the rotating mechanism comprises a rotating shaft, the rotating shaft is fixedly connected to the back face of the connecting plate, a rotating hole is formed in the front face of the sliding block, and the outer wall of the rotating shaft is rotationally connected with the inner wall of the rotating hole. By means of the arrangement of the clamping mechanism and the rotating mechanism, the rotating shaft rotates in the rotating hole, so that the connecting plate can rotate, clamping pieces in different shapes can be replaced and used every time the connecting plate rotates by 180 degrees, the robot can receive coffee, and the robot can also receive coffee. And a stirring rod can be clamped to stir coffee to participate in the coffee preparation process, so that the functionality of the robot is improved.

Description

Technical Field

[0001] The utility model relates to the technical field of coffee robots, in particular to a coffee robot with multifunctional grippers. Background Art

[0002] With the development of automation, coffee robots have become a common intelligent device in offices. Their main structure consists of a robotic arm and a pneumatic gripper. The robotic arm drives the pneumatic gripper to move to the cup position, and then the pneumatic gripper clamps the cup. The robotic arm then drives the pneumatic gripper to move to the coffee receiving point, allowing the coffee to flow into the cup. Finally, the cup filled with coffee is moved to the user's position by the robotic arm.

[0003] However, the pneumatic grippers on current coffee robots can only be used to grip cups. Since cups are round, the clamping parts on the pneumatic grippers are mostly arc-shaped or V-shaped, which makes it inconvenient to clamp other objects, resulting in fewer functions of the grippers. To this end, we propose a coffee robot with a multifunctional gripper. Utility Model Content

[0004] The purpose of the present utility model is to provide a coffee robot with a multifunctional gripper to solve the problems raised in the above background technology.

[0005] To achieve the above objectives, the present invention provides the following technical solutions: a coffee robot with a multifunctional gripper, comprising:

[0006] A mechanical arm body, wherein the output end of the mechanical arm body is provided with a pneumatic gripper body, and the output end of the pneumatic gripper body is symmetrically slidably provided with a slider;

[0007] A clamping mechanism, the clamping mechanism comprising a connecting plate, the connecting plate being arranged on the front side of the slider, and clamping members being arranged on both sides of the connecting plate;

[0008] The rotating mechanism is arranged between the connecting plate and the slider. The rotating mechanism includes a rotating shaft, which is fixedly connected to the back of the connecting plate. A rotating hole is opened on the front of the slider. The outer wall of the rotating shaft is rotatably connected to the inner wall of the rotating hole.

[0009] Preferably, the clamping pieces on both sides of the connecting plate have different shapes, a countersunk hole is provided on one side of the clamping piece, a socket is provided on the inner wall of the countersunk hole, a fixing bolt is movably inserted and connected to the inner wall of the socket, a threaded hole is provided on one side of the connecting plate, and the outer wall of the fixing bolt is threadedly connected to the inner wall of the threaded hole.

[0010] Preferably, a movable cavity is provided inside the slider, the interior of the movable cavity is communicated with the interior of the rotating hole, one end of the rotating shaft is located inside the movable cavity and is fixedly connected to a first bevel gear, the inner wall of the movable cavity is provided with a rotating groove, the inner wall of the rotating groove is rotatably connected to a rotating rod, the outer wall of the rotating rod is fixedly sleeved with a second bevel gear, and the outer wall of the second bevel gear is meshed with the outer wall of the first bevel gear.

[0011] Preferably, a through hole is provided on one side of the slider, a square rod is inserted into the through hole, a square hole is provided at one end of the rotating rod, and the outer wall of the square rod is movably connected to the inner wall of the square hole.

[0012] Preferably, a plurality of ball holes are opened on the inner wall of the square hole, and rolling balls are movably arranged on the inner wall of the ball hole, and the outer wall of the rolling ball is fitted with the outer wall of the square rod.

[0013] Preferably, L-shaped plates are fixedly connected to both sides of the slider, and the two ends of the square rod are rotatably connected to the outer walls of the two L-shaped plates respectively. A servo motor is installed on the outer wall of one of the L-shaped plates, and the output end of the servo motor is transmission-connected to one end of the square rod.

[0014] Technical effects and advantages of this utility model:

[0015] The utility model utilizes the arrangement of a clamping mechanism and a rotating mechanism. The connecting plate can be rotated by rotating the rotating shaft in the rotating hole. Each time the connecting plate rotates 180 degrees, clamping pieces of different shapes can be replaced and used. The robot can not only receive coffee, but also stir the coffee by clamping the stirring rod, thereby participating in the coffee preparation process. This improves the functionality of the robot. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 It is a schematic diagram of the three-dimensional structure of the utility model.

[0017] Figure 2 For this utility model Figure 1 Schematic diagram of the local enlarged structure at point A.

[0018] Figure 3 This is a schematic diagram of the cross-sectional structure of the slider of the utility model.

[0019] Figure 4 For this utility model Figure 3 Schematic diagram of the local enlarged structure at point B.

[0020] In the figure: 101, robot arm body; 102, pneumatic gripper body; 103, slider; 201, connecting plate; 202, rotating hole; 203, rotating shaft; 301, clamping part; 302, socket; 303, fixing bolt; 304, countersunk hole; 305, threaded hole; 401, movable cavity; 402, first bevel gear; 403, rotating groove; 404, rotating rod; 405, second bevel gear; 501, through hole; 502, square rod; 503, square hole; 601, ball hole; 602, rolling ball; 701, L-shaped plate; 702, servo motor. DETAILED DESCRIPTION

[0021] The following will be combined with the accompanying drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the embodiments described are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of the present invention.

[0022] The utility model provides Figure 1-Figure 4 The coffee robot with a multifunctional gripper shown includes a robotic arm body 101, a clamping mechanism and a rotating mechanism. The output end of the robotic arm body 101 is provided with a pneumatic gripper body 102, and the output end of the pneumatic gripper body 102 is symmetrically slidably provided with a slider 103. The pneumatic gripper body 102 is moved to the cup position by the operation of the robotic arm body 101, and then the pneumatic gripper body 102 is operated to move the slider 103, thereby driving the clamping mechanism to work and clamp the cup, and then the cup is moved to the coffee making place to receive the coffee by the operation of the robotic arm body 101.

[0023] In a preferred embodiment, the clamping mechanism includes a connecting plate 201, which is arranged on the front side of the slider 103, and clamping members 301 are provided on both sides of the connecting plate 201. The rotating mechanism is arranged between the connecting plate 201 and the slider 103, and the rotating mechanism includes a rotating shaft 203, which is fixedly connected to the back side of the connecting plate 201, and a rotating hole 202 is opened on the front side of the slider 103. The outer wall of the rotating shaft 203 is rotatably connected to the inner wall of the rotating hole 202. The clamping members 301 on both sides of the connecting plate 201 have different shapes. The rotating shaft 203 is rotated in the rotating hole 202, so that the connecting plate 201 can be rotated, so that each time the connecting plate 201 rotates 180 degrees, the clamping members 301 of different shapes can be replaced and used, so that the robot can not only receive coffee, but also stir the coffee by clamping the stirring rod, thereby participating in the coffee preparation process, thereby improving the functionality of the robot.

[0024] Among them, a countersunk hole 304 is provided on one side of the clamping member 301, and a socket 302 is provided on the inner wall of the countersunk hole 304. A fixing bolt 303 is movably inserted and connected to the inner wall of the socket 302. A threaded hole 305 is provided on one side of the connecting plate 201. The outer wall of the fixing bolt 303 is threadedly connected to the inner wall of the threaded hole 305. The fixing bolt 303 passes through the countersunk hole 304 and the socket 302, and then is screwed into the threaded hole 305. The clamping member 301 can be fixed to the connecting plate 201, so that the clamping member 301 can work stably.

[0025] Among them, the interior of the slider 103 is provided with a movable cavity 401, the interior of the movable cavity 401 is communicated with the interior of the rotating hole 202, one end of the rotating shaft 203 is located in the interior of the movable cavity 401 and is fixedly connected with the first bevel gear 402, the inner wall of the movable cavity 401 is provided with a rotating groove 403, the inner wall of the rotating groove 403 is rotatably connected with a rotating rod 404, the outer wall of the rotating rod 404 is fixedly sleeved with a second bevel gear 405, the outer wall of the second bevel gear 405 is meshed with the outer wall of the first bevel gear 402, and the rotation of the second bevel gear 405 can drive the meshed first bevel gear 402 to rotate, thereby driving the rotating shaft 203 to rotate, and then driving the connecting plate 201 to rotate, so as to achieve the effect of replacing the clamping member 301.

[0026] Among them, a through hole 501 is opened on one side of the slider 103, and a square rod 502 is inserted into the inside of the through hole 501, and a square hole 503 is opened at one end of the rotating rod 404. The outer wall of the square rod 502 is movably connected with the inner wall of the square hole 503, and the square rod 502 can rotate in the through hole 501, and then the shape of the square hole 503 matches the shape of the square rod 502, so that the square rod 502 and the rotating rod 404 can slide relative to each other, and then the square rod 502 and the rotating rod 404 will not rotate relative to each other, so that the rotation of the square rod 502 can drive the rotating rod 404 to rotate, thereby driving the second bevel gear 405 to rotate, and the setting of the square rod 502 will not affect the movement of the slider 103.

[0027] Among them, the inner wall of the square hole 503 is provided with a plurality of ball holes 601, and the inner wall of the ball hole 601 is movably provided with a rolling ball 602, and the outer wall of the rolling ball 602 is fitted with the outer wall of the square rod 502. Through the setting of the rolling ball 602, when the slider 103 moves and drives the rotating rod 404 to move, the rolling ball 602 will roll along the outer wall of the square rod 502, with less friction and smoother operation.

[0028] Among them, both sides of the slider 103 are fixedly connected with L-shaped plates 701, and the two ends of the square rod 502 are rotatably connected to the outer walls of the two L-shaped plates 701 respectively. A servo motor 702 is installed on the outer wall of one of the L-shaped plates 701, and the output end of the servo motor 702 is transmission-connected to one end of the square rod 502. The square rod 502 is connected to the L-shaped plate 701 through a square hole bearing. The servo motor 702 can drive the square rod 502 to rotate, thereby improving the convenience and stability of the rotation of the square rod 502.

[0029] Finally, it should be noted that the above is only a preferred embodiment of the present invention and is not intended to limit the present invention. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art can still modify the technical solutions described in the aforementioned embodiments or make equivalent replacements for some of the technical features therein. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principles of the present invention should be included in the scope of protection of the present invention.

Claims

1. A coffee robot with a multifunctional gripper, characterized in that: include: A mechanical arm body (101), wherein the output end of the mechanical arm body (101) is provided with a pneumatic gripper body (102), and the output end of the pneumatic gripper body (102) is symmetrically slidably provided with a slider (103); A clamping mechanism, the clamping mechanism comprising a connecting plate (201), the connecting plate (201) being arranged on the front side of the slider (103), and clamping members (301) being arranged on both sides of the connecting plate (201); A rotating mechanism is provided between the connecting plate (201) and the slider (103), and comprises a rotating shaft (203). The rotating shaft (203) is fixedly connected to the back side of the connecting plate (201); a rotating hole (202) is provided on the front side of the slider (103); and the outer wall of the rotating shaft (203) is rotatably connected to the inner wall of the rotating hole (202).

2. The coffee robot with a multifunctional gripper according to claim 1, characterized in that: The clamping members (301) on both sides of the connecting plate (201) have different shapes. A countersunk hole (304) is provided on one side of the clamping member (301). An insertion hole (302) is provided on the inner wall of the countersunk hole (304). A fixing bolt (303) is movably inserted and connected to the inner wall of the insertion hole (302). A threaded hole (305) is provided on one side of the connecting plate (201). The outer wall of the fixing bolt (303) is threadedly connected to the inner wall of the threaded hole (305).

3. The coffee robot with a multifunctional gripper according to claim 1, characterized in that: The slider (103) is provided with an active cavity (401), the interior of the active cavity (401) is communicated with the interior of the rotating hole (202), one end of the rotating shaft (203) is located inside the active cavity (401) and is fixedly connected with a first bevel gear (402), the inner wall of the active cavity (401) is provided with a rotating groove (403), the inner wall of the rotating groove (403) is rotatably connected with a rotating rod (404), the outer wall of the rotating rod (404) is fixedly sleeved with a second bevel gear (405), and the outer wall of the second bevel gear (405) is meshed with the outer wall of the first bevel gear (402).

4. The coffee robot with a multifunctional gripper according to claim 3, characterized in that: A through hole (501) is provided on one side of the slider (103), a square rod (502) is inserted into the through hole (501), a square hole (503) is provided on one end of the rotating rod (404), and the outer wall of the square rod (502) is movably connected to the inner wall of the square hole (503).

5. The coffee robot with multifunctional gripper according to claim 4, characterized in that: The inner wall of the square hole (503) is provided with a plurality of ball holes (601), and the inner wall of the ball hole (601) is movably provided with a rolling ball (602), and the outer wall of the rolling ball (602) is arranged in contact with the outer wall of the square rod (502).

6. The coffee robot with multifunctional gripper according to claim 4, characterized in that: Both sides of the slider (103) are fixedly connected to L-shaped plates (701), and the two ends of the square rod (502) are respectively rotatably connected to the outer walls of the two L-shaped plates (701). A servo motor (702) is installed on the outer wall of one of the L-shaped plates (701), and the output end of the servo motor (702) is transmission-connected to one end of the square rod (502).

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