Manipulator and self-service ice cream maker comprising same

Abstract

The mechanical arm comprises a mechanical arm assembly, a mechanical claw arranged on the mechanical arm assembly and a moving part used for driving the mechanical arm assembly to move, and the mechanical arm assembly is provided with a limiting assembly used for limiting the moving range of the mechanical arm assembly. The limiting assembly limits rotation of the mechanical arm assembly in a mechanical limiting mode. The mechanical arm is flexible in movement and low in cost, and the mechanical arm and peripheral equipment can be protected against damage even if power failure or faults occur suddenly.

Description

Technical Field

[0001] The utility model relates to the technical field of automatic vending equipment, in particular to a manipulator and a self-service ice cream machine containing the manipulator. Background Art

[0002] With the continuous development of social economy and the improvement of people's living standards, consumers' demand for personalized and convenient food continues to grow. As a device that allows consumers to choose the flavor and ingredients to make ice cream, self-service ice cream machines are becoming increasingly popular in the market.

[0003] Most self-service ice cream machines currently on the market use two guide rails in different directions to control the mechanical motion of the ice cream making process. While this guide rail design can meet basic production needs to a certain extent, it also has many obvious limitations and shortcomings.

[0004] First, from a cost perspective, these guide rails are often expensive, which undoubtedly increases the overall cost of the equipment, leading to high purchase and maintenance costs. Second, in terms of freedom of movement, these guide rails only support movement in two fixed directions. They are often unable to effectively perform movements that require multiple directions or more complex trajectories. This significantly limits the flexibility and diversity of the ice cream making process, making it difficult to meet consumers' expectations for personalized and creative ice cream creation. Furthermore, from a consumer experience perspective, while customers wait for their ice cream to be made, this relatively simple and monotonous operation, relying solely on two guide rails, is not very visually appealing. The lack of diverse and engaging movement displays not only fails to provide consumers with visual enjoyment and fun, but may even make the waiting process feel tedious and boring, which in turn affects their overall user experience and evaluation of the self-service ice cream machine. Therefore, there is still room for improvement. Utility Model Content

[0005] In view of the deficiencies in the prior art, the present invention provides a robot and a self-service ice cream machine containing the robot.

[0006] In the first aspect, the present invention provides a manipulator, which adopts the following technical solution:

[0007] A robot comprises a robot arm assembly, a robot claw provided on the robot arm assembly, and a moving part for driving the robot arm assembly to move. The robot arm assembly is provided with a limit assembly for limiting the range of motion of the robot arm assembly. The limit assembly limits the rotation of the robot arm assembly by mechanical limiting.

[0008] Preferably, the robotic arm assembly includes a first arm, a second arm, a third arm, and a fourth arm connected in sequence through joints, the moving part is a drive motor provided at each joint, and the first arm, the second arm, the third arm, and the fourth arm rotate along the joints under the drive of the drive motor;

[0009] The robotic arm assembly further includes a first limiting member, a second limiting member, a third limiting member, and a fourth limiting member for limiting the rotation range of the first arm, the second arm, and the fourth arm.

[0010] Preferably, the first limiting member is arranged at the joint where the third arm and the fourth arm are rotatably connected, and the first limiting member includes a first limiting groove and a first limiting rod that cooperate with each other. When the fourth arm rotates around the joint, the first limiting rod moves in the first limiting groove, and the first limiting groove is arc-shaped; preferably, when the first limiting rod is located at the two end points of the first limiting groove, an angle is formed between the fourth arm and the third arm, and the fourth arm and the third arm always remain in a non-overlapping state.

[0011] Preferably, the second limiting member is provided at the joint where the second arm and the third arm are rotatably connected, and the first limiting member includes a second limiting groove and a second limiting rod that cooperate with each other. When the third arm rotates around the joint, the second limiting rod moves in the second limiting groove, and the second limiting groove is arc-shaped; preferably, when the second limiting rod is located at the two end points of the second limiting groove, an angle is formed between the third arm and the second arm, and the third arm and the second arm always remain in a non-overlapping state.

[0012] Preferably, it also includes a base plate, the first arm is arranged on the base plate for rotation at the joint away from the second arm, the third limit member is arranged at the rotation connection between the first arm and the base plate, the third limit member includes a third limit rod and a first limit plate, and when the third limit rod abuts against the first limit plate, the first arm stops rotating.

[0013] Preferably, the fourth limiting member is provided at the rotational connection between the first support arm and the base plate, and the fourth limiting member includes a limiting plate and a second limiting plate. When the limiting plate abuts against the second limiting plate, the first support arm stops rotating.

[0014] Preferably, the robotic arm assembly is provided with a plurality of proximity light eyes, which are used to determine the position of the robotic arm.

[0015] In the second aspect, the utility model provides a self-service ice cream machine, which adopts the following technical solutions:

[0016] A self-service ice cream machine comprises a machine body, wherein the machine body is provided with a manipulator, a cup dropper, an ice cream discharger, a jam discharger, a small material discharger, and a finished product table;

[0017] The cup dropper, the ice cream discharger, the jam discharger, the small material discharger and the finished product table are all arranged within the travel range of the manipulator.

[0018] Preferably, the mechanical claw is provided with a cup receiving photoelectric eye, and the cup receiving photoelectric eye is used to detect whether there is a cup in the mechanical claw.

[0019] Compared with the prior art, the present invention has the following advantages.

[0020] 1. Through the setting of the first arm, the second arm, the third arm, the fourth arm and the limit assembly, the robot arm can move flexibly in multiple directions; the application of the robot arm to the self-service ice cream machine breaks through the limitation that the traditional guide rails in the self-service ice cream machine can only move in two fixed directions, and can meet more complex movement requirements, providing more possibilities for ice cream making; at the same time, the limit assembly can play a key role in the event of a sudden power outage or failure of the robot arm, preventing the robot arm from colliding due to loss of power control, thereby protecting the robot arm and its peripheral equipment from damage.

[0021] 2. The self-service ice cream machine abandons the expensive guide rail design and adopts a combination of multiple arms and drive motors to replace the expensive guide rails, effectively reducing the overall cost and maintenance cost of the equipment.

[0022] 3. Applying the robot arm to the self-service ice cream machine avoids the monotonous action display of the self-service ice cream machine when automatically making ice cream, enriches the action performance in the ice cream making process, brings better visual enjoyment to consumers, and reduces the boredom during the waiting process. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative labor.

[0024] Figure 1 This is a first side view of a manipulator according to embodiment 1 of the present utility model;

[0025] Figure 2 This is a second side view of a manipulator according to embodiment 1 of the present utility model;

[0026] Figure 3This is an exploded schematic diagram of a manipulator according to Example 1 of the present utility model;

[0027] Figure 4 This is a schematic diagram of the overall structure of a self-service ice cream machine according to Example 2 of the present utility model.

[0028] Figure ID:

[0029] 1. Robotic arm assembly; 11. First arm; 111. Base plate; 112. Planar return bearing; 12. Second arm; 13. Third arm; 14. Fourth arm; 15. Approach light eye; 16. Receiver light eye; 2. Robotic claw; 3. Drive motor; 41. First stopper; 411. First stopper slot; 412. First stopper rod; 42. Second stopper; 421. Second stopper slot; 42 2. Second limit rod; 43. Third limit member; 431. Third limit rod; 432. First limit plate; 44. Fourth limit member; 441. Limit plate; 442. Second limit plate; 5. Machine body; 51. Robot; 52. Cup dropper; 53. Ice cream discharger; 54. Jam discharger; 55. Small ingredient discharger; 56. Finished product table; 57. Cabinet door; 571. Food take-out port; 572. Operation screen. DETAILED DESCRIPTION

[0030] The following will be combined with the 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.

[0031] In the description of this utility model, it should be noted that the terms "center," "upper," "lower," "left," "right," "vertical," "horizontal," "inner," and "outer," etc., indicating orientations or positional relationships, are based on the orientations or positional relationships shown in the accompanying drawings and are intended solely to facilitate the description of this utility model and simplify the description. They do not indicate or imply that the devices or components referred to must have a specific orientation, be constructed, or operate in a specific orientation. Therefore, they should not be construed as limitations on this utility model. Furthermore, the terms "first," "second," "third," and "fourth," etc., are used for descriptive purposes only and should not be construed as indicating or implying relative importance.

[0032] In the description of this utility model, it should be noted that, unless otherwise expressly specified or limited, the terms "mounted," "connected," and "connected" should be understood in a broad sense. For example, they can refer to fixed connections, detachable connections, or integral connections; mechanical connections, electrical connections; direct connections, indirect connections through an intermediate medium, and internal communication between two components. Those skilled in the art will understand the specific meanings of the above terms in this utility model based on the specific circumstances.

[0033] Example 1

[0034] See also Figure 1 as well as Figure 2 , Example 1 of the present utility model discloses a manipulator, comprising a manipulator arm assembly 1, a mechanical claw 2 provided on the manipulator arm assembly 1, and a moving part for driving the manipulator arm assembly 1 to move. The manipulator arm assembly 1 is provided with a limit assembly for limiting the range of motion of the manipulator arm assembly 1, and the limit assembly limits the rotation of the manipulator arm assembly 1 by mechanical limiting. The manipulator arm assembly 1 includes a first arm 11, a second arm 12, a third arm 13, and a fourth arm 14 connected in sequence by joints, the mechanical claw 2 is mounted on the fourth arm 14, and the moving part is a drive motor 3 provided at each joint. The first arm 11, the second arm 12, the third arm 13, and the fourth arm 14 rotate along the joint under the drive of the drive motor 3. A drive motor 3 is provided at each joint, so that each arm can flexibly rotate along the joint under the precise control of the drive motor 3, thereby realizing the free movement of the manipulator in multiple directions, so that the manipulator can be more flexible to adapt to different work scenarios.

[0035] See also Figure 3 The robotic arm assembly 1 further includes a first limiting member 41, a second limiting member 42, a third limiting member 43, and a fourth limiting member 44 for limiting the rotation range of the first arm 11, the second arm 12, and the fourth arm 14. The first limiting member 41 is provided at the joint where the third arm 13 and the fourth arm 14 are rotatably connected. The first limiting member 41 includes a first limiting groove 411 and a first limiting rod 412 that cooperate with each other. When the fourth arm 14 rotates around the joint, the first limiting rod 412 moves in the first limiting groove 411. The first limiting groove 411 is arc-shaped. Preferably, when the first limiting rod 412 is located at the two end points of the first limiting groove 411, an angle is formed between the fourth arm 14 and the third arm 13, and the fourth arm 14 and the third arm 13 always maintain a non-overlapping state.

[0036] Specifically, the first limiting slot 411 is provided on the fourth arm 14, the first limiting rod 412 is provided on the third arm 13, and one end of the first limiting rod 412 is movably connected to the first limiting slot 411. In some other embodiments, the first limiting slot 411 is provided on the third arm 13, and the first limiting rod 412 is provided on the fourth arm 14. When the fourth arm 14 rotates around the joint, the first limiting rod 412 moves in the first limiting slot 411, effectively limiting the rotation range of the fourth arm 14, and preventing the fourth arm 14 from rotating toward the third arm 13 due to gravity when the manipulator loses power or malfunctions, causing the mechanical claw 2 and the second arm 12 to collide with the third arm 13, thereby protecting the structural integrity of the manipulator assembly 1.

[0037] See also Figure 3 The second limiting member 42 is provided at the joint where the second arm 12 and the third arm 13 are rotatably connected. The first limiting member 41 includes a second limiting groove 421 and a second limiting rod 422 that cooperate with each other. When the third arm 13 rotates around the joint, the second limiting rod 422 moves in the second limiting groove 421, and the second limiting groove 421 is arc-shaped; preferably, when the second limiting rod 422 is located at the two end points of the second limiting groove 421, an angle is formed between the third arm 13 and the second arm 12, and the third arm 13 and the second arm 12 always remain in a non-overlapping state.

[0038] Specifically, the second limiting slot 421 is located on the third arm 13, the second limiting rod 422 is located on the second arm 12, and one end of the second limiting rod 422 is movably connected to the second limiting slot 421. In other embodiments, the second limiting slot 421 is located on the second arm 12, and the second limiting rod 422 is located on the third arm 13. When the third arm 13 rotates about the joint, the second limiting rod 422 moves in the second limiting slot 421, effectively limiting the rotation range of the third arm 13. This prevents the third arm 13 from rotating toward the second arm 12 due to gravity when the manipulator loses power or malfunctions, causing the third arm 13, the fourth arm 14, and the gripper 2 to collide with other components of the manipulator. This greatly improves the reliability and stability of the manipulator during operation. Even in the face of emergencies such as power outages or malfunctions, it can minimize damage caused by collisions, ensuring the continuity and stability of production.

[0039] See also Figure 2 And 3. The manipulator also includes a base plate 111, and the joint rotation of the first arm 11 away from the second arm 12 is set on the base plate 111. The third limit member 43 is set at the rotation connection between the first arm 11 and the base plate 111. The third limit member 43 includes a third limit rod 431 and a first limit plate 432. When the third limit rod 431 abuts against the first limit plate 432, the first arm 11 stops rotating.

[0040] Specifically, a planar return bearing 112 is fixedly mounted on the top of the base plate 111, and the first arm 11 is fixedly mounted on the rotating bearing of the planar return bearing 112. The drive motor 3 drives the rotating bearing of the planar return bearing 112 to rotate, thereby driving the first arm 11 to rotate. The third limiting rod 431 is disposed at the bottom of the first arm 11, and the first limiting plate 432 is disposed on one side of the base plate 111. In other embodiments, the third limiting rod 431 is disposed on one side of the base plate 111, and the first limiting plate 432 is disposed on the bottom of the first arm 11.

[0041] See also Figure 1 The fourth limiting member 44 is disposed at the pivotal connection between the first arm 11 and the base plate 111. The fourth limiting member 44 includes a limiting plate 441 and a second limiting plate 442. When the limiting plate 441 abuts the second limiting plate 442, the first arm 11 stops rotating. Specifically, the limiting plate 441 is disposed on the side of the first arm 11 closest to the third limiting rod 431, and the second limiting plate 442 is disposed on the side of the base plate 111 away from the first limiting plate 432. In other embodiments, the limiting plate 441 is disposed on the side of the base plate 111 away from the first limiting plate 432, and the second limiting plate 442 is disposed on the side of the first arm 11 closest to the third limiting rod 431.

[0042] The third limiter 43 and the fourth limiter 44 limit the rotation range of the first arm 11, so that when the manipulator is installed in a narrow space such as a self-service ice cream machine, it can effectively avoid collision with surrounding components, ensuring that the manipulator can still operate stably and accurately in a limited space.

[0043] See also Figure 3 The robot arm assembly 1 is provided with a plurality of proximity light eyes 15, which are used to determine the position of the robot arm. In this embodiment, there are five proximity light eyes 15, which are respectively provided on the base plate 111, the first arm 11, the second arm 12, the third arm 13, and the fourth arm 14.

[0044] Example 2

[0045] See also Figure 4 The present utility model discloses a self-service ice cream machine, comprising a machine body 5 and a manipulator 51, a cup dropper 52, an ice cream dispensing device 53, a jam dispensing device 54, a small ingredient dispensing device 55, and a finished product table 56, as described in Example 1, disposed within the machine body 5. The cup dropper 52, ice cream dispensing device 53, jam dispensing device 54, and small ingredient dispensing device 55 are all disposed within the travel range of the manipulator 51. A cabinet door 57 is hingedly connected to the outer side of the machine body 5. The cabinet door 57 is provided with a food removal port 571 and an operating screen 572.

[0046] Specifically, a cup dropper 52, an ice cream dispensing device 53, a jam dispensing device 54, and a small ingredient dispensing device 55 are sequentially arranged within the machine body 5 and are all located on the same horizontal plane. The cup dropper 52 is located on the side of the machine body 5 near the cabinet door 57, while the small ingredient dispensing device 55 is located on the side of the machine body 5 away from the cup dropper 52. A finished product table 56 is located on the side of the machine body 5 away from the cup dropper 52. The finished product table 56 and the small ingredient dispensing device 55 are located on the same vertical plane. When the cabinet door 57 is closed, the finished product table 56 faces the food dispensing port 571. The robot 51 is installed between the ice cream dispensing device and the cabinet door 57. The user selects their favorite ice cream flavor on the operation screen 572. The robot 51 then first retrieves a cup from the cup dropper 52, then moves below the ice cream dispensing device 53 to receive the ice cream. Then, based on the selected flavor, the robot 51 moves to the jam dispensing device 54 and the small ingredient dispensing device 55 to add the corresponding ingredients. After the addition is completed, the robot 51 accurately places the cup containing the ice cream on the finished product table 56, and the user can take out the finished ice cream from the food taking port 571. The whole process is smooth and efficient, providing users with a convenient self-service ice cream purchasing experience.

[0047] In this embodiment, the first limiting plate 432 is positioned near the ice cream dispensing device 53. When the cabinet door 57 is closed, the second limiting plate 442 is positioned near the cabinet door 57. When the third limiting rod 431 abuts the first limiting plate 432, the manipulator 51 faces the cup dropper 52, preventing the manipulator 51 from failing or inaccurately grasping the cups due to positional deviation, and also preventing the manipulator 51 from colliding with the sidewall of the machine body 5. When the limiting plate 441 abuts the second limiting plate 442, the mechanical claw 2 faces the finished product table 56, and the manipulator 51 is located within the machine body 5, allowing the manipulator 51 to accurately reach the finished product table 56 and avoiding collisions with the cabinet door 57. The limiting assembly significantly improves the accuracy and efficiency of the manipulator 51 in ice cream production, ensuring that each movement of the manipulator 51 is completed accurately and without error, reducing production errors and time waste caused by positional deviation. At the same time, the collision between the manipulator 51 and the internal structure of the machine body 5 during operation is effectively prevented, the risk of equipment damage is reduced, and the service life of the self-service ice cream machine is extended.

[0048] The mechanical gripper 2 is provided with a cup receiving optical eye 16, which is used to detect whether there is a cup in the mechanical gripper 2. Specifically, the cup receiving optical eye 16 is installed at the bottom of the mechanical gripper 2. The cup receiving optical eye 16 is used to detect the position and state of the ice cream cup to ensure that the mechanical arm 51 can accurately grasp the cup.

[0049] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. 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 robot, characterized in that: The invention comprises a mechanical arm assembly (1), a mechanical claw (2) provided on the mechanical arm assembly (1), and a moving part for driving the mechanical arm assembly (1) to move, wherein the mechanical arm assembly (1) is provided with a limit assembly for limiting the range of movement of the mechanical arm assembly (1), and the limit assembly limits the rotation of the mechanical arm assembly (1) by means of mechanical limit; The robotic arm assembly (1) comprises a first arm (11), a second arm (12), a third arm (13) and a fourth arm (14) which are connected to each other in rotation in sequence through joints, the moving part is a driving motor (3) provided at each joint, and the first arm (11), the second arm (12), the third arm (13) and the fourth arm (14) rotate along the joints under the drive of the driving motor (3).

2. A manipulator according to claim 1, characterized in that: The limiting assembly comprises a first limiting member (41), a second limiting member (42), a third limiting member (43) and a fourth limiting member (44) for limiting the rotation range of the first support arm (11), the second support arm (12) and the fourth support arm (14).

3. A robot according to claim 2, characterized in that: The first limiting member (41) is provided at a joint where the third support arm (13) and the fourth support arm (14) are rotatably connected. The first limiting member (41) comprises a first limiting groove (411) and a first limiting rod (412) that cooperate with each other. When the fourth support arm (14) rotates around the joint, the first limiting rod (412) moves in the first limiting groove (411), and the first limiting groove (411) is arc-shaped. When the first limiting rod (412) is located at two end points of the first limiting groove (411), an angle is formed between the fourth support arm (14) and the third support arm (13), and the fourth support arm (14) and the third support arm (13) always maintain a non-overlapping state.

4. A robot according to claim 2, characterized in that: The second limiting member (42) is provided at a joint where the second support arm (12) and the third support arm (13) are rotatably connected. The first limiting member (41) comprises a second limiting groove (421) and a second limiting rod (422) that cooperate with each other. When the third support arm (13) rotates around the joint, the second limiting rod (422) moves in the second limiting groove (421). The second limiting groove (421) is arc-shaped. When the second limiting rod (422) is located at the two end points of the second limiting groove (421), an angle is formed between the third support arm (13) and the second support arm (12), and the third support arm (13) and the second support arm (12) always maintain a non-overlapping state.

5. A robot according to claim 2, characterized in that: The invention also includes a base plate (111), wherein the first arm (11) is arranged on the base plate (111) for rotating away from the joint of the second arm (12), and the third limiting member (43) is arranged at the rotation connection between the first arm (11) and the base plate (111), and the third limiting member (43) includes a third limiting rod (431) and a first limiting plate (432). When the third limiting rod (431) abuts against the first limiting plate (432), the first arm (11) stops rotating.

6. A robot according to claim 5, characterized in that: The fourth limiting member (44) is provided at the rotation connection between the first support arm (11) and the base plate (111), and the fourth limiting member (44) comprises a limiting plate (441) and a second limiting plate (442). When the limiting plate (441) abuts against the second limiting plate (442), the first support arm (11) stops rotating.

7. The robot according to claim 1, characterized in that: The robotic arm assembly (1) is provided with a plurality of proximity light eyes (15), and the proximity light eyes (15) are used to determine the position of the robotic arm.

8. A self-service ice cream machine, comprising a machine body (5), characterized in that: The machine body (5) is provided with a manipulator (51) as described in any one of claims 1 to 7, a cup dropper (52), an ice cream discharger (53), a jam discharger (54), a small material discharger (55) and a finished product table (56); The cup dropper (52), the ice cream discharging device (53), the jam discharging device (54), the small material discharging device (55) and the finished product table (56) are all arranged within the travel range of the manipulator (51).

9. The self-service ice cream machine according to claim 8, characterized in that: The mechanical claw (2) is provided with a cup receiving optical eye (16), and the cup receiving optical eye (16) is used to detect whether the mechanical claw (2) has a cup.

Images