Beverage cup grabbing manipulator assembly

Abstract

The utility model discloses a beverage cup grabbing manipulator assembly. The beverage cup grabbing manipulator assembly comprises a fixed base, a lifting adjusting assembly and a clamping assembly. The lifting adjusting assembly comprises a supporting base, a lifting base and a lifting driving element. And the supporting base is mounted on the fixed base. A connecting piece matched with the lifting driving element is fixed to the supporting base. The lifting driving element is fixed to the lifting base and can push the lifting base to be adjusted in a lifting mode in the vertical direction under the cooperation of the connecting piece. The clamping jaw body used for clamping is installed at the moving end of the lifting adjusting assembly, so that in the coffee brewing process, a beverage cup clamped by the clamping jaw body can be driven by the lifting adjusting assembly to adjust the distance between a cup opening and a water outlet, and hot water is prevented from splashing in the brewing process.

Description

Technical Field

[0001] This utility model belongs to the field of automatic beverage brewing technology, specifically relating to a beverage cup gripping robotic arm component. Background Technology

[0002] In the existing technology, with the development of automated robots, robots or robotic arms with grippers are often used in some automated milk tea machines or ice cream machines to replace manual labor in picking up beverage cups.

[0003] Chinese patent application number 2022222737138 discloses a robotic arm for picking up and placing items in a brewing device. It solves the problem of exposed sliding connection structures between existing robotic arms and their power sources. The robotic arm for picking up and placing items in a brewing device includes a linkage seat and a pair of grippers. The linkage seat has a closed chamber inside, and a horizontal transverse slot communicating with the closed chamber is provided on the linkage seat. One end of the gripper, away from the gripping part, passes through the horizontal transverse slot and extends into the closed chamber. The other end of the gripper, away from the gripping part, is horizontally slidably connected to the linkage seat.

[0004] While the aforementioned patent addresses the issue of external contaminants entering the robotic arm's guide rails, effectively reducing jamming during movement, the robotic arm can only move horizontally. This makes it difficult to adjust the distance between the rim of different sized beverage cups and the water outlet of the brewing machine, increasing the risk of hot water splashing and scalding workers. Furthermore, the existing robotic arm cannot directly weigh the beverage cup, posing a risk of the beverage exceeding the cup's weight. Utility Model Content

[0005] To overcome the shortcomings of existing technologies, this utility model provides a beverage cup gripping robotic arm assembly to solve the technical problem of hot water splashing during brewing.

[0006] To achieve the above objectives, the specific technical solution of this utility model is as follows:

[0007] A beverage cup gripping robot assembly includes a clamping assembly, a lifting and adjusting assembly, and a weighing device. The clamping assembly is used to grip the beverage cup; the lifting and adjusting assembly is used to drive the clamping assembly to lift and lower; and the weighing device is used to weigh the beverage cup.

[0008] Furthermore, the weighing device includes a fixed base and a gravity sensor fixed on the fixed base; the detection end of the gravity sensor is fixed with a connecting bracket; the lifting adjustment assembly is installed on the outer end of the connecting bracket; and the fixed base is provided with a clearance groove adapted to the connecting bracket.

[0009] Furthermore, the lifting adjustment assembly includes a support base, a lifting base, and a lifting drive element. The support base is mounted on a fixed base. The support base is fixed with a connector that mates with the lifting drive element. The lifting drive element is fixed to the lifting base and, with the cooperation of the connector, can push the lifting base to adjust vertically.

[0010] Furthermore, the lifting drive element is a stepper motor. A first screw is fixed on the output shaft of the stepper motor. A threaded hole for the first screw is provided on the connector. The first screw is threadedly engaged with the threaded hole.

[0011] Furthermore, the support base includes a base body and a fixing frame. The base body is a shell structure with an open top surface. The fixing frame is fixed to the top of the base body and has a mounting through hole communicating with the inner cavity of the base body. The connector is fixed at the mounting through hole.

[0012] Furthermore, the fixed frame is equipped with an integrally formed support frame. A guide slider is provided on the outer surface of the support frame. The lifting base is equipped with a first slide rail that cooperates with the guide slider.

[0013] Furthermore, the clamping assembly includes a mounting base, a gripper body, and a clamping drive assembly. The mounting base is a shell structure and is fixed to the lifting base. The gripper body includes two symmetrically arranged grippers. A clearance notch is provided on the mounting base to connect the outside to the inner cavity. The inner ends of the two grippers extend into the clearance notch and are rotatably connected to the mounting base. The two grippers can perform clamping operations under the drive of the clamping drive assembly.

[0014] Furthermore, the clamping drive assembly includes a clamping drive component, a limiting slider, a transmission bracket, and a drive motor. The limiting slider is slidably connected to the inner cavity of the mounting base. The transmission bracket is fixed to the limiting slider by screws and can move outward or inward under the drive of the drive motor. The clamping drive component is fixed to the top of the transmission bracket. First toothed grooves are formed on both sides of the clamping drive component. Second toothed grooves that mesh with the first toothed grooves are formed on the inner ends of the two clamping claws.

[0015] Furthermore, a second screw is fixed to the output shaft of the drive motor. The outer end of the second screw is threaded into the transmission bracket.

[0016] Furthermore, the two gripping claws are fixed with cup sleeves that are adapted to the shape of the beverage cup being gripped.

[0017] Furthermore, an infrared sensor is fixed on the mounting base.

[0018] Compared with the prior art, the present invention has the following advantages:

[0019] 1. This utility model, by mounting the gripper body for holding the beverage cup on the moving end of the lifting and adjusting component, allows the distance between the cup rim and the water outlet to be adjusted under the drive of the lifting and adjusting component during the coffee brewing process, preventing hot water splashing. Simultaneously, after brewing, the lifting and adjusting component can drive the beverage cup containing hot water downwards, away from the water outlet of the brewing machine, making it easier for staff to remove the cup.

[0020] 2. By incorporating a gravity sensor, this utility model allows staff to visually monitor the weight of the beverage cup, thus avoiding the risk of the beverage exceeding the cup's weight.

[0021] 3. This utility model controls the gripping and releasing of the gripper body by setting a clamping drive component, making it convenient for consumers to take the beverage cup. Attached Figure Description

[0022] Figure 1 This is a schematic diagram of the overall structure of this utility model;

[0023] Figure 2 This is a schematic diagram showing the relative positions of the lifting adjustment component and the clamping component in this utility model;

[0024] Figure 3 This utility model Figure 2 Enlarged view of part A in the middle;

[0025] Figure 4 This utility model Figure 2 Enlarged view of part B in the middle section;

[0026] Figure 5 This is a schematic diagram showing the relative positions of the gripper body and the gripping drive assembly in this utility model.

[0027] Reference numerals in the attached drawings: 1. Fixed base; 2. Lifting and adjusting assembly; 2-1. Base body; 2-2. Fixing frame; 2-3. Lifting base; 2-4. Lifting drive element; 2-5. Guide slider; 2-6. First slide rail; 2-7. First screw; 2-8. Connecting piece; 3. Clamping assembly; 3-1. Mounting base; 3-2. Gripper body; 3-3. Clamping drive element; 3-4. Transmission bracket; 3-5. Drive motor; 4. Cup body shell; 5. Gravity sensor; 6. Connecting bracket; 7. Infrared sensor. Detailed Implementation

[0028] In the description of this utility model, it should be understood that the terms "one end", "the other end", "outer side", "upper side", "inner side", "horizontal", "coaxial", "center", "end", "length", "outer end", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the drawings. They are only for the convenience of describing this utility model and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this utility model.

[0029] The present invention will be further described below with reference to the accompanying drawings.

[0030] like Figure 1 and 2 As shown, a beverage cup gripping robot assembly is used to hold a beverage cup during coffee brewing and adjust the distance between the cup opening and the water outlet to prevent hot water splashing during brewing. The robot assembly includes a weighing device, a lifting adjustment component 2, and a gripping component 3. The gripping component 3 is located at the moving end of the lifting adjustment component 2 and can adjust the distance between the gripped beverage cup and the water outlet under the drive of the lifting adjustment component 2. The weighing device is used to weigh the beverage cup gripped by the gripping component 3.

[0031] like Figure 2 As shown, the weighing device includes a fixed base and a gravity sensor fixed on the fixed base. The detection end of the gravity sensor is fixed with a connecting bracket; the lifting adjustment component is installed on the outer end of the connecting bracket; the fixed base has a relief groove adapted to the connecting bracket, so that the connecting bracket 6 is suspended, which facilitates the gravity sensor 5 to detect the weight of the hot water contained in the beverage cup held by the clamping body.

[0032] like Figure 2 and 3 As shown, the lifting adjustment assembly 2 includes a support base, a lifting base 2-3, and a lifting drive element 2-4. The support base includes a base body 2-1 and a fixing frame 2-2. The base body 2-1 is mounted on the fixing base 1. The base body 2-1 has a shell structure with an open top surface. The fixing frame 2-2 is fixed to the top of the base body 2-1 and has a mounting through hole communicating with the inner cavity of the base body 2-1. A connector 2-8, which mates with the lifting drive element 2-4, is fixed within the mounting through hole. The lifting drive element 2-4 is fixed to the lifting base 2-3 and, with the cooperation of the connector 2-8, enables the lifting adjustment of the lifting base 2-3.

[0033] Furthermore, the fixed frame 2-2 is equipped with an integrally formed support frame. A guide slider 2-5 is provided on the outer surface of the support frame. The lifting base 2-3 is equipped with a first slide rail 2-6 that cooperates with the guide slider 2-5. Through the cooperation between the guide slider 2-5 and the first slide rail 2-6, the lifting base 2-3 is limited to move vertically.

[0034] In this embodiment, the lifting drive element 2-4 is a stepper motor. A first screw 2-7 is fixed on the output shaft of the stepper motor. A threaded hole for the first screw 2-7 is provided on the connector 2-8. The first screw 2-7 is threadedly engaged with the threaded hole.

[0035] like Figure 1 , 4 As shown in Figure 5, the clamping assembly 3 includes a mounting base 3-1, a gripper body 3-2, and a clamping drive assembly. The mounting base 3-1 is a shell structure and is fixed to the lifting base. The gripper body 3-2 includes two symmetrically arranged grippers. The mounting base 3-1 has a clearance notch connecting the outside to the inner cavity. The inner ends of the two grippers extend into the clearance notch and are rotatably connected to the mounting base 3-1. The two grippers can perform clamping operations under the drive of the clamping drive assembly.

[0036] like Figure 4 and 5 As shown, the clamping drive assembly includes a clamping drive component 3-3, a limiting slider, a transmission bracket 3-4, and a drive motor 3-5. The limiting slider is slidably connected within the cavity of the mounting base 3-1. The transmission bracket 3-4 is fixed to the limiting slider with screws and can move outwards or inwards under the drive of the drive motor 3-5. The clamping drive component 3-3 is fixed to the top of the transmission bracket 3-4. First toothed grooves are formed on both sides of the clamping drive component 3-3. Second toothed grooves that mesh with the first toothed grooves are formed on the inner ends of the two clamping claws.

[0037] When the clamping drive component 3-3 moves outward under the drive of the drive motor 3-5, the first and second toothed grooves cooperate to open the two clamping jaws to both sides, putting them in a released state. When the clamping drive component 3-3 moves inward under the drive of the drive motor 3-5, the first and second toothed grooves cooperate to bring the two clamping jaws closer to each other until the cup is clamped.

[0038] In this embodiment, a second screw is fixed on the output shaft of the drive motor 3-5. The outer end of the second screw is threaded into the transmission bracket 3-4.

[0039] Furthermore, the two gripping claws are fixed with cup sleeves 4 that are adapted to the shape of the gripped beverage cup, which can effectively prevent the gripped beverage cup from deforming due to the small contact area between the gripping claws and the gripped beverage cup.

[0040] In this embodiment, the top of the cup body shell 4 is provided with a mounting edge formed by bending. The mounting edge is fixed to the clamping claw by screws.

[0041] Furthermore, an infrared sensor is fixed on the mounting base 3-1 to detect whether a beverage cup is being held between the two gripping claws.

[0042] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of this utility model, and are not intended to limit it. Although the utility model has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some or all of the technical features therein. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of this utility model.

Claims

1. A beverage cup gripping robotic arm assembly, characterized in that, include: Clamping assembly (3) for gripping a beverage cup; Lifting adjustment assembly (2), the lifting adjustment assembly (2) being used to drive the clamping assembly (3) to lift; and A weighing device used to weigh a beverage cup.

2. The beverage cup gripping robotic arm assembly according to claim 1, characterized in that: The weighing device includes a fixed base (1) and a gravity sensor (5) fixed on the fixed base; the detection end of the gravity sensor (5) is fixed with a connecting bracket (6); the lifting adjustment component (2) is installed on the outer end of the connecting bracket (6); the fixed base (1) is provided with a clearance groove adapted to the connecting bracket (6).

3. The beverage cup gripping robotic arm assembly according to claim 1, characterized in that: The lifting adjustment assembly (2) includes a support base, a lifting base (2-3), and a lifting drive element (2-4); the support base is mounted on a fixed base (1); the support base is fixed with a connector (2-8) that cooperates with the lifting drive element (2-4); the lifting drive element (2-4) is fixed on the lifting base (2-3) and can push the lifting base (2-3) to lift and adjust vertically with the cooperation of the connector (2-8).

4. The beverage cup gripping robotic arm assembly according to claim 3, characterized in that: The lifting drive element (2-4) is a stepper motor; a first screw (2-7) is fixed on the output shaft of the stepper motor; a threaded hole for the first screw (2-7) is provided on the connector (2-8); the first screw (2-7) is threadedly engaged with the threaded hole.

5. The beverage cup gripping robotic arm assembly according to claim 3, characterized in that: The support base includes a base body (2-1) and a fixing frame (2-2); the base body (2-1) is a shell structure with an open top surface; the fixing frame (2-2) is fixed to the top of the base body (2-1) and has a mounting through hole that communicates with the inner cavity of the base body (2-1); the connector (2-8) is fixed at the mounting through hole.

6. The beverage cup gripping robotic arm assembly according to claim 5, characterized in that: The fixed frame (2-2) is provided with an integrally formed support frame; the outer surface of the support frame is provided with a guide slider (2-5); the lifting base (2-3) is provided with a first slide rail (2-6) that cooperates with the guide slider (2-5).

7. The beverage cup gripping robotic arm assembly according to claim 1, characterized in that: The clamping assembly (3) includes a mounting base (3-1), a gripper body (3-2), and a clamping drive assembly. The mounting base (3-1) is a shell structure and is fixed on a lifting base. The gripper body (3-2) includes two symmetrically arranged grippers. The mounting base (3-1) has a clearance notch that connects the outside to the inner cavity. The inner ends of the two grippers extend into the clearance notch and are rotatably connected to the mounting base (3-1). The two grippers can perform clamping operations under the drive of the clamping drive assembly.

8. The beverage cup gripping robotic arm assembly according to claim 7, characterized in that: The clamping drive assembly includes a clamping drive component (3-3), a limiting slider, a transmission bracket (3-4), and a drive motor (3-5); the limiting slider is slidably connected in the inner cavity of the mounting base (3-1); the transmission bracket (3-4) is fixed to the limiting slider by screws and can move outward or inward under the drive of the drive motor (3-5); the clamping drive component (3-3) is fixed to the top of the transmission bracket (3-4); the two sides of the clamping drive component (3-3) are provided with first tooth grooves; the inner ends of the two clamping claws are provided with second tooth grooves that mesh with the first tooth grooves.

9. A beverage cup gripping robotic arm assembly according to claim 8, characterized in that: A second screw is fixed on the output shaft of the drive motor (3-5); the outer end of the second screw is threadedly engaged with the transmission bracket (3-4).

10. A beverage cup gripping robotic arm assembly according to claim 7, characterized in that: An infrared sensor (7) is fixed on the mounting base (3-1).

Images