Mechanical hand milk tea cup transferring mechanism
By designing a compact robotic arm structure and employing a column swing, lifting slide, and gripper operating mechanism, the problems of large space occupation, complex structure, and high cost of existing robotic arms in milk tea machines have been solved, achieving efficient and low-cost milk tea cup transfer tasks.
Patent Information
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- GUANGZHOU LAORONGGEN CATERING MANAGEMENT CO LTD
- Filing Date
- 2025-07-07
- Publication Date
- 2026-07-21
AI Technical Summary
When existing robotic arms are used to transfer milk tea cups in milk tea machines, they occupy a large space, have a complex structure, high cost, and lack flexibility, making them unsuitable for operation in narrow spaces.
A robotic arm comprising a swing column, a lifting slide, a horizontal axis swing arm, and a gripper operating mechanism was designed. The robotic arm achieves a compact design through a motor-driven swing column, a geared motor driving the slider to rise and fall, and gear belt transmission. Combined with a lightweight gripper and control system, it enables automated transfer.
It enables efficient, flexible, and low-cost transfer of milk tea cups in confined spaces, simplifies the mechanical structure, reduces manufacturing costs, and improves adaptability and stability in compact environments.
Smart Images
Figure CN224527217U_ABST
Abstract
Description
Technical Field
[0001] This application relates to the field of milk tea related equipment technology, and more specifically to a robotic milk tea cup transfer mechanism. Background Technology
[0002] Currently, the transfer of milk tea cups typically employs four- or six-joint robotic arms, suitable for complex three-dimensional spatial operations such as assembly and welding. However, these arms are structurally complex, bulky, and require significant installation and operating space. SCARA robotic arms, while relatively simple in structure and fast, have limited vertical range of motion and still require considerable operating space. Cartesian coordinate robotic arms, while structurally rigid and suitable for heavy-duty and high-precision tasks, occupy a large space and have lower flexibility. Although these robotic arms can complete transfer tasks in three-dimensional space, their large operating space requirements make them unsuitable for the cup-transferring operations in automatic milk tea machines.
[0003] Therefore, a new solution for a robotic arm mechanism for moving milk tea cups is needed. Utility Model Content
[0004] In view of this, embodiments of this specification provide a robotic milk tea cup transfer mechanism.
[0005] The embodiments in this specification provide the following technical solutions:
[0006] This specification provides an embodiment of a robotic arm milk tea cup transfer mechanism, comprising:
[0007] A robotic arm milk tea cup transfer mechanism includes:
[0008] The robot arm mounting plate is used to support the entire robot arm structure;
[0009] The column swing mechanism includes a motor, a reducer, a rotating shaft on a robotic arm, and a motor connecting base plate. The motor is connected to the rotating shaft on the robotic arm through the reducer. The rotating shaft on the robotic arm is fixed on the motor connecting base plate, and the motor connecting base plate is fixed on the robotic arm fixing plate. This mechanism is used to achieve a 90-degree swing of the column in the horizontal plane.
[0010] The lifting slide mechanism includes a geared motor, a synchronous belt, a slider, a guide rail, a guide rail shaft fixing plate, and a stepper motor fixing plate. The geared motor is connected to the slider via the synchronous belt. The slider is mounted on the guide rail. The guide rail is fixed to the robot arm fixing plate via the guide rail shaft fixing plate. The geared motor is fixed to the robot arm fixing plate via the stepper motor fixing plate. It is used to realize vertical lifting movement.
[0011] A horizontal axis swing arm mechanism includes a robot arm rotating shaft, a robot arm lower fixing plate, and a gear belt. The motor is connected to the robot arm rotating shaft through a reducer. The robot arm rotating shaft is fixed on the robot arm lower fixing plate and is used to realize horizontal extension and retraction movements.
[0012] The gripper operating mechanism includes a translating gripper, and the motor is connected to the translating gripper via a reducer for gripping and releasing the milk tea cup.
[0013] Optionally, the motor of the column swing mechanism is a stepper motor, used to achieve precise swing control.
[0014] Optionally, the reduction motor of the lifting slide mechanism is connected to the slider through gear transmission to achieve stable lifting motion.
[0015] Optionally, the manipulator shaft of the horizontal axis swing arm mechanism is connected to the motor via a gear belt to achieve a compact structural design.
[0016] Optionally, it also includes a control system for coordinating the actions of the column swing mechanism, the lifting slide mechanism, the horizontal axis swing arm mechanism, and the gripper operating mechanism to achieve automated transfer operation.
[0017] Optionally, the translational gripper of the gripper operating mechanism is designed to be lightweight to enable rapid gripping and releasing actions.
[0018] Optionally, the gripping surface of the translational gripper is designed with anti-slip properties to improve the reliability of the gripping.
[0019] Compared with the prior art, the beneficial effects that at least one technical solution adopted in the embodiments of this specification can achieve include at least:
[0020] The purpose of this application is to provide a robotic arm with a simplified structure and small footprint, capable of efficiently transferring milk tea cups in confined spaces. This not only simplifies the mechanical structure, reduces manufacturing costs, and decreases the robotic arm's space requirements, but also improves its flexibility and adaptability in compact environments. Attached Figure Description
[0021] To more clearly illustrate the technical solutions of the embodiments of this application, the drawings used in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.
[0022] Figure 1 This is a schematic diagram of a robotic arm milk tea cup transfer mechanism according to this application.
[0023] The components include: 1. Robot arm mounting plate; 2. Robot arm upper rotating shaft; 3. Motor; 4. Reducer; 5. Motor connecting base plate; 6. Gear belt; 7. Synchronous belt; 8. Robot arm mounting plate; 9. Slider; 10. Translation gripper; 11. Plastic milk tea cup; 12. Gear motor; 13. Robot arm lower mounting plate; 14. Robot arm rotating shaft; 15. Guide rail shaft mounting plate; 16. Stepper motor mounting plate; and 17. Guide rail body. Detailed Implementation
[0024] The embodiments of this application will now be described in detail with reference to the accompanying drawings.
[0025] The following specific examples illustrate the implementation of this application. Those skilled in the art can easily understand other advantages and effects of this application from the content disclosed in this specification. Obviously, the described embodiments are only a part of the embodiments of this application, and not all of them. This application can also be implemented or applied through other different specific embodiments, and the details in this specification can also be modified or changed based on different viewpoints and applications without departing from the spirit of this application. It should be noted that, in the absence of conflict, the following embodiments and features in the embodiments can be combined with each other. Based on the embodiments in this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.
[0026] It should be noted that various aspects of embodiments within the scope of the appended claims are described below. It will be apparent that the aspects described herein can be embodied in a wide variety of forms, and any particular structure and / or function described herein is merely illustrative. Based on this application, those skilled in the art will understand that one aspect described herein can be implemented independently of any other aspect, and two or more of these aspects can be combined in various ways. For example, any number and aspects set forth herein can be used to implement the device and / or practice the method. Additionally, this device and / or method can be implemented using structures and / or functionalities other than one or more of the aspects set forth herein.
[0027] It should also be noted that the illustrations provided in the following embodiments are only schematic representations of the basic concept of this application. The drawings only show the components related to this application and are not drawn according to the actual number, shape and size of the components in the actual implementation. In the actual implementation, the form, quantity and proportion of each component can be arbitrarily changed, and the layout of the components may also be more complex.
[0028] Additionally, specific details are provided in the following description to facilitate a thorough understanding of the examples. However, those skilled in the art will understand that practice can be carried out without these specific details.
[0029] Currently, the transfer of milk tea cups typically employs four- or six-joint robotic arms, suitable for complex three-dimensional spatial operations such as assembly and welding. However, these arms are structurally complex, bulky, and require significant installation and operating space. SCARA robotic arms, while relatively simple in structure and fast, have limited vertical range of motion and still require considerable operating space. Cartesian coordinate robotic arms, while structurally rigid and suitable for heavy-duty and high-precision tasks, occupy a large space and have lower flexibility. Although these robotic arms can complete transfer tasks in three-dimensional space, their large operating space requirements make them unsuitable for the cup-transferring operations in automatic milk tea machines.
[0030] Currently used robotic arms have the following drawbacks: 1. Large space occupation: The aforementioned robotic arms all require large installation and operating spaces, making them difficult to adapt to narrow or compact production layouts. 2. Complex structure: Multi-joint or high-degree-of-freedom designs result in bulky arms, high manufacturing costs, and difficult maintenance. 3. Insufficient flexibility: Cartesian coordinate robotic arms and Delta robotic arms have limited range of motion, making them difficult to adapt to complex three-push transfer requirements. 4. High cost: The use of precision components (servo motors, high-precision guide rails) drives up the overall cost, making them unsuitable for small businesses.
[0031] Based on this, the embodiments of this specification propose a robotic arm with a simplified structure and small footprint, which can efficiently complete the task of transferring milk tea cups in narrow spaces. It not only simplifies the mechanical structure, reduces manufacturing costs, and reduces the robotic arm's operating space requirements, but also improves flexibility and adaptability in compact environments.
[0032] The technical solutions provided by the various embodiments of this application are described below with reference to the accompanying drawings.
[0033] This application designs a novel robotic arm for moving milk tea cups, comprising: a column swing mechanism: a motor drives the column (such as a guide rail) to swing 90 degrees in the horizontal plane, enabling rapid horizontal movement of the robotic arm; a lifting slide: vertical lifting is accomplished by the slide, ensuring precise up-and-down movement; a horizontal axis swing arm: the swing arm has a compact design, enabling horizontal extension and retraction within a limited space; and a horizontal gripper: the gripper features a lightweight design for quickly loading and unloading milk tea.
[0034] like Figure 1 As shown, a robotic arm milk tea cup transfer mechanism includes: a robotic arm fixing plate 1, a robotic arm upper rotating shaft 2, a motor 3, a reducer 4, a motor connecting base plate 5, a gear belt 6, a synchronous belt 7, a robotic arm fixing plate 8, a slider 9, a translational gripper 10, a plastic milk tea cup 11, a geared motor 12, a robotic arm lower fixing plate 13, a robotic arm rotating shaft 14, a guide rail shaft fixing plate 15, a stepper motor fixing plate 16, and a guide rail body 17.
[0035] Robotic arm mounting plate 1, used to support the entire robotic arm structure;
[0036] The column swinging mechanism includes a motor 3, a reducer 4, a robotic arm rotating shaft 2, and a motor connecting base plate 5. The motor 3 is connected to the robotic arm rotating shaft 2 through the reducer 4. The robotic arm rotating shaft 2 is fixed on the motor connecting base plate 5. The motor connecting base plate 5 is fixed on the robotic arm fixing plate 1, which is used to realize the column swinging 90 degrees in the horizontal plane.
[0037] The lifting slide mechanism includes a geared motor 12, a synchronous belt 7, a slider 9, a guide rail body 17, a guide rail shaft fixing plate 15, and a stepper motor fixing plate 16. The geared motor 12 is connected to the slider 9 through the synchronous belt 7. The slider 9 is mounted on the guide rail body 17. The guide rail body 17 is fixed to the robot arm fixing plate 1 through the guide rail shaft fixing plate 15. The geared motor 12 is fixed to the robot arm fixing plate 1 through the stepper motor fixing plate 16, and is used to realize vertical lifting movement.
[0038] The horizontal axis swing arm mechanism includes a robot arm rotating shaft 14, a robot arm lower fixing plate 13 and a gear belt 6. The motor 3 is connected to the robot arm rotating shaft 14 through a reducer 4. The robot arm rotating shaft 14 is fixed on the robot arm lower fixing plate 13 and is used to realize the horizontal extension and retraction actions.
[0039] The gripper operating mechanism includes a translational gripper 10. The motor 3 is connected to the translational gripper 10 via a reducer 4 and is used to grip and release the milk tea cup.
[0040] Specifically, the above-mentioned column swing mechanism: the motor drives the column, such as guide rail 17, to rotate in the horizontal plane, adjusting the direction of the entire robotic arm. The lifting slide: driven by a geared motor and synchronous belt, the slide moves up and down to achieve vertical positioning of the milk tea cup. The horizontal axis swing arm: driven by a motor, the swing arm can extend or retract in a plane to complete the cup-moving action. The gripper operation: the gripper moves the clamp horizontally to grasp and release the milk tea cup, with fast and precise movements. Overall linkage: all components work in coordination through the control system to ensure high efficiency during the transfer process. This not only simplifies the mechanical structure, reduces manufacturing costs, and decreases the robotic arm's operating space requirements, but also improves flexibility and adaptability in compact environments.
[0041] In some embodiments, the motor 3 of the column swing mechanism is a stepper motor, used to achieve precise swing control.
[0042] In some embodiments, the reduction motor 12 of the lifting slide mechanism is connected to the slider 9 via gear transmission to achieve stable lifting motion.
[0043] In some embodiments, the manipulator shaft 14 of the horizontal axis swing arm mechanism is connected to the motor 3 via a gear belt 6 to achieve a compact structural design.
[0044] In some embodiments, a control system is also included, which coordinates the movements of the column swing mechanism, the lifting slide mechanism, the horizontal axis swing arm mechanism, and the gripper operating mechanism to achieve automated transfer operation.
[0045] In some embodiments, the translational gripper 10 of the gripper operating mechanism is designed to be lightweight to enable rapid gripping and releasing actions.
[0046] In some embodiments, the gripping surface of the translational gripper 10 is designed with anti-slip properties to improve the reliability of gripping.
[0047] In summary, this design has the following advantages compared to traditional robotic arms: 1. Small footprint: Significantly reduces space requirements, making it suitable for confined environments. 2. Simplified structure: Reduces unnecessary parts, lowering manufacturing costs and maintenance difficulty. 3. High efficiency and flexibility: Enables rapid transfer tasks within compact automatic milk tea machines, demonstrating strong adaptability. 4. High stability: Guide rails and optimized layout ensure precise and stable movement.
[0048] The same or similar parts between the various embodiments in this specification can be referred to interchangeably. Each embodiment focuses on describing the differences from other embodiments. In particular, the product embodiments described later are relatively simple in description since they correspond to the methods, and relevant parts can be referred to the descriptions in the system embodiments.
[0049] The above description is merely a specific embodiment of this application, but the scope of protection of this application is not limited thereto. Any variations or substitutions that can be easily conceived by those skilled in the art within the technical scope disclosed in this application should be included within the scope of protection of this application. Therefore, the scope of protection of this application should be determined by the scope of the claims.
Claims
1. A robotic arm mechanism for transferring milk tea cups, characterized in that, include: The robot arm mounting plate (1) is used to support the entire robot arm structure; The column swing mechanism includes a motor (3), a reducer (4), a manipulator arm rotating shaft (2) and a motor connecting base plate (5). The motor (3) is connected to the manipulator arm rotating shaft (2) through the reducer (4). The manipulator arm rotating shaft (2) is fixed on the motor connecting base plate (5). The motor connecting base plate (5) is fixed on the manipulator arm fixing plate (1) to realize the column swinging 90 degrees in the horizontal plane. The lifting slide mechanism includes a geared motor (12), a synchronous belt (7), a slider (9), a guide rail (17), a guide rail shaft fixing plate (15), and a stepper motor fixing plate (16). The geared motor (12) is connected to the slider (9) through the synchronous belt (7). The slider (9) is mounted on the guide rail (17). The guide rail (17) is fixed to the robot arm fixing plate (1) through the guide rail shaft fixing plate (15). The geared motor (12) is fixed to the robot arm fixing plate (1) through the stepper motor fixing plate (16) to realize vertical lifting motion. The horizontal axis swing arm mechanism includes a robot arm rotating shaft (14), a robot arm lower fixing plate (13) and a gear belt (6). The motor (3) is connected to the robot arm rotating shaft (14) through a reducer (4). The robot arm rotating shaft (14) is fixed on the robot arm lower fixing plate (13) and is used to realize the horizontal extension and retraction actions. The gripper operating mechanism includes a translational gripper (10), and the motor (3) is connected to the translational gripper (10) via a reducer (4) for gripping and releasing the milk tea cup.
2. The robotic milk tea cup transfer mechanism according to claim 1, characterized in that, The motor (3) of the column swing mechanism is a stepper motor, which is used to achieve precise swing control.
3. The robotic milk tea cup transfer mechanism according to claim 1, characterized in that, The reduction motor (12) of the lifting slide mechanism is connected to the slider (9) through gear transmission to achieve stable lifting motion.
4. The robotic milk tea cup transfer mechanism according to claim 1, characterized in that, The manipulator shaft (14) of the horizontal axis swing arm mechanism is connected to the motor (3) via a gear belt (6) to achieve a compact structural design.
5. The robotic milk tea cup transfer mechanism according to claim 1, characterized in that, It also includes a control system, which coordinates the movements of the column swing mechanism, the lifting slide mechanism, the horizontal axis swing arm mechanism and the gripper operating mechanism to achieve automated transfer operation.
6. The robotic milk tea cup transfer mechanism according to claim 1, characterized in that, The translational gripper (10) of the gripper operating mechanism is designed to be lightweight to enable rapid gripping and releasing actions.
7. The robotic milk tea cup transfer mechanism according to claim 1, characterized in that, The gripping surface of the translational gripper (10) is designed to be non-slip to improve the reliability of gripping.