A three-finger adaptive gripper for picking up latte art cylinders

Abstract

This utility model relates to the field of mechanical clamping device technology, and discloses a three-finger adaptive gripper for gripping latte art cylinders. It includes a connecting base, the inner wall of which is provided with a sliding assembly. The sliding assembly includes a hydraulic rod, the outer wall of which is fixedly connected to the inner wall of the connecting base. A fixing block is fixedly connected to the output end of the hydraulic rod. A sliding plate is fixedly connected to the outer wall of the fixing block. Three sliding blocks are fixedly connected to the outer wall of the sliding plate. Three sliding rods are slidably connected to the inner wall of the sliding plate. Sliding blocks are slidably connected to the outer walls of the sliding rods. A baffle is fixedly connected to the outer wall of the sliding rods. A first connecting block is fixedly connected to the outer wall of the first connecting block, and a clamping assembly is provided on the inner wall of the first connecting block. In this utility model, by setting a three-finger adaptive clamping structure, not only is slippage of the cup body avoided during gripping, handling, or tilting, but it can also adapt to latte art cylinders of different diameters and shapes.

Description

Technical Field

[0001] This utility model relates to the field of mechanical clamping device technology, and in particular to a three-finger adaptive gripper for gripping flower cylinders. Background Technology

[0002] In modern coffee making, latte art is a crucial element showcasing the artistry and personalization of coffee. With the increasing prevalence of intelligent coffee machines and latte art robots, achieving stable gripping and flexible operation of the latte art cylinder has become a key technology for automating latte art. The gripper, as the primary actuator between the robot and the latte art cylinder, directly impacts the accuracy and stability of subsequent milk pouring, tilting, and latte art actions through its gripping method and adaptability. Therefore, developing a gripper structure that can efficiently and stably grip the latte art cylinder while also adapting to different sizes is of great significance for promoting the automation and intelligentization of coffee making.

[0003] Most current automated gripping mechanisms employ a two-finger gripping structure. The basic principle is to use pneumatic or electric drive to move two gripping fingers in an opening and closing motion, thereby clamping and fixing the target object. This type of structure has advantages such as simple design, low manufacturing cost, and mature drive methods, and is therefore widely used in industrial material handling, container gripping, and some food processing equipment.

[0004] However, existing two-finger gripping structures, when applied to grasping latte art containers, limit the gripping points to only two locations, resulting in uneven force distribution. This easily leads to slippage or tilting of the container during gripping, especially noticeable on smooth surfaces or when water is present. Furthermore, this structure lacks adaptability to different sizes and capacities of latte art containers, often requiring individual adjustments or replacements of the gripper for different containers, thus limiting its versatility and stability in latte art robots. Utility Model Content

[0005] To overcome the above shortcomings, this utility model provides a three-finger adaptive gripper for gripping latte art containers, aiming to improve the problems of uneven gripping force, easy slippage of the cup body, and difficulty in adapting to different sizes of latte art containers caused by the existing two-finger gripping method.

[0006] To achieve the above objectives, the present invention provides the following technical solution: a three-finger adaptive gripper for gripping a flower cylinder, comprising a connecting seat, wherein a sliding component is provided on the inner wall of the connecting seat;

[0007] The sliding assembly includes a hydraulic rod, the outer wall of which is fixedly connected to the inner wall of the connecting seat. A fixing block is fixedly connected to the output end of the hydraulic rod. A sliding plate is fixedly connected to the outer wall of the fixing block. Three sliding blocks are fixedly connected to the outer wall of the sliding plate. Three sliding rods are slidably connected to the inner wall of the sliding plate. Sliding blocks are slidably connected to the outer wall of each sliding rod. A baffle is fixedly connected to the outer wall of each sliding rod. A connecting block one is fixedly connected to the outer wall of each sliding rod. A clamping assembly is provided on the inner wall of the connecting block one.

[0008] Furthermore, the clamping assembly includes a clamping block one, which is rotatably connected to the inner wall of a connecting block one. Rotating blocks one are rotatably connected to both sides of the outer wall of the connecting block one. A connecting rod one is rotatably connected to one end of the rotating block one, and one end of the connecting rod one is rotatably connected to the outer wall of a sliding block. A rotating shaft is fixedly connected to the other end of the rotating block one. The inner wall of the connecting block one is rotatably connected to the outer wall of the clamping block one. Connecting rod two is rotatably connected to both sides of the outer wall of the clamping block one. Rotating blocks two are rotatably connected to the inner wall of the clamping block one. A connecting rod three is rotatably connected to the outer wall of the rotating shaft. The other end of connecting rod three is rotatably connected to the outer wall of the rotating block two. The inner wall of connecting rod two is rotatably connected to the outer wall of the connecting block two. The outer wall of the rotating block two is rotatably connected to the inner wall of the connecting block two. A clamping block two is fixedly connected to the outer wall of the clamping block two. A rubber pad is fixedly connected to the outer wall of the clamping block two.

[0009] Furthermore, a connecting plate is fixedly connected to the outer wall of the fixing block, and a cup holder is fixedly connected to one end of the connecting plate.

[0010] Furthermore, a fixing post is fixedly connected to the lower surface of the cup holder, and a sliding groove is provided inside the connecting seat.

[0011] Furthermore, the outer wall of the fixed column is slidably connected to a groove opened inside the connecting seat, and the outer wall of the cup holder is slidably connected to the inner wall of the connecting seat.

[0012] Furthermore, a slide rail is fixedly connected to the outer wall of the connecting seat, and a slider is slidably connected to the inner wall of the slide rail.

[0013] Furthermore, the upper surface of the slider is fixedly connected to the lower surface of the cup holder, and the outer wall of the connecting plate is slidably connected to the inner wall of the connecting seat.

[0014] Furthermore, one end of the slide rod is fixedly connected to the inner wall of the connecting seat, and another rubber pad is fixedly connected to the outer wall of the clamping block.

[0015] This utility model has the following beneficial effects:

[0016] 1. In this utility model, by setting a hydraulic rod and a sliding plate inside the connecting seat, the sliding block, connecting rod, rotating block and clamping block form a linkage structure, thereby realizing three-finger adaptive clamping. Compared with the traditional two-finger gripper, this structure can provide a more stable force distribution when gripping the latte art cylinder. It not only avoids slipping, deflection and rotation of the cup body during gripping, handling or tilting, but also adapts to latte art cylinders of different diameters and shapes, improving the versatility and reliability of clamping. At the same time, the clamping block and the outer wall of the clamping block are provided with rubber pads, which effectively increase the friction while preventing damage to the cup body, thereby ensuring the safety and stability of the clamping process.

[0017] 2. In this utility model, by adding a retractable cup holder at the bottom of the gripper, the hydraulic rod, through the cooperation of the fixing block and the connecting plate, pushes the cup holder to move along the slide groove and slide rail, providing additional bottom support for the clamped flower cylinder. This structure can not only effectively prevent the cup from slipping due to the shift of the center of gravity during transportation, but also form a fixed method with the three-finger gripping of the gripper, significantly improving the overall clamping safety and adaptability, thereby ensuring the reliability and effectiveness of the device in practical applications. Attached Figure Description

[0018] Figure 1 This is a three-dimensional structural diagram of a three-finger adaptive gripper for grasping a flower cylinder, as proposed in this utility model.

[0019] Figure 2 This is a schematic diagram of the connecting seat of a three-finger adaptive gripper for grasping a flower cylinder, as proposed in this utility model.

[0020] Figure 3 This is a schematic diagram of a portion of the connecting block of a three-finger adaptive gripper for grasping a flower cylinder, as proposed in this utility model.

[0021] Figure 4 This is a schematic diagram of a portion of the clamping block structure of a three-finger adaptive gripper for grasping a flower cylinder, as proposed in this utility model.

[0022] Figure 5 This is a schematic diagram of the hydraulic rod structure of a three-finger adaptive gripper for grasping a flower cylinder, as proposed in this utility model.

[0023] Figure 6 This is a schematic diagram of the cup holder part of a three-finger adaptive gripper for grasping a latte art cylinder, as proposed in this utility model.

[0024] Figure 7 This is a schematic diagram of the slide rail structure of a three-finger adaptive gripper for grasping a flower cylinder, as proposed in this utility model.

[0025] Legend:

[0026] 1. Connecting seat; 2. Sliding block; 3. Sliding plate; 4. Link 1; 5. Connecting block 1; 6. Rotating block 1; 7. Clamping block 1; 8. Clamping block 2; 9. Slide rod; 10. Connecting block 2; 11. Link 2; 12. Rubber pad; 13. Baffle; 14. Link 3; 15. Rotating block 2; 16. Rotating shaft; 17. Hydraulic rod; 18. Fixed block; 19. Connecting plate; 20. Cup holder; 21. Slide groove; 22. Fixed column; 23. Slide rail; 24. Slider. Detailed Implementation

[0027] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments. Obviously, the described embodiments are only some embodiments of the present utility model, and not all embodiments. Based on the embodiments of the present utility model, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the protection scope of the present utility model.

[0028] Reference Figure 1 - Figure 7 The present invention provides an embodiment of a three-finger adaptive gripper for gripping a flower cylinder, comprising a connecting seat 1, which serves as the basic load-bearing structure of the entire gripper and internally accommodates the main driving components such as the hydraulic rod 17. A sliding component is provided on the inner wall of the connecting seat 1.

[0029] The sliding assembly includes a hydraulic rod 17, which is the power source for the entire clamping structure. The hydraulic rod 17 drives the sliding plate 3 to move, thereby driving all transmission components to open and close the grippers. The outer wall of the hydraulic rod 17 is fixedly connected to the inner wall of the connecting seat 1. The output end of the hydraulic rod 17 is fixedly connected to a fixing block 18. The outer wall of the fixing block 18 is fixedly connected to the sliding plate 3. The sliding plate 3 is the key intermediary of the entire power transmission chain. By driving the sliding block 2 on the outer wall, the overall contraction and opening of the three-finger gripper is realized. The outer wall of the sliding plate 3 is fixedly connected to three sliding blocks 2. The inner wall of the sliding plate 3 is slidably connected to three sliding rods 9. The outer wall of the sliding rods 9 is slidably connected to sliding blocks 2. The outer wall of the sliding rods 9 is fixedly connected to a baffle 13. The baffle 13 is used to limit the sliding range of the sliding blocks 2 to prevent excessive movement from causing derailment or damage. It plays a safety protection and limiting role. The outer wall of the sliding rods 9 is fixedly connected to a connecting block 5. The inner wall of the connecting block 5 is provided with a clamping assembly.

[0030] The clamping assembly includes a clamping block 7, with a rubber pad 12 on its outer wall to clamp the outer wall of the cup while preventing damage. The clamping block 7 is rotatably connected to the inner wall of a connecting block 5. Rotating blocks 6 are rotatably connected to both sides of the outer wall of the connecting block 5. A connecting rod 4 is rotatably connected to one end of each rotating block 6. The connecting rod 4, in conjunction with the rotating block 6 and the sliding block, converts sliding motion into rotation, ensuring synchronous movement of the clamping block 7. One end of the connecting rod 4 is rotatably connected to the outer wall of the sliding block 2. A rotating shaft 16 is fixedly connected to the other end of the rotating block 6. The inner wall of the connecting block 5 is rotatably connected to the outer wall of the clamping block 7. Connecting rods 11 are rotatably connected to both sides of the outer wall of the clamping block 7. Connecting rods 11 transmit motion during clamping. Force enables the two clamping blocks to achieve coordinated clamping. The inner wall of clamping block 1 7 is rotatably connected to rotating block 2 15, and the outer wall of rotating shaft 16 is rotatably connected to connecting rod 3 14. The other end of connecting rod 3 14 is rotatably connected to the outer wall of rotating block 2 15. Rotating block 2 15 rotates under the action of connecting rod 3 14, thereby driving clamping block 2 8 to rotate, achieving synchronous clamping with clamping block 1 7. The inner wall of connecting rod 2 11 is rotatably connected to the outer wall of connecting block 2 10, and the outer wall of rotating block 2 15 is rotatably connected to the inner wall of connecting block 2 10. Clamping block 2 8 is fixedly connected to the outer wall of connecting block 2 10, and a rubber pad 12 is fixedly connected to the outer wall of clamping block 2 8. The rubber pad 12 is used to increase the friction between the rubber pad and the flower cylinder to prevent slippage and avoid damage to the surface of the cup due to hard contact.

[0031] Specifically, the connecting seat 1 serves as the basic load-bearing structure, with a hydraulic rod 17 installed inside as the power source. The opening and closing of the gripper is achieved through the sliding plate 3 and the sliding block 2. The sliding rod 9 and the baffle 13 ensure the smooth movement of the sliding block 2 and prevent derailment, providing guidance and limiting functions. The outer walls of the first clamping block 7 and the second clamping block 8 are equipped with rubber pads 12, which can increase friction while avoiding damage to the surface of the pull cylinder, achieving stable clamping. The clamping blocks achieve power transmission and synchronous movement through structures such as the first rotating block 6, the second rotating block 15, the first connecting rod 4, the second connecting rod 11, and the third connecting rod 14, so that the three-finger clamping forms a coordinated and balanced force distribution. This structure is more stable than the traditional two-finger clamping, and can prevent the pull cylinder from slipping, rotating, or shifting during the gripping and handling process. At the same time, it can adapt to pull cylinders of different diameters and shapes, improving the reliability, adaptability, and operational safety of clamping.

[0032] Reference Figure 1 - Figure 7A connecting plate 19 is fixedly connected to the outer wall of the fixing block 18. The connecting plate 19 connects the fixing block 18 to the cup holder 20 and slides inside the connecting seat 1. The cup holder 20 is fixedly connected to one end of the connecting plate 19. A fixing post 22 is fixedly connected to the lower surface of the cup holder 20. A sliding groove 21 is provided inside the connecting seat 1. The sliding groove 21 serves as a guide channel for the fixing post 22, allowing the cup holder 20 to stably extend and retract along a set trajectory, ensuring uniform force distribution. The outer wall of the fixing post 22 is slidably connected to the sliding groove 21 inside the connecting seat 1, and the outer wall of the cup holder 20 is slidably connected to the inner wall of the connecting seat 1. A slide rail 23 is fixedly connected to the outer wall of the base 1. The slide rail 23 is used to guide the slider 24 on the lower surface of the cup holder 20, and further realize the limiting and stable support. The slider 24 is slidably connected to the inner wall of the slide rail 23. The upper surface of the slider 24 is fixedly connected to the lower surface of the cup holder 20. The cup holder 20 provides additional bottom support when clamping the flower cylinder, preventing the cup from sliding down due to the shift of the center of gravity, and improving the safety of clamping. The outer wall of the connecting plate 19 is slidably connected to the inner wall of the connecting base 1. One end of the slide rod 9 is fixedly connected to the inner wall of the connecting base 1. Another rubber pad 12 is fixedly connected to the outer wall of the clamping block 7.

[0033] Specifically, a retractable cup holder 20 is provided to support the bottom of the latte art cylinder. The hydraulic rod 17 drives the cup holder 20 to slide inside the connecting seat 1. The fixed column 22 and the slide groove 21 ensure the smooth movement and guidance of the cup holder 20. The slider 24 moves on the slide rail 23 to achieve limit. This structure can share the clamping pressure when clamping the latte art cylinder, improve stability, and prevent the cup from slipping due to the shift of the center of gravity or shaking during operation. The retractable cup holder 20 can adapt to latte art cylinders of different heights and diameters, realize the coordinated fixation of bottom support and clamping, improve the overall clamping safety and reliability, ensure that the cup remains vertical or at a preset angle during handling, tilting or placement, and enhance the adaptability and practicality of the gripper.

[0034] Working principle: When the three-finger adaptive gripper of this utility model is needed to grasp the latte art cylinder, the device is first installed on the latte art robot. During the operation, the hydraulic rod 17 inside the connecting seat 1 drives the sliding plate 3 to slide on the inner wall of the connecting seat 1. The sliding plate 3 drives the three sliding blocks 2 on its outer wall to move horizontally synchronously along the sliding rod 9. The movement of the sliding blocks 2 drives the rotating block 6 to rotate on the outer wall of the connecting block 5 through the connecting rod 1 4, which in turn drives the clamping block 7 to rotate on the inner wall of the connecting block 5. The clamping block 7 is connected to the rotating shaft 16 through the connecting rod 2 11, which further drives the connecting rod 3 14 and the rotating block 2 15 to rotate, so that the clamping block 2 8 on the outer wall of the connecting block 2 10 moves synchronously. The outer walls of the clamping block 1 7 and the clamping block 2 8 are provided with rubber pads 12. Under the drive of the hydraulic rod 17, they can firmly clamp the outer wall of the latte art cylinder and prevent the cup from slipping during the grasping and pouring process.

[0035] In addition, to further prevent the pull-apart cylinder from slipping, the hydraulic rod 17 can also push the cup holder 20 to slide on the inner wall of the connecting seat 1 through the cooperation of the fixing block 18 and the connecting plate 19. The fixing post 22 on the lower surface of the cup holder 20 slides in the slide groove 21 inside the connecting seat 1. When the cup holder 20 extends out of the connecting seat 1, the slider 24 on its lower surface continues to move along the slide rail 23, thereby achieving the limit. By setting the retractable cup holder 20, additional bottom support is provided while the claws hold the pull-apart cylinder, effectively preventing slippage and further improving the safety and adaptability of the clamping.

[0036] Finally, it should be noted that the above description is only a preferred embodiment of the present utility model and is not intended to limit the present utility model. Although the present utility model has been described in detail with reference to the foregoing embodiments, those skilled in the art can still modify the technical solutions described in the foregoing embodiments or make equivalent substitutions for some of the technical features. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present utility model should be included within the protection scope of the present utility model.

Claims

1. A three-finger adaptive gripper for grabbing a pull-out cylinder, comprising a connecting seat (1), characterized in that: The inner wall of the connecting seat (1) is provided with a sliding component; The sliding assembly includes a hydraulic rod (17), the outer wall of which is fixedly connected to the inner wall of the connecting seat (1), a fixing block (18) is fixedly connected to the output end of the hydraulic rod (17), a sliding plate (3) is fixedly connected to the outer wall of the fixing block (18), three sliding blocks (2) are fixedly connected to the outer wall of the sliding plate (3), three sliding rods (9) are slidably connected to the inner wall of the sliding plate (3), sliding blocks (2) are slidably connected to the outer wall of the sliding rods (9), a baffle (13) is fixedly connected to the outer wall of the sliding rods (9), a connecting block one (5) is fixedly connected to the outer wall of the sliding rods (9), and a clamping assembly is provided on the inner wall of the connecting block one (5).

2. The three-finger self-adaptive gripper for grabbing a pull-out cylinder according to claim 1, characterized in that: The clamping assembly includes a clamping block (7), which is rotatably connected to the inner wall of a connecting block (5). Rotating blocks (6) are rotatably connected to both sides of the outer wall of the connecting block (5). A connecting rod (4) is rotatably connected to one end of each rotating block (6), and one end of the connecting rod (4) is rotatably connected to the outer wall of a sliding block (2). A rotating shaft (16) is fixedly connected to the other end of each rotating block (6). The inner wall of the connecting block (5) is rotatably connected to the outer wall of the clamping block (7), and connecting rods are rotatably connected to both sides of the outer wall of the clamping block (7). Second (11), the inner wall of the clamping block one (7) is rotatably connected to the rotating block two (15), the outer wall of the rotating shaft (16) is rotatably connected to the connecting rod three (14), the other end of the connecting rod three (14) is rotatably connected to the outer wall of the rotating block two (15), the inner wall of the connecting rod two (11) is rotatably connected to the outer wall of the connecting block two (10), the outer wall of the rotating block two (15) is rotatably connected to the inner wall of the connecting block two (10), the outer wall of the connecting block two (10) is fixedly connected to the clamping block two (8), and the outer wall of the clamping block two (8) is fixedly connected to the rubber pad (12).

3. The three-finger self-adaptive gripper for grabbing a pull-out cylinder according to claim 2, characterized in that: A connecting plate (19) is fixedly connected to the outer wall of the fixing block (18), and a cup holder (20) is fixedly connected to one end of the connecting plate (19).

4. The three-finger self-adaptive gripper for grabbing a pull-out cylinder according to claim 3, characterized in that: The cup holder (20) is fixedly connected to a fixing post (22) on its lower surface, and the connecting seat (1) is provided with a sliding groove (21).

5. A three-finger adaptive gripper for grasping a flower vat according to claim 4, characterized in that: The outer wall of the fixed column (22) is slidably connected to the groove (21) opened inside the connecting seat (1), and the outer wall of the cup holder (20) is slidably connected to the inner wall of the connecting seat (1).

6. A three-finger adaptive gripper for grasping a flower cylinder according to claim 5, characterized in that: The outer wall of the connecting seat (1) is fixedly connected to a slide rail (23), and the inner wall of the slide rail (23) is slidably connected to a slider (24).

7. A three-finger adaptive gripper for grasping a flower cylinder according to claim 6, characterized in that: The upper surface of the slider (24) is fixedly connected to the lower surface of the cup holder (20), and the outer wall of the connecting plate (19) is slidably connected to the inner wall of the connecting seat (1).

8. A three-finger adaptive gripper for grasping a flower cylinder according to claim 3, characterized in that: One end of the slide rod (9) is fixedly connected to the inner wall of the connecting seat (1), and another rubber pad (12) is fixedly connected to the outer wall of the clamping block (7).

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