Device and method for taking and holding cups through mechanical arm

A technology of manipulators and cups, applied in the field of robotics, can solve the problems of difficulty in popularization, large floor space, and many batching stations, and achieve the effect of continuous cup taking and cup holding, high degree of automation, and simple principle

Inactive Publication Date: 2020-02-28
GUANGDONG TECHN COLLEGE OF WATER RESOURCES & ELECTRIC ENG
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0004] However, the robots currently used in the catering and sales industry still have relatively large limitations, such as the above-mentioned two types of robots: the first type of robots (ie delivery robots), in essence, this form of robots is only equivalent to a The human-shaped AGV car can only realize the delivery according to the track navigation, and the function is single, so it is difficult to attract consumers for a long time
The second type of robot (that is, unattended milk tea sales equipment), its essence is to integrate an industrial mechanical arm into the system to form an automated equipment. Pour it into a plastic cup on the table. This set of equipment has many batching stations, a complex system, and a large area, but its function is also single. It is not a dedicated beverage supply robot in essence, so it is still difficult to use in the current market. get better promotion

Method used

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  • Device and method for taking and holding cups through mechanical arm
  • Device and method for taking and holding cups through mechanical arm
  • Device and method for taking and holding cups through mechanical arm

Examples

Experimental program
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Effect test

Embodiment 1

[0045] This embodiment is a cup-holding device with a manipulator, which is applied to a pouring-type beverage supply robot, such as figure 1 As shown, it is mainly composed of a cup divider 1 and a cup grabbing robot 2. The specific structure of each component is as follows:

[0046] 1. The structure of the cup divider:

[0047] The cup divider is mainly used for separating and extracting disposable paper cups or plastic cups. It can continuously and automatically decompose nested cups and take them out one by one.

[0048] Such as Figure 2 to Figure 5 As shown, the overall arrangement of the cup divider is horizontal, mainly composed of a servo motor 1-1, a propulsion screw 1-2, a guide rod 1-3, an extraction electric cylinder 1-4, a suction cup 1-5, and a limit plate 1-6 , right support plate 1-7, left support plate 1-8, drive belt 1-9, first pulley 1-10, second pulley 1-11 and connecting rod 1-12 form. Among them, the servo motor, the propulsion screw, the guide rod, ...

Embodiment 2

[0060] This embodiment is a method for taking and holding a cup with a manipulator, which is applied to a pouring-type beverage supply robot, and is realized by the device described in Embodiment 1. The specific process and working principle are as follows: figure 1 or Figure 12 As shown, the details are as follows:

[0061] Cup divider is installed in the body of robot 4, and horizontal layout, its left support plate is close to health back, and right support plate is close to health chest. There is a round hole in the chest, corresponding to the outlet of the cup body on the right support plate. The cup grabbing manipulator is installed on the arm wrist of the robot.

[0062] During work, the cup body 3 that is nested and formed into a long tube is placed in the screw type cup separation mechanism. For the nested cup bodies, the lower part of the edge of the cup mouth is in contact with the propulsion screw, and the two sides of the edge of the cup mouth are in contact w...

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Abstract

The invention discloses a device and method for taking and holding cups through a mechanical arm. The device comprises a rack, a cup body separation mechanism, a cup body extraction mechanism and thecup grabbing mechanical arm. The cup body separation mechanism and the cup body extraction mechanism are mounted on the rack. Sleeved and stacked cup bodies are transversely placed on the cup body separation mechanism, the extraction end of the cup body extraction mechanism is located on the outer sides of the bottoms of the cup bodies, and clamping claws of the cup grabbing mechanical arm are arranged on the peripheries of the extracted cup bodies. The method comprises the steps that the cup bodies are firstly conveyed through the cup body separation mechanism and are preliminarily separatedthrough screw pitch changes; then the extraction end of the cup body extraction mechanism is utilized for adsorbing the bottoms of the cup bodies to take out the cup bodies; and the cup grabbing mechanical arm is utilized for clamping and fixing the taken-out cup bodies and is converted to the cup holding state. According to the device and method, the principle is simple, the device is flexible touse and stable in running, continuous automatic cup taking and cup holding action can be achieved, the automation degree is high, and the device can be used in cooperation with a pouring type drink supply robot better and can be applied to other occasions or equipment needing cup taking better.

Description

technical field [0001] The invention relates to the technical field of robots, in particular to a device and method for taking and holding cups by a manipulator. Background technique [0002] Beverages are indispensable in catering services. There are various types of beverages, large volumes and wide ranges. It is a very huge market, and all brands and businesses are competing fiercely. Beverage sales are everywhere, including shopping malls, restaurants, casinos and other public places. [0003] Beverage sales are traditionally manual or self-service. With the development of automation technology, sales and supply methods are constantly changing, and unmanned vending machines have appeared. With the popularization and application of robot technology, some businesses in the catering industry will also introduce robot services as a marketing tool, such as using robots to deliver food to Taiwan in restaurants. In addition, there are also manufacturers currently developing u...

Claims

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Application Information

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IPC IPC(8): B25J11/00B25J15/06B25J15/08G07F13/00G07F13/10
CPCB25J11/00B25J15/0616B25J15/08G07F13/00G07F13/10
Inventor 张聪蒋贤海秦晓阳卢镇宇王志陈曼裔李土华
Owner GUANGDONG TECHN COLLEGE OF WATER RESOURCES & ELECTRIC ENG
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