CN105856265B - Thing machine is taken with manipulator - Google Patents

Abstract

The invention relates to a pick-up machine, which discloses a pick-up machine with a manipulator, comprising a first fixed frame (10), at least one first rail (11) is arranged on the first fixed frame (10), and the first rail (11 ) is provided with a first groove (111), the first track (11) is provided with a lifting platform (12), the lifting platform (12) is slidingly connected with the first track (11), and the lifting platform (12) is provided with The second track (13), the second track (13) is provided with a manipulator (14), and the manipulator (14) is slidably connected to the second track (13). The invention can realize the unmanned after-sales service of the machine, the manipulator can automatically pick up the articles in the machine, and the manipulator can grab the articles in the vertical direction and the articles in the horizontal direction in the machine.

Description

Retrieval machine with manipulator

technical field

The invention relates to a pick-up machine, in particular to a pick-up machine with a manipulator.

Background technique

At present, many vending machines on the market have different ways of extracting goods. Some of them directly open many windows on the vending machine. Commodities are equipped with a cavity, so that the internal space of the machine cannot be fully utilized; there are also some items that fall into the channel by pushing objects, and the items finally slide to the pick-up bin, and the items that people take through the pick-up bin, this This extraction method is easy to damage valuables or fragile items; there is also a manipulator to grab the items, most of which are in the form of hand grasping. The design cost of this manipulator to the gripper is relatively high, and the production cost is also relatively high. , and the space in the vending machine cabinet is small, this kind of grip is not easy to display.

Contents of the invention

The invention aims at the shortcomings existing in the prior art, and provides a pick-up machine with a manipulator.

In order to solve the above technical problems, the present invention is solved through the following technical solutions:

The pick-up machine with the manipulator includes a first fixed frame, at least one first track is arranged on the first fixed frame, a first groove is arranged on the first track, a lifting platform is arranged on the first track, and the lifting platform Slidingly connected with the first track, the lifting platform is provided with a second track, the second track is provided with a manipulator, and the manipulator is slidably connected with the second track. Through the manipulator of the present invention, the picker can pick up all the items inside, and the manipulator realizes vertical movement and horizontal movement, thereby effectively improving the utilization rate of the internal space of the picker. The manipulator of the present invention grabs the items firmly, ensuring the It was taken out once.

Preferably, a first transmission belt is provided on the first track, and the first transmission belt is arranged in the first groove, and the rotation of the first transmission belt drives the lifting platform to move, and a first drive motor is provided between two adjacent first tracks, and the first The driving motor is connected with the first transmission belt. The first transmission belt enables the lifting platform to move vertically on the first rail, and the first driving motor provides driving force to the first transmission belt, so that the first transmission belt can move on the first rail.

Preferably, a synchronous shaft is also provided between two adjacent first tracks, and the two ends of the synchronous shaft are respectively connected to the first transmission belt at the upper end of the corresponding end, and a synchronous wheel is fixed in the middle of the synchronous shaft, and the synchronous wheel is connected to the first drive motor. The synchronous shaft enables the first transmission belts on the multiple first tracks to move simultaneously, so that the lifting platform can rise steadily. The first drive motor first drives the synchronous wheel, and the synchronous wheel transmits the driving force to the first transmission belt through the synchronous shaft.

Preferably, an electromagnetic brake is provided on the synchronous shaft, and the electromagnetic brake is used to brake the synchronous shaft. When the lifting platform reaches the specified height, the electromagnetic brake will stop the rotation of the synchronous shaft, so that the lifting platform stays at the predetermined position.

As preferably, the first track and the second track are provided with position sensors; the second track is provided with a second transmission belt, the second transmission belt is located in the second groove, and the end of the lifting platform is provided with a drive belt to rotate The second drive motor, the second transmission belt is fixedly connected with the manipulator. The position sensor on the first track can sense the rising height of the lifting platform, so as to send the height parameter of the lifting platform to the controller, and the position sensor on the second track can sense the position of the manipulator on the first track to ensure that the manipulator can grasp accurately. For items in the horizontal direction, the second drive motor on the lifting platform provides power to the second transmission belt, so that the manipulator can move on the second track.

As preferably, the manipulator includes a second fixed frame, a third guide rail is provided on the bottom surface of the second fixed frame, a mechanical claw slides on the third guide rail, a third drive motor is fixed on a side wall of the second fixed frame, and the third drive The motor is fixedly connected with a first gear, and a position sensor is also fixed on the other side wall of the second fixing frame. The third track enables the mechanical claw to move back and forth, which is convenient for the mechanical claw to grab objects. The third drive motor is the power source for the mechanical claw to move forward and backward. The position sensor on the second fixed frame is used to sense the distance that the mechanical claw moves back and forth, so that The claws can accurately move to the front of the item and grab the item accurately.

Preferably, the mechanical gripper includes a bottom plate, the bottom plate slides on the third guide rail, a rack is fixed on the end surface of the bottom plate, the rack is meshed with the first gear, and a handle is fixed on the end surface of the bottom plate. The third driving motor drives the first gear, and the first gear meshes with the rack, so that the mechanical claw can move forward and backward, and it is easy to control the moving distance of the mechanical claw.

Preferably, a channel for storing articles is provided inside the handle, at least one pressure wheel is provided at the upper end of the channel, and at least one roller is provided at the lower end of the channel. The channel is used to store the grabbed items and output the items out of the channel. The pressure wheels on the channel make the items not loose, and the items are more stable during the channel transmission process. The rollers provide power for the movement of the items, so that the items can be transported in time. output to the other end of the channel.

As a preference, the side wall of the channel is provided with an adjustment hole, both ends of the pressure roller are provided with a connecting shaft, the connecting shaft is arranged in the adjusting hole, the end of the connecting shaft is provided with a return spring, and one end of the return spring is fixed to the connecting shaft. connected, and the other end of the return spring is fixedly connected with the side wall of the channel. The adjustment hole is used to adjust the position of the pinch wheel, and the return spring on the pinch wheel enables the pinch wheel to press the item tightly to ensure that the item will not be easily loosened during the transmission process.

Preferably, a fourth drive motor is provided at the lower end of the bottom plate, a transmission shaft is provided on the roller, a second gear is fixed on the transmission shaft, the second gear rotates synchronously with the roller, and the fourth drive motor is connected to the second gear. The fourth drive motor provides the power source for the rollers. The fourth drive motor first drives the second gear, and the second gear transmits the driving force to the rollers through the transmission shaft. The items move out of the channel under the action of the rollers to complete the picking process.

Due to the adoption of the above technical scheme, the present invention has remarkable technical effects: through the manipulator of the present invention, the utilization rate of the internal space of the fetcher can be effectively improved, so that the fetcher can store more articles, and the manipulator is equipped with a pressure Wheels to ensure that the items will not loosen easily during the transmission process. The lifting table can move vertically on the first track, so that the manipulator can move to the front of the high-level items, and the manipulator can move on the second track, so that the manipulator can move to In front of horizontal objects, the manipulator moves flexibly and grabs firmly.

Description of drawings

Fig. 1 is a structural schematic diagram of the present invention.

Fig. 2 is a structural schematic diagram of the present invention with a synchronous shaft.

Fig. 3 is a schematic structural view of one side of the manipulator in the present invention.

Fig. 4 is a schematic structural view of the other side of the manipulator in the present invention.

Fig. 5 is a schematic diagram of the structure of the gripper in the manipulator.

Fig. 6 is a schematic structural view of the gripper in the mechanical gripper.

The names of the parts indicated by the numbers in the above drawings are as follows: Among them, 10—the first fixed frame, 11—the first track, 12—the lifting platform, 13—the second track, 14—the manipulator, 15—the first transmission belt , 16—first driving motor, 17—synchronous shaft, 18—synchronous wheel, 19—electromagnetic brake, 20—position sensor, 21—second transmission belt, 22—second driving motor, 111—first groove, 131— The second groove, 141—the second fixed frame, 142—the third guide rail, 143—the mechanical claw, 144—the third driving motor, 145—the first gear, 1431—the bottom plate, 1432—the rack, 1433—the gripper, 14331—channel, 14332—pressure wheel, 14333—roller, 14334—adjustment hole, 14335—connecting shaft, 14336—return spring, 14337—fourth drive motor, 14338—transmission shaft, 14339—second gear.

Detailed ways

The present invention will be further described in detail below in conjunction with the accompanying drawings and embodiments.

Example 1

The pick-up machine with manipulator, as shown in Figure 1-6, comprises a first fixed frame 10, is provided with at least one first track 11 on the first fixed frame 10, is provided with first groove on the first track 11 111, the present embodiment is provided with two first rails 11, and the two first rails 11 face straight, and the first rail 11 is provided with a lifting platform 12, and the lifting platform 12 is slidingly connected with the first rail 11, and the lifting platform 12 is provided with There is a second track 13, the second track 13 is provided with a manipulator 14, and the manipulator 14 is slidingly connected with the second track 13, and the lifting table 12 can drive the manipulator 14 to move in the vertical direction, so that the manipulator 14 can grab high objects.

The first transmission belt 15 is arranged on the first track 11, and the first transmission belt 15 is located in the first groove 111. The rotation of the first transmission belt 15 drives the lifting platform 12 to move, and a first drive is provided between the adjacent two first tracks 11. Motor 16, the first driving motor 16 is connected with the first transmission belt 15.

Also be provided with synchronous shaft 17 between adjacent two first tracks 11, the two ends of synchronous shaft 17 are connected with the first transmission belt 15 of corresponding end upper end respectively, synchronous shaft 17 can make a plurality of first transmission belts 15 rotate synchronously, synchronous shaft 17 A synchronous wheel 18 is fixed in the middle, and the synchronous wheel 18 is connected with the first drive motor 16, and the first drive motor 16 drives the synchronous wheel 18, and the synchronous wheel 18 transmits power to the synchronous shaft 17, and the synchronous shaft 17 transmits power to the first Transmission belt 15.

An electromagnetic brake 19 is provided on the synchronous shaft 17, and the electromagnetic brake 19 is used for braking the synchronous shaft 17, thereby ensuring that the lifting platform 12 rises to a designated position.

Both the first track 11 and the second track 13 are provided with position sensors 20. In this embodiment, the first track 11 is provided with three position sensors 20, and these three position sensors 20 are respectively arranged at the two ends of the first track 11. And the middle part, the second track 13 is also provided with three position sensors 20, these three position sensors 20 are located on the side of the second track 13, and the three position sensors are respectively located at the two ends and the middle part of the second track 13; Second track 13 is provided with second drive belt 21, and second drive belt 21 is located in the second groove 131, and the end of lifting table 12 is provided with the second drive motor 22 that drives second drive belt 21 to rotate, and second drive belt 21 It is fixedly connected with the manipulator 14, and the movement of the first transmission belt 21 drives the manipulator 14 to move, so that the manipulator 14 moves horizontally on the lifting platform 12.

Manipulator 14 comprises second fixed mount 141, and the second fixed mount 141 bottom surface is provided with the 3rd guide rail 142, and present embodiment is provided with the 3rd rail 142 of two side by side, has mechanical claw 143 sliding on the 3rd guide rail 142, the second A third drive motor 144 is fixed on one side wall of the fixed frame 141, and the third drive motor 144 is fixedly connected with a first gear 145. The third drive motor 144 is used to drive the first gear 145, and the other side of the second fixed frame 141 A position sensor 20 is also fixed on the side wall. In this embodiment, the two ends of the side wall of the second fixing frame 141 are provided with a position sensor 20. The position sensor 20 is used to sense the forward and backward distance of the manipulator 14.

The mechanical claw 143 includes a base plate 1431, which slides on the third guide rail 142, and the end surface of the base plate 1431 is fixed with a rack 1432. Because the manipulator 143 moves back and forth without too much force, the rack 1432 in this embodiment is a plastic rack. The plastic rack can effectively reduce the production cost. The rack 1432 is meshed with the first gear 145 , and the end surface of the bottom plate 1431 is also fixed with a handle 1433 .

The interior of the handle 1433 is provided with a channel 14331 for storing articles, and the front and rear ends of the outer wall of the handle 1433 are also provided with a position sensor 20. The position sensor 20 is used to sense the position of the article in the channel 14331. There is at least one pressure roller 14332, and at least one roller 14333 is provided at the lower end of the channel 14331. In this embodiment, three pressure rollers 14332 and three rollers 14333 are provided. The centers of the three pressure rollers 14332 are on the same straight line, and the three rollers 14333 The center of the circle is also on the same straight line.

The side wall of the channel 14331 is provided with an adjustment hole 14334, the adjustment hole 14334 is a strip hole, both ends of the pressure wheel 14332 are provided with a connecting shaft 14335, the connecting shaft 14335 is located in the adjustment hole 14334, and the end of the connecting shaft 14335 is provided with Return spring 14336, one end of return spring 14336 is fixedly connected with connecting shaft 14335, the other end of return spring 14336 is fixedly connected with the side wall of channel 14331, when there is no object taken, return spring 14336 presses pressure wheel 14332, presses Both ends of the wheel 14332 are provided with a return spring 14336, so that both sides of the pressure wheel 14332 are evenly stressed.

The lower end of the bottom plate 1431 is provided with a fourth driving motor 14337, the roller 14333 is provided with a transmission shaft 14338, the transmission shaft 14338 is fixed with a second gear 14339, the second gear 14339 rotates synchronously with the roller 14333, the fourth driving motor 14337 and the second gear 14339 connection, the fourth driving motor 14337 is used to drive one of the second gears 14339, the second gear 14339 rotates to drive the corresponding roller 14333 to rotate, the other second gears 14339 and the second gear belt directly driven by the fourth driving motor 14337 transmission connection, thereby driving the remaining second gears 14339 to rotate.

In a word, the above descriptions are only preferred embodiments of the present invention, and all equivalent changes and modifications made according to the scope of the patent application of the present invention shall fall within the scope of the patent of the present invention.

Claims (9)

1. The pick-up machine with manipulator comprises a first fixed mount (10), is characterized in that: the first fixed mount (10) is provided with at least one first track (11), on the first track (11) The first groove (111) is provided, the first track (11) is provided with a lifting platform (12), the lifting platform (12) is slidably connected with the first track (11), and the lifting platform (12) is provided with a second Track (13), the second track (13) is provided with a second groove (131), the second track (13) is provided with a manipulator (14), and the manipulator (14) is slidably connected to the second track (13); Manipulator (14) comprises second fixed mount (141), and the second fixed mount (141) bottom surface is provided with the 3rd guide rail (142), slides with mechanical claw (143) on the 3rd guide rail (142); Mechanical claw (143 ) includes a base plate (1431), and a handle (1433) is fixed on the end surface of the base plate (1431); inside the handle (1433), there is a channel (14331) for storing items, and at least one pressing The wheel (14332), the lower end of the channel (14331) is provided with at least one roller (14333). 2. The fetching machine with manipulator according to claim 1, characterized in that: the first track (11) is provided with a first transmission belt (15), and the first transmission belt (15) is located in the first groove ( 111), the first drive belt (15) rotates to drive the lifting platform (12) to move, and the first drive motor (16) is arranged between the adjacent two first tracks (11), and the first drive motor (16) is connected to the first drive motor (16). Transmission belt (15) is connected. 3. The fetching machine with manipulator according to claim 2, characterized in that: a synchronous shaft (17) is also provided between adjacent two first tracks (11), and the two ends of the synchronous shaft (17) are respectively It is connected with the first transmission belt (15) at the upper end of the corresponding end, and a synchronous wheel (18) is fixed in the middle of the synchronous shaft (17), and the synchronous wheel (18) is connected with the first drive motor (16). 4. The pick-up machine with manipulator according to claim 3, characterized in that: the synchronous shaft (17) is provided with an electromagnetic brake (19), and the electromagnetic brake (19) is used to brake the synchronous shaft (17). 5. The fetching machine with manipulator according to claim 1, characterized in that: position sensors (20) are all provided on the first track (11) and the second track (13); the second track (13) The second transmission belt (21) is arranged on the top, and the second transmission belt (21) is located in the second groove (131), and the end of the lifting table (12) is provided with a second drive motor that drives the second transmission belt (21) to rotate. (22), the second drive belt (21) is fixedly connected with the manipulator (14). 6. The fetching machine with manipulator according to claim 1, characterized in that: a third drive motor (144) is fixed on the side wall of the second fixed mount (141), and the third drive motor (144) A first gear (145) is fixedly connected, and a position sensor (20) is also fixed on the other side wall of the second fixing frame (141). 7. The pick-up machine with manipulator according to claim 1, characterized in that: the base plate (1431) slides on the third guide rail (142), the end face of the base plate (1431) is fixed with a rack (1432), and the rack (1432) is engaged with the first gear (145). 8. The pick-up machine with a manipulator according to claim 7, characterized in that: the side wall of the channel (14331) is provided with an adjustment hole (14334), and both ends of the pressure roller (14332) are provided with a connecting shaft ( 14335), the connecting shaft (14335) is arranged in the adjustment hole (14334), the end of the connecting shaft (14335) is provided with a return spring (14336), and one end of the return spring (14336) is fixedly connected with the connecting shaft (14335). The other end of the return spring (14336) is fixedly connected with the side wall of the channel (14331). 9. The pick-up machine with manipulator according to claim 7, characterized in that: the bottom plate (1431) is provided with a fourth drive motor (14337), and the roller (14333) is provided with a drive shaft (14338), the drive A second gear (14339) is fixed on the shaft (14338), and the second gear (14339) rotates synchronously with the roller (14333), and the fourth driving motor (14337) is connected with the second gear (14339).