CN108694776A - Guide tracked manipulator and automatic vending machine - Google Patents
Guide tracked manipulator and automatic vending machine Download PDFInfo
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- CN108694776A CN108694776A CN201810753945.9A CN201810753945A CN108694776A CN 108694776 A CN108694776 A CN 108694776A CN 201810753945 A CN201810753945 A CN 201810753945A CN 108694776 A CN108694776 A CN 108694776A
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- axis
- coaster
- guide rail
- plate
- mandril
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- G—PHYSICS
- G07—CHECKING-DEVICES
- G07F—COIN-FREED OR LIKE APPARATUS
- G07F11/00—Coin-freed apparatus for dispensing, or the like, discrete articles
- G07F11/02—Coin-freed apparatus for dispensing, or the like, discrete articles from non-movable magazines
- G07F11/04—Coin-freed apparatus for dispensing, or the like, discrete articles from non-movable magazines in which magazines the articles are stored one vertically above the other
- G07F11/16—Delivery means
- G07F11/165—Delivery means using xyz-picker or multi-dimensional article picking arrangements
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- G—PHYSICS
- G07—CHECKING-DEVICES
- G07F—COIN-FREED OR LIKE APPARATUS
- G07F9/00—Details other than those peculiar to special kinds or types of apparatus
- G07F9/10—Casings or parts thereof, e.g. with means for heating or cooling
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- General Physics & Mathematics (AREA)
- Manipulator (AREA)
Abstract
The present invention discloses a kind of guide tracked manipulator, X axis mobile mechanism and Y-axis mobile mechanism are equipped on pedestal, X axis mobile mechanism includes X-axis guide rail and X-axis coaster, X-axis coaster includes top plate and is connected to the first side plate of top plate both sides and the second side plate, the outside of both side plate respectively connects there are two carrying roller, top plate is equipped with synchronous connecting shaft, Y-axis mobile mechanism includes the Y-axis guide rail and loading coaster being fixed on rear side of X-axis coaster, and X-axis coaster and loading coaster can move under the driving of corresponding motor respectively.The invention also discloses a kind of automatic vending machines including above-mentioned guide tracked manipulator.X-axis coaster both sides are equipped with carrying roller in the present invention and directive wheel ensure that the smoothness of movement, and handling goods is matched with outloading mechanism using mandril respectively with cargo bed, not only bearing capacity is strong, mobile smooth and crawl type of merchandize avoids crawl soft-packaged goods from damaging more, use cost is low, applied widely.
Description
Technical field
The present invention relates to automatic vending machine fields, and in particular to a kind of guide tracked manipulator and automatic vending machine.
Background technology
With the quickening of modern life rhythm and the raising of cultural and ethical quality, automatic vending machine is convenient fast due to having
It is prompt, occupied space is small, without StoreFront cost and can round-the-clock service the features such as at indispensable in for people's lives
Convenience-for-people auxiliary facility.Traditional manipulator mainly uses following two forms in automatic vending machine:First, with the rolling of precision drive
Ballscrew slide unit, by stepper motor drive leading screw rotation, gap is embedded with steel ball between lead screw and sliding block, so as to by it
Between sliding friction become rolling friction, to substantially reduce frictional force between the two, the rotary motion of motor
Be converted to the linear motion of slide unit;It is fixed on synchronization second is that being driven using synchronous pulley and synchronous belt, when synchronous pulley rotates
The slide unit taken moves in a straight line;But both the above mode has the following problems:Ball leading screw driving is extensive in method one
Applied to the basic transmission device of industrial automation equipment, but use cost is higher;Toothed belt transmission flexibility ratio is high in mode two,
There is unique advantage particularly with the occasion of narrow space, but toothed belt transmission load is small, needs preload and service life phase
To shorter.Existing automatic vending machine also has the kind of drive using wheel and rack to capture cargo, but due to being used to move
Pulley structure design it is unreasonable, be susceptible to the case where mobile card machine that has some setbacks can not be such that cargo transports out in time, consumption
Person's coin, which is settled, does not get corresponding cargo, thus can cause the discontented of consumer while influence the business of automatic vending machine yet
Volume.
In addition, the manipulator in automatic vending machine is usually claw or the mechanical structure of buckle-type, this kind of machinery at present
Hand, so when capturing the article of some appearances softness and cracky, is easy to be grabbed bad, damaged, crawl since appearance is hard
Ice cream is even more that cannot achieve, moreover, manipulator joint is more, complicated, cost is higher, is susceptible to and asks in practical application
Topic, is unfavorable for the maintenance in later stage, simultaneously because existing manipulator can only capture the cargo of lighter weight, for heavier mass
Cargo conveying limits the category of manipulator crawl cargo since clamping stagnation easily occurs in the limitation of itself bearing capacity.
Invention content
Guide rail more than strong, mobile smooth and crawl type of merchandize that it is an object of the present invention to provide a kind of bearing capacitys
Formula manipulator and automatic vending machine are so as to solve the deficiencies in the prior art.
For this purpose, the present invention uses following technical scheme:
A kind of guide tracked manipulator, including the pedestal that is fixed in vending machine body, the pedestal are equipped with and are mutually parallel
Liang Ge X axis mobile mechanism and the Y-axis mobile mechanism that is fixedly connected among two X axis mobile mechanisms, the X
Axial moving mechanism includes X-axis guide rail and the X-axis coaster with X-axis guide rail cooperation sliding, and the X-axis coaster includes top plate
And the first side plate and the second side plate of the top plate both sides, first side plate and institute are connected to along the X-axis guide rail direction
The outside for stating the second side plate is respectively connected at least two carrying rollers, the top plate be equipped with through-hole and across the through-hole with
The synchronization connecting shaft that the top plate is fixedly connected;The Y-axis mobile mechanism includes that the Y-axis being fixed on rear side of the X-axis coaster is led
Rail and the loading coaster slided with Y-axis guide rail cooperation, the X-axis coaster and the loading coaster can be respectively in corresponding electricity
It is moved under the driving of machine.Loading coaster, which can be moved up and down along Y-axis guide rail to corresponding cargo path, as a result, fills picking object, then again
Cargo is set to be sent to output port under the movement of X-axis coaster, sliding friction is switched to rolling friction and improved by the setting of carrying roller
The bearing capacity of entire X-axis coaster even if capture the big cargo of quality and clamping stagnation will not occur, Liang Ge X axis mobile mechanism it
Between be equipped with synchronous connecting shaft and ensure that the synchronizing moving of top and bottom X-axis coaster further ensures and mobile smooth improve cargo
Conveying speed.
Further, first side plate and the second side plate both sides are respectively equipped with X-axis directive wheel, the X-axis directive wheel
Wheel rim be equipped with arc groove, the X-axis guide rail side is equipped with the circular arc convex that coordinates with the arc groove.X-axis as a result,
The arc groove being oriented on rim of wheel can be fitted close with the circular arc convex of X-axis guide rail side, while the X-axis directive wheel of both sides is
X-axis coaster provides the support force among X-axis guide rail, ensure that the linear movement of X axis, can avoid the occurrence of clamping stagnation and improve
Movement velocity of the X-axis coaster in X axis.
Further, side parallel with the X-axis guide rail on the X-axis coaster is fixed with first motor bearing, consolidates
The X axis driving motor that is scheduled on the first motor bearing and coaxially connected with the X axis driving motor and be fixed on
X-axis external gear below the motor support base, the X-axis coaster are arranged right below in the X-axis being meshed with the X-axis external gear
The X-axis rack being meshed with the X-axis internal gear is fixedly installed along X axis for gear, the X-axis guide rail inside.X axis as a result,
Driving motor drives X-axis external gear and the rotation of X-axis internal gear after starting, X-axis internal gear is meshed with fixed X-axis rack and band
Dynamic X-axis coaster movement, and due to being equipped with synchronous connecting shaft on the top plate of X-axis coaster, X-axis external gear is mounted on X-axis coaster one
Side makes whole device more reasonable structure, while the transmission of X-axis external gear and X-axis internal gear two-stage is arranged can adjust biography as needed
It is dynamic than further improving entire manipulator bearing capacity.
Further, the both sides of the X-axis coaster are connected with the right-angle connecting plate including long side and short side, the right angle respectively
The short side of connecting plate is vertically connected on the two of the outside of first side plate or the second side plate and the prominent X-axis coaster
Side, the long side connection parallel with the carrying roller of the right-angle connecting plate.The carrying roller of X-axis coaster side exists as a result,
The outside of rack is moved, and the carrying roller of the other side is moved in the rolling sliding slot of X-axis guide rail, makes entire X-axis coaster movement more
It is smooth.
Further, the loading coaster it include support plate, the goods in the support plate is connected to by a rotary shaft
Bucket and the car body below the cargo bed;Be equipped in the car body support chamber and set on the support intracavitary mandril and
Mandril gear, the lower end of the mandril be fixed with the mandril rack being meshed with the mandril gear and with the mandril tooth
Take turns mandril motor that is coaxially connected and being mounted on the support chamber side;Be fixed in the support plate the second motor support base,
The Y-axis driving motor being fixed on second motor support base and and fixation coaxially connected with the Y-axis driving motor
Y-axis gear below the motor support base, the Y-axis guide rail inside is fixedly installed along Y-axis to be meshed with the Y-axis gear
Y-axis rack.Mandril motor positive and inverse can drive mandril being propped up under the engagement of mandril gear and mandril rack as a result,
Support intracavitary move left and right, mandril eject when can touch in automatic vending machine shipment switch, make cargo slid from cargo path to
It freights on trolley;And under the driving of Y-axis driving motor, Y-axis gear and Y-axis rack are meshed to drive and be moved down on loading coaster
It is dynamic to load cargo sending cargo bed to corresponding cargo path.
Further, the mandril include can it is described support intracavitary movement sliding bar and with the sliding bar one
Connection is located at cutting somebody's hair on the outside of the support chamber, described that side opposite with the support plate on chamber is supported to be equipped with sliding groove, institute
Sliding bar is stated equipped with the sliding groove and the Contact plate for supporting chamber vertical is pierced by, the both sides of the sliding groove are also set respectively
There is the travel switch for incuding the touching Board position, when mandril is ejected as a result, cutting somebody's hair for outside can touch automatic vending machine
In shipment switch so that cargo is skidded off from cargo path, the position of Contact plate, Ke Yijian are incuded by the travel switch of mandril both sides
Survey whether mandril playbacks or eject in place.
Further, it is equipped with the junction of the travel switch on the support chamber and adjusts sliding slot.It as a result, can be according to need
Travel switch is adjusted with the relative position of mandril both sides to meet the precision for needing to improve mandril movement of different situations.
Further, the support plate bottom both sides are respectively equipped with Y-axis directive wheel, are set on the wheel rim of the Y-axis directive wheel
There are arc groove, the Y-axis guide rail side to be equipped with the circular arc convex coordinated with the arc groove.Thus, it is possible to ensure to freight
Coaster improves control accuracy without departing from can swimmingly be moved in a straight line in Y-axis guide rail.
Further, the loading coaster is set on the synchronous connecting shaft, and the side and bottom of the cargo bed are set respectively
Some loading hatch and discharging hatch, the relatively described rotary shaft side in the cargo bed top are equipped with unloading protrusion.It is pushed up from cargo path as a result,
The cargo gone out enters cargo bed by the loading hatch of cargo bed, when loading coaster moves to output port under the movement of X-axis coaster again, loading
Coaster moves a distance still further below, and the unloading protrusion in cargo bed can be contacted with the protruding portion of output port, in output port protruding portion
Resistance under cargo bed rotation makes discharging hatch be moved out out cargo to be sent to output port by discharging hatch counterclockwise along axial rotary, and fill
Goods coaster, which is set in, can not only save space while the movement of loading coaster being made to make crawl goods without departing from Y-axis guide rail on synchronous connecting shaft
Object is more accurate.
It is a further object of the present invention to provide a kind of automatic vending machine, including above-mentioned guide tracked manipulator, the guide rails
Formula manipulator is mounted in the body of the automatic vending machine.Guide tracked manipulator and the article delivery machine in automatic vending machine as a result,
Structure, which matches, completes picking and unloading.
Guide tracked manipulator and automatic vending machine provided by the invention, have the advantages that:
1, X-axis coaster both sides are respectively equipped with carrying roller, and sliding friction, which is switched to rolling friction, to be avoided because crawl quality is big
Cargo and there is clamping stagnation, improve the cargo carrying capability of entire manipulator, while using the goods with loading hatch and discharging hatch
It struggles against to capture cargo, even soft-packaged goods will not be damaged, expands the crawl type of cargo, make automatic vending machine
Type of selling goods it is more diversified;
2, synchronous connecting shaft is equipped between Liang Ge X axis mobile mechanism, and the loading coaster of Y-axis mobile mechanism is sleeved on synchronization
On connecting shaft, real-time synchronization avoided the clamping stagnation caused by asynchronous between both having can ensure that two X-axis coasters up and down, while can also keep away
Mobile in Y-axis guide rail of coaster of exempting to freight deviates, and improves the movement accuracy of entire manipulator;
3, X axis mobile mechanism and all gears in Y-axis mobile mechanism and rack are all made of with lubricating action
Copper is at no longer needing to add lubricating oil between gear and rack, high occasion can be required to use in cleannes and reduced
Maintenance cost;
4, entire robot manipulator structure is simple, volume compact, is not take up vending machine exceptional space, and without fine component parts,
It is hardly damaged, service life is long, reduces use cost, applied widely.
Description of the drawings
In order to illustrate the technical solution of the embodiments of the present invention more clearly, will make below to required in the embodiment of the present invention
Attached drawing is briefly described.It should be evident that drawings described below is only some embodiments of the present invention, for
For those of ordinary skill in the art, without creative efforts, other are can also be obtained according to these attached drawings
Attached drawing.
Fig. 1 is a kind of guide tracked dimensional structure diagram of embodiment of manipulator of the present invention;
Fig. 2 is the drive mechanism schematic diagram in X-axis coaster in Fig. 1;
Fig. 3 is the external enlarged diagram of X-axis coaster in Fig. 1;
Fig. 4 is the external structure schematic diagram of loading coaster in Tu1Zhong Y-axis mobile mechanism;
Fig. 5 is the internal structure schematic diagram of loading coaster in Tu1Zhong Y-axis mobile mechanism;
In figure:
1, pedestal;2, X axis mobile mechanism;21, X-axis guide rail;22, X-axis coaster;221, top plate;222, the first side plate;
223, the second side plate;224, right-angle connecting plate;225, the first carrying roller;226, the second carrying roller;227, third carrying roller;228,
4th carrying roller;229, through-hole;23, first motor bearing;24, X axis driving motor;25, X-axis external gear;26, X-axis internal tooth
Wheel;27, X-axis rack;28, X-axis directive wheel;3, Y-axis mobile mechanism;31, Y-axis guide rail;32, loading coaster;321, support plate;
322, rotary shaft;323, cargo bed;3231, loading hatch;3232, discharging hatch;3233, unloading protrusion;324, chamber is supported;325, it pushes up
Bar;3251, sliding bar;3252, it cuts somebody's hair;3253, Contact plate;326, mandril gear;327, mandril rack;328, mandril motor;
33, the second motor support base;34, Y-axis driving motor;35, Y-axis gear;36, sliding groove;37, travel switch;38, it adjusts and slides
Slot;39, Y-axis rack;4, arc groove;5, circular arc convex;6, synchronous connecting shaft.
Specific implementation mode
Technical solution to further illustrate the present invention below with reference to the accompanying drawings and specific embodiments.
Wherein, the drawings are for illustrative purposes only and are merely schematic diagrams rather than pictorial diagram, should not be understood as to this
The limitation of patent;Embodiment in order to better illustrate the present invention, the certain components of attached drawing have omission, zoom in or out, not
Represent the size of actual product;It will be understood by those skilled in the art that certain known features and its explanation may be omitted and be in attached drawing
It is appreciated that.
The same or similar label correspond to the same or similar components in the attached drawing of the embodiment of the present invention;In retouching for the present invention
In stating, it is to be understood that closed if there is the orientation of the instructions such as term "upper", "lower", "left", "right", "inner", "outside" or position
System is merely for convenience of description of the present invention and simplification of the description to be based on the orientation or positional relationship shown in the drawings, rather than indicates
Or imply that signified device or element must have a particular orientation, with specific azimuth configuration and operation, therefore retouched in attached drawing
The term for stating position relationship only for illustration, should not be understood as the limitation to this patent, for the common skill of this field
For art personnel, the concrete meaning of above-mentioned term can be understood as the case may be.
As shown in Figure 1, Figure 2 and Figure 3, a kind of guide tracked manipulator, including the pedestal that is fixed in automatic vending machine body
1, pedestal 1 is equipped with the Liang Ge X axis mobile mechanism 2 being mutually parallel and is fixedly connected among Liang Ge X axis mobile mechanism 2
Y-axis mobile mechanism 3, wherein X axis mobile mechanism 2 include X-axis guide rail 21 and with X-axis guide rail 21 cooperation sliding X-axis
Coaster 22, X-axis coaster 22 include top plate 221 and the first side plate 222 that 221 both sides of top plate are connected to along 21 direction of X-axis guide rail
With the second side plate 223, the outside of the first side plate 222 and the second side plate 223 respectively connects that there are two carrying rollers, can also be according to need
More carrying rollers are set, and the both sides of X-axis coaster 22 are connected with the right-angle connecting plate 224 including long side and short side, right angle respectively
The short side of connecting plate 224 is vertically connected on the outside of the first side plate 222 or the second side plate 223 and the both sides of prominent X-axis coaster 22,
The connection parallel with carrying roller of the long side of right-angle connecting plate 224,222 the front and back of outside of the first side plate pass through right-angle connecting plate respectively
224 connect with the first carrying roller 225 and the second carrying roller 226, and 223 the front and back of outside of the second side plate passes through right-angle connecting plate respectively
224 connect with third carrying roller 227 and the 4th carrying roller 228.
In addition, the synchronous connecting shaft 6 that top plate 221 is equipped with through-hole 229 and is fixedly connected with top plate 221 across through-hole 229,
Certain space is occupied because being connected with synchronous connecting shaft 6 on top plate 221, in order to keep entire manipulator design more rationally compact, is slided in X-axis
The X-axis that the side parallel with X-axis guide rail 21 is fixed with first motor bearing 23, is fixed on first motor bearing 23 on vehicle 22
X-axis external tooth that is coaxially connected to driving motor 24 and with X axis driving motor 24 and being fixed on 23 lower section of first motor bearing
Wheel 25, X-axis coaster 22 are arranged right below the X-axis internal gear 26 being meshed with X-axis external gear 25, and 21 inside of X-axis guide rail is along X axis
The X-axis rack 27 being meshed with X-axis internal gear 26 is fixedly installed.
As shown in Figure 1 and Figure 4, Y-axis mobile mechanism 3 include be fixed on the rear side of X-axis coaster 22 Y-axis guide rail 31 and with
The loading coaster 32 of the cooperation sliding of Y-axis guide rail 31, X-axis coaster 22 and loading coaster 32 can be moved down in the driving of corresponding motor respectively
Dynamic, loading coaster 32 includes support plate 321, the cargo bed 323 that is connected in support plate 321 by rotary shaft 322 and is located at goods
The car body of 323 lower section of bucket;Support chamber 324 and the mandril 325 in support chamber 324 and mandril gear 326 are equipped in car body,
The lower end of mandril 325 is fixed with the mandril rack 327 being meshed with mandril gear 326 and coaxially connects with mandril gear 326
It connects and mounted on the mandril motor 328 of 324 side of support chamber;It is fixed with the second motor support base 33 in support plate 321, is fixed on
Y-axis driving motor 34 on second motor support base 33 and coaxially connected with Y-axis driving motor 34 and be fixed on the second electricity
The Y-axis tooth being meshed with Y-axis gear 35 is fixedly installed along Y-axis for the Y-axis gear 35 of 33 lower section of machine bearing, 31 inside of Y-axis guide rail
Item 39.
In addition, in order to enable X-axis coaster 22 clamping stagnation do not occur in 21 linear slide of X-axis guide rail, while making loading coaster 32
The smooth guarantee cargo of lifting in Y-axis guide rail 31 is sent in time to output port, and the first side plate 222 and 223 both sides of the second side plate are equal
It is respectively equipped with X-axis directive wheel 28, the wheel rim of X-axis directive wheel 28 is equipped with arc groove 4, and 21 side of X-axis guide rail is equipped with and circular arc
The circular arc convex 5 that groove 4 coordinates, 321 two bottom sides of support plate are respectively equipped with Y-axis directive wheel, and the wheel rim of Y-axis directive wheel is equipped with
Arc groove 4,31 side of Y-axis guide rail are equipped with the circular arc convex 5 that coordinate with arc groove 4, circular arc convex 5 and arc groove 4 it
Between with being combined into rolling friction, the resistance of motion is small.
Wherein, mandril 325 includes the sliding bar 3251 that can be moved in support chamber 324 and integrally connects with sliding bar 3251
Connect and what section kind was more than support 324 cavity inner section of chamber product cut somebody's hair 3252, support on chamber 324 with 321 opposite side of support plate
Equipped with sliding groove 36, sliding bar 3251, which is equipped with, is pierced by the Contact plate 3253 vertical with chamber 324 is supported of sliding groove 36, sliding groove 36
Both sides further respectively have the travel switch 37 of induction Contact plate 3253 position.In order to adjust travel switch 37 according to actual conditions
With the relative position at 325 both ends of mandril, it is equipped in support chamber 324 position corresponding with travel switch 37 and adjusts sliding slot 38.
In addition, loading coaster 32 is set on synchronous connecting shaft 6, the loading hatch that the side and bottom of cargo bed 323 are respectively equipped with
3231 and discharging hatch 3232,323 top of cargo bed is equipped with the unloading protrusion 3233 opposite with rotary shaft 322.
A kind of automatic vending machine, including above-mentioned guide tracked manipulator, guide tracked manipulator are mounted on automatic vending machine
In body.
When using guide tracked manipulator provided by the invention and automatic vending machine, the mandril motor of Y-axis mobile mechanism 3
328 drivings make the rotation of mandril gear 326 make 3252 ejections of cutting somebody's hair of mandril 325 to be meshed with mandril rack 327, mandril electricity
328 positive and negative rotation of machine makes mandril 325 move left and right, and whether in place travel switch 37 detects the movement of mandril 325, when mandril 325 is touched
To outloading mechanism shipment switch when, cargo be slipped to from cargo path by loading hatch 3231 enter loading coaster 32 cargo bed 323
Interior, then the X axis driving motor 24 of X axis mobile mechanism 2 starts, and X-axis external gear 25 and X-axis internal gear 26 is driven to rotate
It is dynamic, since the engagement of X-axis internal gear 26 and X-axis rack 27 makes X-axis coaster 22 advance coaster 32 of freighting along X-axis guide rail 21
It send to output port, at this point, the Y-axis driving motor 34 of Y-axis mobile mechanism 3 starts, drives Y-axis gear 35 to rotate, due to Y-axis
The engagement of gear 35 and Y-axis rack 39 makes loading coaster 32 be moved downward along Y-axis guide rail 31, and the unloading in cargo bed 323 is convex
Play 3233 protruding portions for touching output port is made cargo bed 323 be flipped up by upward power, by the cargo in cargo bed 323 by unloading
Goods mouth 3232 is sent to access section, and consumer takes the cargo oneself bought from access section.
It is to be understood that above-mentioned specific implementation mode is only presently preferred embodiments of the present invention and institute's application technology principle,
In technical scope disclosed in this invention, variation or replace that any one skilled in the art is readily apparent that
It changes, should all cover within the scope of the present invention.
Claims (10)
1. a kind of guide tracked manipulator, including the pedestal that is fixed in vending machine body, which is characterized in that the pedestal is equipped with
The Liang Ge X axis mobile mechanism being mutually parallel and the Y-axis moving machine being fixedly connected among two X axis mobile mechanisms
Structure, the X axis mobile mechanism include X-axis guide rail and the X-axis coaster with X-axis guide rail cooperation sliding, the X-axis coaster
It is connected to the first side plate and the second side plate of the top plate both sides including top plate and along the X-axis guide rail direction, described first
The outside of side plate and second side plate is respectively connected at least two carrying rollers, and the top plate is equipped with through-hole and passes through institute
State the synchronous connecting shaft that through-hole is fixedly connected with the top plate;The Y-axis mobile mechanism includes being fixed on rear side of the X-axis coaster
Y-axis guide rail and with the Y-axis guide rail cooperation sliding loading coaster, the X-axis coaster and the loading coaster can be distinguished
It is moved under the driving of corresponding motor.
2. guide tracked manipulator according to claim 1, which is characterized in that first side plate and the second side plate both sides are equal
Be respectively equipped with X-axis directive wheel, the wheel rim of the X-axis directive wheel is equipped with arc groove, the X-axis guide rail side be equipped with it is described
The circular arc convex of arc groove cooperation.
3. guide tracked manipulator according to claim 1, which is characterized in that flat with the X-axis guide rail on the X-axis coaster
Capable side be fixed with first motor bearing, the X axis driving motor being fixed on the first motor bearing and with institute
State the X-axis external gear that X axis driving motor is coaxially connected and is fixed below the motor support base, the X-axis coaster underface
Equipped with the X-axis internal gear being meshed with the X-axis external gear, along X axis fixed setting and the X-axis on the inside of the X-axis guide rail
The X-axis rack that internal gear is meshed.
4. guide tracked manipulator according to claim 1, which is characterized in that the both sides of the X-axis coaster are connected with packet respectively
The right-angle connecting plate of long side and short side is included, the short side of the right-angle connecting plate is vertically connected on first side plate or second
The outside of side plate and the both sides of the prominent X-axis coaster, the long side company parallel with the carrying roller of the right-angle connecting plate
It connects.
5. guide tracked manipulator according to claim 1, which is characterized in that it includes support plate to the loading coaster, is led to
Cross the cargo bed and the car body below the cargo bed that a rotary shaft is connected in the support plate;Branch is equipped in the car body
Chamber and mandril and mandril gear set on the support intracavitary are supportted, the lower end of the mandril is fixed with and the mandril gear
The mandril rack and mandril motor that is coaxially connected with the mandril gear and being mounted on the support chamber side being meshed;Institute
State be fixed in support plate the second motor support base, the Y-axis driving motor being fixed on second motor support base and with
The Y-axis driving motor is coaxially connected and the Y-axis gear that is fixed below the motor support base, along Y on the inside of the Y-axis guide rail
The Y-axis rack being meshed with the Y-axis gear is arranged in axial restraint.
6. guide tracked manipulator according to claim 5, which is characterized in that the mandril includes can be in the support intracavitary
Mobile sliding bar and be located at cutting somebody's hair on the outside of the support chamber with the sliding bar integrally connected, on the support chamber with institute
It states the opposite side of support plate and is equipped with sliding groove, the sliding bar is vertical with the support chamber equipped with the sliding groove is pierced by
Contact plate, the both sides of the sliding groove further respectively have the travel switch for incuding the touching Board position.
7. guide tracked manipulator according to claim 6, which is characterized in that the company of the support chamber and the travel switch
It meets place and is equipped with adjusting sliding slot.
8. guide tracked manipulator according to claim 5, which is characterized in that the support plate bottom both sides are respectively equipped with Y
The wheel rim of axis directive wheel, the Y-axis directive wheel is equipped with arc groove, and the Y-axis guide rail side is equipped with and the arc groove
The circular arc convex of cooperation.
9. guide tracked manipulator according to claim 5, which is characterized in that the loading coaster is set in the synchronization even
On axis, the loading hatch and discharging hatch that the side and bottom of the cargo bed are respectively equipped with, the relatively described rotary shaft in cargo bed top
Side is equipped with unloading protrusion.
10. a kind of automatic vending machine, which is characterized in that including guide tracked described in any one of claim 1~9 claim
Manipulator, the guide tracked manipulator are mounted in the body of the automatic vending machine.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810753945.9A CN108694776A (en) | 2018-07-11 | 2018-07-11 | Guide tracked manipulator and automatic vending machine |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810753945.9A CN108694776A (en) | 2018-07-11 | 2018-07-11 | Guide tracked manipulator and automatic vending machine |
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| CN108694776A true CN108694776A (en) | 2018-10-23 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201810753945.9A Pending CN108694776A (en) | 2018-07-11 | 2018-07-11 | Guide tracked manipulator and automatic vending machine |
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Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109215220A (en) * | 2018-10-25 | 2019-01-15 | 山东便利客智能科技有限公司 | Fully-automatic intelligent goods selling equipment |
| CN109215225A (en) * | 2018-10-25 | 2019-01-15 | 山东便利客智能科技有限公司 | Bidirectional walking mechanism and the fully-automatic intelligent goods selling equipment for utilizing it |
| CN109272653A (en) * | 2018-10-25 | 2019-01-25 | 山东便利客智能科技有限公司 | Puma manipulator and its bidirectional walking mechanism, fully-automatic intelligent goods selling equipment |
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| CN110580770A (en) * | 2019-07-22 | 2019-12-17 | 丹顶鹤智能科技(江苏)有限公司 | Automatic vending machine with middle article taking opening |
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| CN109215220A (en) * | 2018-10-25 | 2019-01-15 | 山东便利客智能科技有限公司 | Fully-automatic intelligent goods selling equipment |
| CN109215225A (en) * | 2018-10-25 | 2019-01-15 | 山东便利客智能科技有限公司 | Bidirectional walking mechanism and the fully-automatic intelligent goods selling equipment for utilizing it |
| CN109272653A (en) * | 2018-10-25 | 2019-01-25 | 山东便利客智能科技有限公司 | Puma manipulator and its bidirectional walking mechanism, fully-automatic intelligent goods selling equipment |
| CN109272652A (en) * | 2018-10-25 | 2019-01-25 | 山东便利客智能科技有限公司 | Puma manipulator and its bidirectional walking mechanism, fully-automatic intelligent goods selling equipment |
| CN109215220B (en) * | 2018-10-25 | 2024-05-03 | 山东便利客智能科技有限公司 | Full-automatic intelligent vending device |
| CN109272653B (en) * | 2018-10-25 | 2024-05-03 | 山东便利客智能科技有限公司 | Intelligent mechanical arm, bidirectional travelling mechanism thereof and full-automatic intelligent vending device |
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| CN110580770A (en) * | 2019-07-22 | 2019-12-17 | 丹顶鹤智能科技(江苏)有限公司 | Automatic vending machine with middle article taking opening |
| CN110580770B (en) * | 2019-07-22 | 2024-05-03 | 丹顶鹤智能科技(江苏)有限公司 | Vending machine with middle article taking opening |
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| CN110473340B (en) * | 2019-08-16 | 2024-05-10 | 周建楚 | Automatic vending machine |
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