CN102961876A - Toy automatic sorting dolly - Google Patents
Toy automatic sorting dolly Download PDFInfo
- Publication number
- CN102961876A CN102961876A CN2012104443211A CN201210444321A CN102961876A CN 102961876 A CN102961876 A CN 102961876A CN 2012104443211 A CN2012104443211 A CN 2012104443211A CN 201210444321 A CN201210444321 A CN 201210444321A CN 102961876 A CN102961876 A CN 102961876A
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- joint
- gear
- gear shaft
- dolly
- servomotor
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Abstract
The invention relates to a toy automatic sorting dolly which comprises a travel dolly, wherein a camera and a non-contact type radio frequency device which is used for identifying radio frequency cards arranged in toys are arranged on the travel front end of the travel dolly; output ends of the camera and the non-contact type radio frequency device are connected with a controller which is arranged on the travel dolly; a control signal output end of the controller is connected with a stepping motor which is arranged on the tail end of the travel dolly; an output end of the stepping motor is connected with one end of a multi-joint linkage mechanism, and a sliding groove is formed in the other end of the multi-joint linkage mechanism; a sliding post which is connected with a clamper is arranged in the sliding groove; servo motors are independently arranged in all joints of the multi-joint linkage mechanism; and the multi-direction movement of the multi-joint linkage mechanism and the back-and-forth sliding of the sliding post in the sliding groove are controlled by the controller through all of the servo motors in accordance with received video frequency and radio frequency signals, thereby controlling the clamper to position and turn on or off. The toys can be orderly sorted by the toy automatic sorting dolly, and the toy automatic sorting dolly has the advantages of high efficiency, strong practicability, sorting and the like.
Description
Technical field
The present invention relates to a kind of toy automatic arranging dolly.
Background technology
Toy is the favorite playfellow of child, along with improving of living condition, father and mother are also just more and more to the toy that child buys, and sometimes also do not know to tidy up after child has played, father and mother have gone up tired not all right of one day class also will tidy up toy to children, has so just increased father and mother's work burden.
Summary of the invention
In order to overcome the shortcoming of above-mentioned prior art, the object of the present invention is to provide a kind of toy automatic arranging dolly, can tidy up toy well, have the advantages such as efficient height, practical, taxonomic revision.
In order to achieve the above object, the technical solution used in the present invention is:
A kind of toy automatic arranging dolly, comprise walking dolly 1, the walking front end of walking dolly 1 is provided with camera 19 and is used for the non-contact radio-frequency device 20 that identification is arranged at the toy radio-frequency card, the output of camera 19 and non-contact radio-frequency device 20 all connects the controller 21 that is arranged on the walking dolly 1, the control signal output termination of controller 21 is arranged at the stepper motor 2 of walking dolly 1 tail end, one end of stepper motor 2 output termination multi-joint linkages, the other end of multi-joint linkage has sliding tray 14, the traveller 15 that is connected with clamper 18 is arranged in the sliding tray 14, equal separate configurations servomotor in each joint of described multi-joint linkage, controller 21 slides by Multidirectional motion and the front and back of traveller 15 in sliding tray 14 of each servomotor control multi-joint linkage according to the video that receives and radiofrequency signal, and then realizes location and the folding control of control clamper 18.
Described clamper 18 is made of two grip unit, and the tail end of two grip unit all connects a small rod 17, is connected by spring 16 between traveller 15 and the small rod 17.
Compared with prior art, the present invention can put toy in order well, simultaneously, the arrangement that not only is applicable to toy also is applicable to other article such as the arrangement of clothing, and can in adverse circumstances, carry out the task that some pick up article, have boundless application prospect and huge market.
Description of drawings
Fig. 1 is structural representation of the present invention.
Fig. 2 is the schematic diagram of a kind of embodiment of multi-joint linkage of the present invention.
The specific embodiment
Below in conjunction with accompanying drawing the present invention is described in further details.
As shown in Figure 1, a kind of toy automatic arranging of the present invention dolly, comprise walking dolly 1, the walking front end of walking dolly 1 is provided with camera 19 and is used for the non-contact radio-frequency device 20 that identification is arranged at the toy radio-frequency card, the output of camera 19 and non-contact radio-frequency device 20 all connects the controller 21 that is arranged on the walking dolly 1, the control signal output termination of controller 21 is arranged at the stepper motor 2 of walking dolly 1 tail end, one end of stepper motor 2 output termination multi-joint linkages, the other end of multi-joint linkage has sliding tray 14, the traveller 15 that is connected with clamper 18 is arranged in the sliding tray 14, equal separate configurations servomotor in each joint of described multi-joint linkage, controller 21 slides by Multidirectional motion and the front and back of traveller 15 in sliding tray 14 of each servomotor control multi-joint linkage according to the video that receives and radiofrequency signal, and then realizes location and the folding control of control clamper 18.
As shown in Figure 2, the output of stepper motor 2 switches through dish 4 by main reducing gear 3, and the multi-joint linkage is connected on the rotating disk 4.The multi-joint linkage comprises the first joint 6, second joint 8, the 3rd joint 10 and the 4th joint 12, be connected with connecting rod 5 between rotating disk 4 and the first joint 6, be connected with the first rocking arm 7 between the first joint 6 and the second joint 8, be connected with between second joint 8 and the 3rd joint 10 between rocking bar 9, the three joints 10 and the 4th joint 12 and be connected the second rocking arm 11.
The first joint 6 comprises the gear shaft 1 with internal gear, gear shaft 1 with internal gear is socketed in the axle sleeve 1 with rolling bearing of connecting rod 5 ends setting, end with the gear shaft 1 of the gear shaft one 64 connecting band external gears of internal gear, another end with the gear shaft 1 of external gear connects the first servomotor 63, being provided with the first aux. retarder 62, the first servomotors 63 on the gear shaft 1 with external gear is supported on the first gripper shoe 51 that connecting rod 5 connects.
The first rocking arm 7 is connected on the gear shaft 1 with internal gear by the first axle sleeve 71, and rocking bar 9, the second rocking arm 11 are connected similarly with respective nodes.
Second joint 8 comprises the gear shaft 2 84 with internal gear, gear shaft 2 84 with internal gear is socketed in the axle sleeve 2 73 with rolling bearing of the first rocking arm 7 ends setting, end with the gear shaft 2 83 of the gear shaft 2 84 connecting band external gears of internal gear, another end with the gear shaft 2 83 of external gear connects the second servomotor 81, being provided with the second aux. retarder 82, the second aux. retarders 82 on the gear shaft 2 83 with external gear is supported on the second gripper shoe 72 that the first rocking arm 7 connects.
The 3rd joint 10 comprises the gear shaft 3 101 with internal gear, gear shaft 3 101 with internal gear is socketed in the axle sleeve 3 92 with rolling bearing of rocking bar 9 ends setting, end with the gear shaft 3 102 of the gear shaft 3 101 connecting band external gears of internal gear, another end with the gear shaft 3 102 of external gear connects the 3rd servomotor 104, being provided with the 3rd aux. retarder 103, the three servomotors 104 on the gear shaft 3 102 with external gear is supported on the 3rd gripper shoe 91 that rocking bar 9 connects.
The 4th joint 12 comprises the gear shaft 4 124 with internal gear, gear shaft 4 124 with internal gear is socketed in the axle sleeve 4 112 with rolling bearing of the second rocking arm 11 ends setting, end with the gear shaft 4 123 of the gear shaft 4 124 connecting band external gears of internal gear, another end with the gear shaft 4 123 of external gear connects the 4th servomotor 121, being provided with the 4th aux. retarder 122, the four servomotors 121 on the gear shaft 4 123 with external gear is supported on the 4th gripper shoe 111 that the second rocking arm 11 connects.
With connecting travellers 15 by belt 13 on the gear shaft 4 124 of internal gear, described clamper 18 is made of two grip unit, and the tail end of two grip unit all connects a small rod 17, is connected by spring 16 between traveller 15 and the small rod 17.
Operation principle of the present invention is:
At first in toy, stitch a non-contact radio-frequency chip, opening power, camera 19 and non-contact radio-frequency device 20 start, walking dolly 1 obtains external environment condition by camera 19, process the position of seeking toy by controller 21, then move to the toy position, controller 21 can be selected PLC or single-chip microcomputer.The first servomotor 63, the second servomotor 81 and the 3rd servomotor 104 drive clamper 18 with suitable order forward and move to suitable position, the 4th servomotor 121 forward belts 13 drive traveller 15 in 14 li motions of sliding tray, traveller 15 clamper 18 of ining succession makes clamper 18 clamp toys, then allow toy near non-contact radio-frequency device 20 reading toy information by the counter-rotating of the servomotor in each joint, then in the toy placing car, then carry out next toy and pick up.When picking up a car, walking dolly 1 moves to assigned position, and toy is taken out, and drives turntable rotation by stepper motor 2 forward or reverse toy is put into suitable position, successively back and forth until all toys are put neatly.
Claims (10)
1. toy automatic arranging dolly, it is characterized in that, comprise walking dolly (1), the walking front end of walking dolly (1) is provided with camera (19) and is used for the non-contact radio-frequency device (20) that identification is arranged at the toy radio-frequency card, the output of camera (19) and non-contact radio-frequency device (20) all connects the controller (21) that is arranged on the walking dolly (1), the control signal output termination of controller (21) is arranged at the stepper motor (2) of walking dolly (1) tail end, one end of stepper motor (2) output termination multi-joint linkage, the other end of multi-joint linkage has sliding tray (14), the traveller (15) that is connected with clamper (18) is arranged in the sliding tray (14), equal separate configurations servomotor in each joint of described multi-joint linkage, controller (21) slides by Multidirectional motion and the front and back of traveller (15) in sliding tray (14) of each servomotor control multi-joint linkage according to the video that receives and radiofrequency signal, and then realizes location and the folding control of control clamper (18).
2. described toy automatic arranging dolly according to claim 1 is characterized in that the output of described stepper motor (2) switches through dish (4) by main reducing gear (3), and the multi-joint linkage is connected on the rotating disk (4).
3. described toy automatic arranging dolly according to claim 2, it is characterized in that, described multi-joint linkage comprises the first joint (6), second joint (8), the 3rd joint (10) and the 4th joint (12), be connected with connecting rod (5) between rotating disk (4) and the first joint (6), be connected with the first rocking arm (7) between the first joint (6) and the second joint (8), be connected with rocking bar (9) between second joint (8) and the 3rd joint (10), be connected the second rocking arm (11) between the 3rd joint (10) and the 4th joint (12).
4. described toy automatic arranging dolly according to claim 3, it is characterized in that, described the first joint (6) comprises the gear shaft one (64) with internal gear, gear shaft one (64) with internal gear is socketed in the axle sleeve one (52) with rolling bearing of connecting rod (5) end setting, end with the gear shaft one (61) of gear shaft one (64) the connecting band external gear of internal gear, another end with the gear shaft one (61) of external gear connects the first servomotor (63), be provided with the first aux. retarder (62) on the gear shaft one (61) with external gear, the first servomotor (63) is supported on first gripper shoe (51) of connecting rod (5) connection.
5. described toy automatic arranging dolly according to claim 4 is characterized in that, described the first rocking arm (7) is connected on the gear shaft one (64) with internal gear by the first axle sleeve (71).
6. according to claim 4 or 5 described toy automatic arranging dollies, it is characterized in that, described second joint (8) comprises the gear shaft two (84) with internal gear, gear shaft two (84) with internal gear is socketed in the axle sleeve two (73) with rolling bearing of the first rocking arm (7) end setting, end with the gear shaft two (83) of gear shaft two (84) the connecting band external gears of internal gear, another end with the gear shaft two (83) of external gear connects the second servomotor (81), be provided with the second aux. retarder (82) on the gear shaft two (83) with external gear, the second aux. retarder (82) is supported on second gripper shoe (72) of the first rocking arm (7) connection.
7. described toy automatic arranging dolly according to claim 4, it is characterized in that, described the 3rd joint (10) comprises the gear shaft three (101) with internal gear, gear shaft three (101) with internal gear is socketed in the axle sleeve three (92) with rolling bearing of rocking bar (9) end setting, end with the gear shaft three (102) of gear shaft three (101) the connecting band external gears of internal gear, another end with the gear shaft three (102) of external gear connects the 3rd servomotor (104), be provided with the 3rd aux. retarder (103) on the gear shaft three (102) with external gear, the 3rd servomotor (104) is supported on the 3rd gripper shoe (91) of rocking bar (9) connection.
8. described toy automatic arranging dolly according to claim 4, it is characterized in that, described the 4th joint (12) comprises the gear shaft four (124) with internal gear, gear shaft four (124) with internal gear is socketed in the axle sleeve four (112) with rolling bearing of the second rocking arm (11) end setting, end with the gear shaft four (123) of gear shaft four (124) the connecting band external gears of internal gear, another end with the gear shaft four (123) of external gear connects the 4th servomotor (121), be provided with the 4th aux. retarder (122) on the gear shaft four (123) with external gear, the 4th servomotor (121) is supported on the 4th gripper shoe (111) of the second rocking arm (11) connection.
9. described toy automatic arranging dolly according to claim 8 is characterized in that, described gear shaft four (124) with internal gear is upper to connect travellers (15) by belts (13).
10. described toy automatic arranging dolly according to claim 1, it is characterized in that, described clamper (18) is made of two grip unit, and the tail end of two grip unit all connects a small rod (17), is connected by spring (16) between traveller (15) and the small rod (17).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201210444321.1A CN102961876B (en) | 2012-11-08 | 2012-11-08 | Toy automatic sorting dolly |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201210444321.1A CN102961876B (en) | 2012-11-08 | 2012-11-08 | Toy automatic sorting dolly |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN102961876A true CN102961876A (en) | 2013-03-13 |
| CN102961876B CN102961876B (en) | 2014-10-08 |
Family
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201210444321.1A Expired - Fee Related CN102961876B (en) | 2012-11-08 | 2012-11-08 | Toy automatic sorting dolly |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN102961876B (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109599775A (en) * | 2018-12-10 | 2019-04-09 | 国网山东省电力公司经济技术研究院 | A kind of device improving power protection system operation accuracy |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1979519A (en) * | 2005-11-30 | 2007-06-13 | 中国科学院自动化研究所 | Automatic crusing robot system based on radio-frequency identification technology |
| CN101134313A (en) * | 2007-09-29 | 2008-03-05 | 北京博创兴盛机器人技术有限公司 | Robot for eliminating exploding and danger |
| EP2138280A1 (en) * | 2008-06-25 | 2009-12-30 | KUKA Roboter GmbH | Robots and method for attaching a tool to a robot |
| CN202200294U (en) * | 2011-09-09 | 2012-04-25 | 余胜东 | Self-adaptive flexible mechanical hand with multiple degrees of freedom |
| CN102554915A (en) * | 2012-01-06 | 2012-07-11 | 雷学军 | Robot for taking out foreign matters from ventilation duct of air conditioner of train |
-
2012
- 2012-11-08 CN CN201210444321.1A patent/CN102961876B/en not_active Expired - Fee Related
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1979519A (en) * | 2005-11-30 | 2007-06-13 | 中国科学院自动化研究所 | Automatic crusing robot system based on radio-frequency identification technology |
| CN101134313A (en) * | 2007-09-29 | 2008-03-05 | 北京博创兴盛机器人技术有限公司 | Robot for eliminating exploding and danger |
| EP2138280A1 (en) * | 2008-06-25 | 2009-12-30 | KUKA Roboter GmbH | Robots and method for attaching a tool to a robot |
| CN202200294U (en) * | 2011-09-09 | 2012-04-25 | 余胜东 | Self-adaptive flexible mechanical hand with multiple degrees of freedom |
| CN102554915A (en) * | 2012-01-06 | 2012-07-11 | 雷学军 | Robot for taking out foreign matters from ventilation duct of air conditioner of train |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109599775A (en) * | 2018-12-10 | 2019-04-09 | 国网山东省电力公司经济技术研究院 | A kind of device improving power protection system operation accuracy |
Also Published As
| Publication number | Publication date |
|---|---|
| CN102961876B (en) | 2014-10-08 |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| C53 | Correction of patent of invention or patent application | ||
| CB03 | Change of inventor or designer information |
Inventor after: Yuan Yuejin Inventor after: Li Minghui Inventor after: Zhang Hongxing Inventor before: Li Minghui Inventor before: Zhang Hongxing |
|
| COR | Change of bibliographic data |
Free format text: CORRECT: INVENTOR; FROM: LI MINGHUI ZHANG HONGXING TO: YUAN YUEJIN LI MINGHUI ZHANG HONGXING |
|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20141008 Termination date: 20211108 |