CN103505861B - Coin throwing device - Google Patents
Coin throwing device Download PDFInfo
- Publication number
- CN103505861B CN103505861B CN201310466971.0A CN201310466971A CN103505861B CN 103505861 B CN103505861 B CN 103505861B CN 201310466971 A CN201310466971 A CN 201310466971A CN 103505861 B CN103505861 B CN 103505861B
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- China
- Prior art keywords
- coin
- synchronous pulley
- motor
- casting device
- mechanical arm
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Abstract
The invention aims at providing a coin throwing device. The coin throwing device comprises a support, a coin taking mechanical hand, a guiding mechanism, a throwing mechanism and a base. The coil taking mechanical hand comprises a mechanical arm, a motor and a synchronous pulley, wherein the synchronous pulley is installed on the support through a synchronous bearing base, the motor is connected with the synchronous pulley, a tooth-shaped belt is arranged on the mechanical arm, pneumatic mechanical fingers are installed on the end portion of the mechanical arm, and the tooth-shaped belt is matched with the synchronous pulley. The guiding mechanism comprises a fixing part and a turnable part, wherein the fixing part is fixed on the support, the lower end of the turnable part is installed on the base through a turnable bearing base, and a steering engine is connected with the lower end of the turnable part. The throwing mechanism comprises a rotation wheel which is installed inside the base, a rotation motor is installed inside the rotation wheel, and the rotation motor drives the rotation wheel to rotate. According to the coin throwing device, a coin cannot be subjected to air resistance to deviate from a flight track, the flying of the coin is similar to the reverse rotation in the process of basketball throwing, the coin can rebound downwards after entering a coin box and making contact with the box wall, and the coin enters the coin box.
Description
Technical field
What the present invention relates to is a kind of robot, specifically coin impelling robot.
Background technology
Casting device is more and more extensive in current application, throwing flying saucer device, volleyball launcher, table tennis ball-serving device etc. in competitive sports have the existence of casting device, but principle is then not quite similar, because the object of institute's impelling has larger difference in shape, size, weight, therefore when design casting device, according to the object custom design casting device of wanted impelling.
In robot match, require that the object that coin scales up can be knocked down in the coin case of narrow quadrangular shape coin mouth by robot, and in coin process, coin-feed machine can not contact coin case.In order to save time, realize robot and can coin be thrown in coin-in box in motion process, a kind of coin-feed machine will be designed, realize expectation function, and ensure the degree of accuracy of coin.
Summary of the invention
The object of the present invention is to provide can realize when robot match in robot have a kind of coin casting device when distance objective coin-box mouth has certain distance, coin can being knocked down the function of coin collector.
The object of the present invention is achieved like this:
A kind of coin casting device of the present invention, is characterized in that: comprise support, get coin manipulator, guiding mechanism, impelling mechanism, base; Get coin manipulator and comprise mechanical arm, motor, synchronous pulley, synchronous pulley is rack-mount by synchronizing shaft bearing, motor connects synchronous pulley, mechanical arm is provided with cog belt, and pneumatic machinery finger is installed in mechanical arm end, and cog belt matches with synchronous pulley, synchronous pulley provides dynamic rotation by motor, drive cog belt to move thus pneumatic machinery is pointed and move forward and backward, pneumatic machinery finger is clamping device, and two end is all provided with sucker; Guiding mechanism comprises standing part and turning part, space between standing part and turning part can storing coin, standing part is fixed on support, the lower end of turning part is arranged on base by trip shaft bearing, steering wheel connect turning part lower end and control turning part along trip shaft bearing upset thus release coin; Impelling mechanism comprises swiveling wheel, and swiveling wheel is arranged in base by swivel bearing, rotating shaft holder, and swiveling wheel inside is provided with electric rotating machine, and electric rotating machine driven rotary wheel rotates.
The present invention can also comprise:
1, mechanical arm and standing part are positioned on straight line, mechanical finger can after clamping coin under the drive of motor, coin is put into the space between standing part and turning part, when need by coin impelling time, mechanical finger promotes coin and moves forward, make coin and swiveling wheel friction, thus realize the impelling of coin.
2, the two poles of the earth of described electric rotating machine are connected in the two ends of swivel bearing respectively, and swivel bearing is as the connecting line at electric rotating machine the two poles of the earth.
3, the outside of swiveling wheel is stained with friction material.
4, described friction material is plastic sponge.
Advantage of the present invention is:
1. coin is rotate in the process of impelling, and therefore coin can not depart from flight track because of air drag;
2. the rotation mode of coin is similar to the reverse rotation in basketball throwing process, therefore enter contact tank wall in coin case after can bounce-back downwards, be beneficial to coin and enter coin case.
Accompanying drawing explanation
Fig. 1 is structural representation of the present invention;
Fig. 2 a is that mechanical finger of the present invention gets coin schematic diagram a, and Fig. 2 b is that mechanical finger of the present invention gets coin schematic diagram b;
Fig. 3 a is the state a that coin is withdrawn into guide frame inside, Fig. 3 b is the state b that coin is withdrawn into guide frame inside;
Fig. 4 a is that before coin impelling, schematic diagram a, Fig. 4 b is schematic diagram b before coin impelling.
Detailed description of the invention
Below in conjunction with accompanying drawing citing, the present invention is described in more detail:
Composition graphs 1 ~ 4, technical scheme of the present invention is: it mainly comprises: get coin manipulator, manipulator power section, coin guiding mechanism, impelling mechanism.Get coin manipulator and comprise mechanical arm 1, mechanical finger 6, small sucker 7, mechanical arm 1 is also the mobile slideway of manipulator, and mobile slideway has cog belt, and transmit power for engaging with synchronous pulley 5, small sucker 7 can increase the contact area with coin; Manipulator power section comprises mechanical arm load slide block 2, motor 3, bearing block 4, synchronous pulley 5, and synchronous pulley 5 engages with the Timing Belt on slideway; Coin guiding mechanism comprises standing part 8, turning part 9, bearing block 12, steering wheel 13, and the design of turning part 9 is in order to coin can be loaded into the inside of guide frame, smoothly for providing the power of upset for turning part 9; Impelling mechanism comprises swiveling wheel 10, bearing block 11, and the inside of swiveling wheel 10 embeds the motor of a High Rotation Speed.
Composition graphs 1, whole support adopts square aluminum bar to be welded, in order that can ensure the light of total and rigidity.Connection, the bearing block 4 of motor 3 and bearing block 4 are all with bolts with the connection of support.For impelling coin provides the swiveling wheel 10 of power to be inner motor, self of motor is also at High Rotation Speed, therefore in the power supply mode of motor, traditional connecting line mode can not just be adopted, but the two poles of the earth of motor are connected on the bearing of left and right respectively, afterwards for bearing is powered, the effect of the now effect of the bearing connecting line at the two poles of the earth of motor just.The outside of swiveling wheel 10 will be stained with one deck plastic sponge, in order that can provide larger frictional force when impelling coin.
Composition graphs 2, first mechanical arm 1 is under the driving of motor 3, reaches and gets coin place, now manipulator 6 opens, and when manipulator 6 arrives coin, pneumatic actuation manipulator 6 clamps, coin is clamped, afterwards coin and manipulator 6 is withdrawn under the driving of motor 3 inside of guide frame.
The state that Fig. 3 shows just coin is withdrawn into the state of guide frame inside, after coin is pulled, Pneumatic manipulator 6 will be opened, for next step impelling coin is prepared.
What Fig. 4 showed is final step, and coin impelling gone out, before impelling, manipulator 6 needs coin to push out forward, and coin so just can be made to contact with high-speed friction wheel 10, and realizing coin can go out coin impelling within the time period of specifying.
Claims (7)
1. a coin casting device, is characterized in that: comprise support, get coin manipulator, guiding mechanism, impelling mechanism, base; Get coin manipulator and comprise mechanical arm, motor, synchronous pulley, synchronous pulley is rack-mount by synchronizing shaft bearing, motor connects synchronous pulley, mechanical arm is provided with cog belt, and pneumatic machinery finger is installed in mechanical arm end, and cog belt matches with synchronous pulley, synchronous pulley provides dynamic rotation by motor, drive cog belt to move thus pneumatic machinery is pointed and move forward and backward, pneumatic machinery finger is clamping device, and two end is all provided with sucker; Guiding mechanism comprises standing part and turning part, space between standing part and turning part can storing coin, standing part is fixed on support, the lower end of turning part is arranged on base by trip shaft bearing, steering wheel connect turning part lower end and control turning part along trip shaft bearing upset thus release coin; Impelling mechanism comprises swiveling wheel, and swiveling wheel is arranged in base by swivel bearing, rotating shaft holder, and swiveling wheel inside is provided with electric rotating machine, and electric rotating machine driven rotary wheel rotates.
2. a kind of coin casting device according to claim 1, it is characterized in that: mechanical arm and standing part are positioned on straight line, mechanical finger is under the drive of motor, after clamping coin, coin is put into the space between standing part and turning part, when need by coin impelling time, mechanical finger promote coin move forward, make coin and swiveling wheel friction, thus realize the impelling of coin.
3. a kind of coin casting device according to claim 1 and 2, is characterized in that: the two poles of the earth of described electric rotating machine are connected in the two ends of swivel bearing respectively, and swivel bearing is as the connecting line at electric rotating machine the two poles of the earth.
4. a kind of coin casting device according to claim 1 and 2, is characterized in that: the outside of swiveling wheel is stained with friction material.
5. a kind of coin casting device according to claim 3, is characterized in that: the outside of swiveling wheel is stained with friction material.
6. a kind of coin casting device according to claim 4, is characterized in that: described friction material is plastic sponge.
7. a kind of coin casting device according to claim 5, is characterized in that: described friction material is plastic sponge.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201310466971.0A CN103505861B (en) | 2013-10-09 | 2013-10-09 | Coin throwing device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201310466971.0A CN103505861B (en) | 2013-10-09 | 2013-10-09 | Coin throwing device |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN103505861A CN103505861A (en) | 2014-01-15 |
| CN103505861B true CN103505861B (en) | 2015-06-17 |
Family
ID=49889614
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201310466971.0A Expired - Fee Related CN103505861B (en) | 2013-10-09 | 2013-10-09 | Coin throwing device |
Country Status (1)
| Country | Link |
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| CN (1) | CN103505861B (en) |
Families Citing this family (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104240369B (en) * | 2014-09-19 | 2016-06-29 | 国家电网公司 | Dynamic machine people's system and control method thereof |
| CN105184966B (en) * | 2015-09-06 | 2017-08-04 | 安徽科技学院 | A kind of coin collating unit suitable for coin separator |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP3378845B2 (en) * | 2000-02-22 | 2003-02-17 | 株式会社メイセイ | Push wagon and transport device |
| CN201109116Y (en) * | 2007-10-09 | 2008-09-03 | 上海市吴淞中学 | Multifunctional mechanical arm |
| CN101596716A (en) * | 2009-07-01 | 2009-12-09 | 哈尔滨工程大学 | Single-freedom-degree parallel four-bar manipulator |
| CN102229009A (en) * | 2011-04-14 | 2011-11-02 | 哈尔滨工程大学 | Variable structure adaptive feed type rope saw |
| CN202129797U (en) * | 2011-06-15 | 2012-02-01 | 哈尔滨工程大学 | Self-locking manipulator with telescopic transformation performance |
-
2013
- 2013-10-09 CN CN201310466971.0A patent/CN103505861B/en not_active Expired - Fee Related
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP3378845B2 (en) * | 2000-02-22 | 2003-02-17 | 株式会社メイセイ | Push wagon and transport device |
| CN201109116Y (en) * | 2007-10-09 | 2008-09-03 | 上海市吴淞中学 | Multifunctional mechanical arm |
| CN101596716A (en) * | 2009-07-01 | 2009-12-09 | 哈尔滨工程大学 | Single-freedom-degree parallel four-bar manipulator |
| CN102229009A (en) * | 2011-04-14 | 2011-11-02 | 哈尔滨工程大学 | Variable structure adaptive feed type rope saw |
| CN202129797U (en) * | 2011-06-15 | 2012-02-01 | 哈尔滨工程大学 | Self-locking manipulator with telescopic transformation performance |
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| Publication number | Publication date |
|---|---|
| CN103505861A (en) | 2014-01-15 |
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| TR01 | Transfer of patent right |
Effective date of registration: 20201126 Address after: Area A129, 4th floor, building 4, Baitai Industrial Park, Yazhou Bay science and Technology City, Yazhou District, Sanya City, Hainan Province, 572024 Patentee after: Nanhai innovation and development base of Sanya Harbin Engineering University Address before: 150001 Heilongjiang, Nangang District, Nantong street,, Harbin Engineering University, Department of Intellectual Property Office Patentee before: HARBIN ENGINEERING University |
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| 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: 20150617 Termination date: 20211009 |