CN105856265B - Thing machine is taken with manipulator - Google Patents
Thing machine is taken with manipulator Download PDFInfo
- Publication number
- CN105856265B CN105856265B CN201610255778.6A CN201610255778A CN105856265B CN 105856265 B CN105856265 B CN 105856265B CN 201610255778 A CN201610255778 A CN 201610255778A CN 105856265 B CN105856265 B CN 105856265B
- Authority
- CN
- China
- Prior art keywords
- track
- manipulator
- transmission belt
- driving motor
- lifting platform
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
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Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/08—Gripping heads and other end effectors having finger members
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/02—Sensing devices
-
- 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
Abstract
The present invention relates to take thing machine, it is open to take thing machine with manipulator, including the first fixed frame (10), first fixed frame (10) is equipped with least first track (11), first track (11) is equipped with the first groove (111), first track (11) is equipped with lifting platform (12), lifting platform (12) is slidably connected with the first track (11), lifting platform (12) is equipped with the second track (13), second track (13) is equipped with manipulator (14), manipulator (14) is slidably connected with the second track (13).By the present invention can realize machine nobody after sale, manipulator can automatically extract the article in machine, and manipulator can capture the article of vertical direction and the article of horizontal direction in machine.
Description
Technical field
Thing machine is taken the present invention relates to taking thing machine, more particularly to manipulator.
Background technology
Many automatic vending machines mode when extracting commodity differs currently on the market, some are directly opened much on vending machine
Window, just presses the button of corresponding window when extracting the article of needs, the door on window will be opened, and each commodity are set
There is a cavity, so that space internal in machine cannot sufficiently be utilized；More also by elapsing thing, to fall into article logical
Road, article finally slide into magazine, the article that people are taken by magazine, this extracting method be easily damaged valuables or
Person's breakables；Article is grasped at also by manipulator, most of grasped in the form of hand is grabbed, and this manipulator is to grabbing
The design cost of hand is higher, and production cost is also higher, and the space in box body of selling goods is smaller, and this handgrip is not easy
Put to good use.
The content of the invention
The present invention is directed to shortcoming existing in the prior art, there is provided takes thing machine with manipulator.
In order to solve the above-mentioned technical problem, the present invention is addressed by following technical proposals：
Thing machine, including the first fixed frame are taken with manipulator, the first fixed frame is equipped with least first track, the
One track is equipped with the first groove, and the first track is equipped with lifting platform, and lifting platform is slidably connected with the first track, is set on lifting platform
There is the second track, the second track is equipped with manipulator, and manipulator is slidably connected with the second track.By the present invention manipulator,
Picking machine can propose the article of internal all things, and manipulator, which realizes, to be vertically moved and move horizontally, so that effectively
Picking machine inner space utilization rate is improved, manipulator of the invention crawl sturdy item, ensure that article is once just removed.
Preferably, the first track is equipped with the first transmission belt, the first transmission belt is located in the first groove, the first transmission belt
Rotate and drive lifting platform movement, the first driving motor, the first driving motor and the first transmission are equipped between adjacent two first track
Band connection.First transmission belt enables lifting platform vertical shift on the first track, and the first driving motor gives the first transmission belt
Provide driving force so that the first transmission belt can move on the first track.
Preferably, be additionally provided with synchronizing shaft between adjacent two first track, the both ends of synchronizing shaft respectively with corresponding end upper end
First is driven band connection, and synchronizing wheel is fixed among synchronizing shaft, and synchronizing wheel is connected with the first driving motor.Synchronizing shaft causes more
The first transmission belt on first track can move at the same time, so that the rising that lifting platform can be stablized, the first driving motor
Synchronizing wheel is first driven, synchronizing wheel transmits drive force to the first transmission belt by synchronizing shaft again.
Preferably, synchronizing shaft is equipped with electromagnetic brake, electromagnetic brake is used for brake synchronous axis.When lifting platform reaches
During specified altitude assignment, electromagnetic brake will make synchronizing shaft stop operating, so that lifting platform stops on a predetermined position.
Preferably, it is all provided with position sensor on the first track and the second track；Second track is equipped with the second transmission
Band, the second transmission belt are located in the second groove, and the end of lifting platform is equipped with the second driving motor that the second transmission belt of driving rotates,
Second transmission belt is fixedly connected with manipulator.Position sensor on first track can sense the height of lifting platform rising, from
And the height parameter of lifting platform is sent to controller, the position sensor on the second track can sense manipulator in the first rail
Position on road, ensures that manipulator can accurately grasp at the article of horizontal direction, the second driving motor on lifting platform gives second
Transmission belt provides power so that manipulator can move on the second track.
Preferably, manipulator includes the second fixed frame, the second fixed frame bottom surface is equipped with the 3rd guide rail, on the 3rd guide rail
Slip has gripper, and the 3rd driving motor is fixed with the second fixed frame side side wall, and the 3rd driving motor is fixedly connected with the
One gear, position sensor is also fixed on the second fixed frame opposite side side wall.3rd track enables gripper is front and rear to move
It is dynamic, facilitate gripper to capture article, the 3rd driving motor is the power source that gripper moves back and forth, the position on the second fixed frame
Sensor is used for the distance for sensing gripper back-and-forth motion so that gripper can accurately be moved in face of article and accurate
Capture article.
Preferably, gripper includes bottom plate, bottom plate is slided on the 3rd guide rail, and bottom plate end face is fixed with rack, rack
Connection is engaged with first gear, bottom plate end face is further fixed on handgrip.3rd driving motor driving first gear, first gear and tooth
Bar engages so that gripper can move back and forth, and be easy to control gripper displacement distance.
Preferably, handgrip is internally provided with the passage for store things, the upper end of passage is equipped with least one pinch roller,
The bottom of passage is equipped with least one roller.Passage is used for the article for storing crawl, and article is output to outside passage, passage
Upper pressure wheel causes article not loosen, and article is more steady in passage transmit process, and roller is moved to the mobile offer of article
Power so that article can timely be output to another outer one end of passage.
Preferably, the side wall of passage is equipped with adjustment hole, the both ends of pinch roller are equipped with connecting shaft, and connecting shaft is located at adjustment hole
Interior, the end of connecting shaft is equipped with return spring, and return spring one end is fixedly connected with connecting shaft, and the other end of return spring is with leading to
The side wall in road is fixedly connected.Adjustment hole is used for the position for adjusting pinch roller, and return spring enables pinch roller to compress article on pinch roller,
Ensure that article will not easily loosen in transmit process.
Preferably, bottom plate lower end is equipped with the 4th driving motor, roller is equipped with transmission shaft, second is fixed with transmission shaft
Gear, second gear are rotated synchronously with roller, and the 4th driving motor is connected with second gear.4th driving motor is provided to roller
The power source of power, the 4th driving motor first drive second gear, and driving force is passed to rolling by second gear by transmission shaft again
Wheel, article remove passage under the action of roller, and completion takes thing process.
The present invention has significant technique effect as a result of above technical scheme：By the manipulator in the present invention,
It can effectively improve and take thing machine inner space utilization rate, so that taking thing machine to store more articles, on manipulator
If pinch roller, ensure that article will not easily loosen in transmit process, lifting platform can be with vertical shift on the first track so that
Manipulator can be moved in face of high-order article, and manipulator can be moved on the second track, so that manipulator can move
Move in face of the article of level orientation, manipulator movement is sensitive, and crawl is firm.
Brief description of the drawings
Fig. 1 is the structure diagram of the present invention.
Fig. 2 is the structure diagram that the present invention carries synchronizing shaft.
Fig. 3 is the structure diagram of manipulator a side in the present invention.
Fig. 4 is the structure diagram of another side of manipulator in the present invention.
Fig. 5 is the structure diagram of gripper in manipulator.
Fig. 6 is the structure diagram of handgrip in gripper.
The toponym that each number designation is referred in the figures above is as follows：Wherein, the 10-the first fixed frame, 11-the first
Track, 12-lifting platform, the 13-the second track, 14-manipulator, the 15-the first transmission belt, 16-the first driving motor, 17-
Synchronizing shaft, 18-synchronizing wheel, 19-electromagnetic brake, 20-position sensor, the 21-the second transmission belt, the 22-the second driving electricity
Machine, the 111-the first groove, the 131-the second groove, the 141-the second fixed frame, the 142-the three guide rail, 143-gripper,
144-the three driving motor, 145-first gear, 1431-bottom plate, 1432-rack, 1433-handgrip, 14331-passage,
14332-pinch roller, 14333-roller, 14334-adjustment hole, 14335-connecting shaft, 14336-return spring, 14337-the
Four driving motors, 14338-transmission shaft, 14339-second gear.
Embodiment
The present invention is described in further detail with embodiment below in conjunction with the accompanying drawings.
Embodiment 1
Thing machine is taken with manipulator, as shown in figures 1 to 6, including the first fixed frame 10, the first fixed frame 10 are equipped with extremely
Few first track 11, the first track 11 are equipped with the first groove 111, and the present embodiment is equipped with two first tracks 11, two
For first track 11 towards always, the first track 11 is equipped with lifting platform 12, and lifting platform 12 is slidably connected with the first track 11, lifting
Platform 12 is equipped with the second track 13, and the second track 13 is equipped with manipulator 14, and manipulator 14 is slidably connected with the second track 13, rises
Drop platform 12 can drive manipulator 14 to be moved in vertical direction so that manipulator 14 can capture eminence article.
First track 11 is equipped with the first transmission belt 15, and the first transmission belt 15 is located in the first groove 111, the first transmission belt
15, which rotate drive lifting platform 12, moves, and the first driving motor 16, the first driving motor 16 are equipped between adjacent two first track 11
It is connected with the first transmission belt 15.
Be additionally provided with synchronizing shaft 17 between adjacent two first track 11, the both ends of synchronizing shaft 17 respectively with corresponding end upper end first
Transmission belt 15 connects, and synchronizing shaft 17 can rotate synchronously more first transmission belts 15, and synchronizing wheel is fixed among synchronizing shaft 17
18, synchronizing wheel 18 is connected with the first driving motor 16, and the first driving motor 16 drives synchronizing wheel 18, and synchronizing wheel 18 again passes power
Synchronizing shaft 17 is passed, synchronizing shaft 17 imparts power to the first transmission belt 15 again.
Synchronizing shaft 17 is equipped with electromagnetic brake 19, and electromagnetic brake 19 is used for brake synchronous axis 17, so as to ensure to lift
Platform 12 is raised to designated position.
Position sensor 20 is all provided with first track 11 and the second track 13, the first track 11 is equipped with the present embodiment
Three position sensors 20, this three position sensors 20 are respectively provided at both ends and the pars intermedia of the first track 11, and second
Track 13 also equally is provided with three position sensors 20, these three position sensors 20 are located at the side of the second track 13, three
Position sensor is respectively provided at 13 both ends of the second track and pars intermedia；Second track 13 is equipped with the second transmission belt 21, and second
Transmission belt 21 is located in the second groove 131, and the end of lifting platform 12 is equipped with the second driving electricity that the second transmission belt 21 of driving rotates
Machine 22, the second transmission belt 21 are fixedly connected with manipulator 14, and the movement of the first transmission belt 21 drives manipulator 14 to move, and realizes machinery
Hand 14 moves horizontally on lifting platform 12.
Manipulator 14 includes the second fixed frame 141, and 141 bottom surface of the second fixed frame is equipped with the 3rd guide rail 142, the present embodiment
The 3rd track 142 equipped with two side by side, sliding on the 3rd guide rail 142 has gripper 143,141 side side wall of the second fixed frame
On be fixed with the 3rd driving motor 144, the 3rd driving motor 144 is fixedly connected with first gear 145, the 3rd driving motor 144
For driving first gear 145, position sensor 20 is also fixed on 141 opposite side side wall of the second fixed frame, the present embodiment the
Two fixed frames, 141 side wall both ends are all provided with position sensor 20, which moves forward for sensing manipulator 14
Distance and the distance that is moved rearwards.
Gripper 143 includes bottom plate 1431, and bottom plate 1431 is slided on the 3rd guide rail 142, and 1431 end face of bottom plate is fixed with
Rack 1432, because manipulator 143 moves back and forth the power without too big intensity, the present embodiment rack 1432 is plastic teeth
Bar, plastics rack can effectively reduce production cost, and rack 1432 engages connection, 1431 end face of bottom plate with first gear 145
It is further fixed on handgrip 1433.
Handgrip 1433 is internally provided with the passage 14331 for store things, and the front and back end of 1433 lateral wall of handgrip is also all provided with
Position sensor 20, the position sensor 20 are used to sense position of the article in passage 14331, the upper end of passage 14331
Portion is equipped with least one pinch roller 14332, and the bottom of passage 14331 is equipped with least one roller 14333, and the present embodiment is equipped with three
A pinch roller 14332 and three rollers 14333, the center of circle of three pinch rollers 14332 on the same line, the circle of three rollers 14333
The heart is also on the same line.
The side wall of passage 14331 is equipped with adjustment hole 14334, and adjustment hole 14334 is bar hole, and the both ends of pinch roller 14332 are equal
Equipped with connecting shaft 14335, connecting shaft 14335 is located in adjustment hole 14334, and the end of connecting shaft 14335 is equipped with return spring
14336,14336 one end of return spring is fixedly connected with connecting shaft 14335, the other end and the passage 14331 of return spring 14336
Side wall be fixedly connected, when not taking thing, return spring 14336 compress pinch roller 14332, the both ends of pinch roller 14332 are equipped with
Return spring 14336, so that 14332 both sides uniform force of pinch roller.
1431 lower end of bottom plate is equipped with the 4th driving motor 14337, and roller 14333 is equipped with transmission shaft 14338, transmission shaft
Second gear 14339 is fixed with 14338, second gear 14339 is rotated synchronously with roller 14333, the 4th driving motor 14337
It is connected with second gear 14339, the 4th driving motor 14337 is used to drive one of second gear 14339, this second tooth
Wheel 14339, which rotates, drives corresponding roller 14333 to rotate, and other second gears 14339 and the 4th driving motor 14337 are direct
The second gear V belt translation connection of driving, so as to drive remaining second gear 14339 to rotate.
In short, the foregoing is merely presently preferred embodiments of the present invention, all equalizations made according to scope of the present invention patent
Change and modification, should all belong to the covering scope of patent of the present invention.
Claims (9)
1. take thing machine, including the first fixed frame (10) with manipulator, it is characterised in that：First fixed frame (10) is equipped with extremely
Few first track (11), the first track (11) are equipped with the first groove (111), and the first track (11) is equipped with lifting platform
(12), lifting platform (12) is slidably connected with the first track (11), and lifting platform (12) is equipped with the second track (13), the second track
(13) the second groove (131) is equipped with, the second track (13) is equipped with manipulator (14), manipulator (14) and the second track (13)
It is slidably connected；Manipulator (14) includes the second fixed frame (141), and the second fixed frame (141) bottom surface is equipped with the 3rd guide rail
(142), being slided on the 3rd guide rail (142) has gripper (143)；Gripper (143) includes bottom plate (1431), bottom plate (1431) end
Face is further fixed on handgrip (1433)；Handgrip (1433) is internally provided with the passage (14331) for store things, passage (14331)
Upper end be equipped with least one pinch roller (14332), the bottom of passage (14331) is equipped with least one roller (14333).
2. according to claim 1 take thing machine with manipulator, it is characterised in that：First track (11) is equipped with first
Transmission belt (15), the first transmission belt (15) are located in the first groove (111), and the first transmission belt (15), which rotates, drives lifting platform (12)
It is mobile, the first driving motor (16), the first driving motor (16) and the first transmission belt are equipped between adjacent two first track (11)
(15) connect.
3. according to claim 2 take thing machine with manipulator, it is characterised in that：Between adjacent two first track (11)
Synchronizing shaft (17) is additionally provided with, the both ends of synchronizing shaft (17) are connected with the first transmission belt of corresponding end upper end (15) respectively, synchronizing shaft
(17) synchronizing wheel (18) is fixed among, synchronizing wheel (18) is connected with the first driving motor (16).
4. according to claim 3 take thing machine with manipulator, it is characterised in that：Synchronizing shaft (17) is equipped with electromagnetic system
Dynamic device (19), electromagnetic brake (19) are used for brake synchronous axis (17).
5. according to claim 1 take thing machine with manipulator, it is characterised in that：First track (11) and the second track
(13) position sensor (20) is all provided with；Second track (13) is equipped with the second transmission belt (21), and the second transmission belt (21) is set
In the second groove (131), the end of lifting platform (12) is equipped with the second driving motor that the second transmission belt of driving (21) rotates
(22), the second transmission belt (21) is fixedly connected with manipulator (14).
6. according to claim 1 take thing machine with manipulator, it is characterised in that：Second fixed frame (141) side side
The 3rd driving motor (144) is fixed with wall, the 3rd driving motor (144) is fixedly connected with first gear (145), and second fixes
Also position sensor (20) is fixed on frame (141) opposite side side wall.
7. according to claim 1 take thing machine with manipulator, it is characterised in that：Bottom plate (1431) is slided and led the 3rd
On rail (142), bottom plate (1431) end face is fixed with rack (1432), and rack (1432) engages connection with first gear (145).
8. according to claim 7 take thing machine with manipulator, it is characterised in that：The side wall of passage (14331) is equipped with
Adjustment hole (14334), the both ends of pinch roller (14332) are equipped with connecting shaft (14335), and connecting shaft (14335) is located at adjustment hole
(14334) in, the end of connecting shaft (14335) is equipped with return spring (14336), return spring (14336) one end and connecting shaft
(14335) it is fixedly connected, the other end of return spring (14336) is fixedly connected with the side wall of passage (14331).
9. according to claim 7 take thing machine with manipulator, it is characterised in that：Bottom plate (1431) lower end is equipped with the 4th
Motor (14337) is driven, roller (14333) is equipped with transmission shaft (14338), and transmission shaft is fixed with second gear on (14338)
(14339), second gear (14339) is rotated synchronously with roller (14333), the 4th driving motor (14337) and second gear
(14339) connect.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610255778.6A CN105856265B (en) | 2016-04-21 | 2016-04-21 | Thing machine is taken with manipulator |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610255778.6A CN105856265B (en) | 2016-04-21 | 2016-04-21 | Thing machine is taken with manipulator |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN105856265A CN105856265A (en) | 2016-08-17 |
| CN105856265B true CN105856265B (en) | 2018-04-27 |
Family
ID=56632817
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610255778.6A Active CN105856265B (en) | 2016-04-21 | 2016-04-21 | Thing machine is taken with manipulator |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN105856265B (en) |
Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN207192724U (en) * | 2017-05-18 | 2018-04-06 | 北京华沁智联科技有限公司 | Guide rail |
Family Cites Families (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20060184155A1 (en) * | 2004-12-31 | 2006-08-17 | Rafael Fernandez-Sein | Manipulator and end effector for catheter manufacture |
| CN202063473U (en) * | 2011-04-28 | 2011-12-07 | 陆道宏 | Three-dimensional warehouse intelligent stacking machine |
| CN103264862B (en) * | 2013-05-03 | 2015-04-08 | 北京理工大学 | Automatic goods storage and fetching system |
| CN105438545B (en) * | 2014-08-29 | 2018-06-26 | 营口金辰自动化有限公司 | Packaging integrated machine |
| CN204819499U (en) * | 2015-08-03 | 2015-12-02 | 上海乾承机械设备有限公司 | Front end manipulator centering mechanism |
| CN105459150B (en) * | 2015-12-21 | 2017-09-19 | 上海提牛机电设备有限公司 | Clamping type manipulator |
-
2016
- 2016-04-21 CN CN201610255778.6A patent/CN105856265B/en active Active
Also Published As
| Publication number | Publication date |
|---|---|
| CN105856265A (en) | 2016-08-17 |
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