CN110689671A

CN110689671A - Four-axis numerical control automatic vending machine

Info

Publication number: CN110689671A
Application number: CN201910931083.9A
Authority: CN
Inventors: 吕立凯; 张世玉; 赵德江; 尚传伟
Original assignee: QINGDAO HAILI BUSINESS ELECTRICAL APPLIANCES CO Ltd
Current assignee: QINGDAO HAILI BUSINESS ELECTRICAL APPLIANCES CO Ltd
Priority date: 2019-09-29
Filing date: 2019-09-29
Publication date: 2020-01-14

Abstract

The invention discloses a four-axis numerical control vending machine, which comprises a container positioned at the lower part of the vending machine and a four-axis numerical control delivery device positioned at the middle part of the vending machine, wherein the four-axis numerical control delivery device comprises: the automatic identification and processing mechanism comprises a three-axis linkage mechanism, wherein 3 numerical control stepping motors positioned in the middle of the vending machine respectively drive axial movement of each axis in an X, Y and Z three-axis transmission device, and in the formed three-axis linkage mechanism, a Z axis adopts a rigid guide rail sliding block mechanism meshed with a gear and a rack for picking up and releasing articles, and is matched with a container door opening and closing rotating shaft numerical control stepping motor which is close to the Z axis to form a 4-axis linkage machine. The novel technical scheme avoids the problems of complex structure, poor stability of picked articles, high manufacturing cost and the like caused by the fact that the goods taking device is positioned at the upper part of the machine case, and the goods taking mechanism adopts telescopic or rocker arms, hoses and the like in the automatic vending machine with the container positioned at the lower part at present.

Description

Four-axis numerical control automatic vending machine

Technical Field

The invention relates to the field of vending machines, in particular to a four-axis numerical control positioning vending machine.

Technical Field

At present, in the vending machine with a horizontal counter arranged on a base in a vending machine box, a goods taking mechanism is arranged on the upper part in the machine box. The mechanism arranged at the upper part in the case adopts a structure of a telescopic arm or a rocker arm and a hose, and is difficult to popularize and apply in a large area because of complex structure, poor stability of picking up articles and high manufacturing cost because of being used as a prototype and an exhibit.

Disclosure of Invention

The aim of the present invention is to solve the above-mentioned technical drawbacks of the upper mechanism of the known vending machines. According to the technical scheme, the four-axis numerical control delivery device is arranged in the middle of the vending machine case, the design structure is simple, and the manufacturing cost is reduced. In the four-axis numerical control delivery device, a rigid guide rail slider mechanism with mutually meshed gear racks is adopted as an article picking and placing mechanism of the vending machine in a Z axis, an X, Y, Z three-axis transmission device respectively drives three numerical control stepping motors to move axially, and is matched with a rotating shaft stepping motor of a cargo cabinet door close to the lower part of the three-axis transmission device to form a multi-warehouse automatic identification processing system with four-axis linkage, wherein the multi-warehouse automatic identification processing system is formed by point-to-point article sucking, transferring and placing of the four-axis linkage, the article picking and placing path is optimized, the article picking and placing time is shortened, the stability of article picking is improved, and the design defects and the defects of flexible mechanisms such as telescopic upper parts, rocker arms, hoses and the like of. The X, Y axle plane motion mechanism in the new four-axle numerical control system adopts the front end open type design, and matches with the rotating shaft rocker arm mechanism of the opening and closing door of the container close to the lower part of the front end open type motion mechanism, thereby avoiding the mutual motion interference of the middle part of the mechanism in the vending machine and facilitating the replenishment of the operator. In the invention, two groups of different photoelectric sensors are adopted on the technology that the picking mechanism automatically identifies the position of an article in a warehouse, and speed-variable accurate control is respectively carried out on the high-speed operation and accurate positioning of a Z axis. Is different from the constant speed mechanism adopted in the prior art.

The technical scheme newly proposed by the invention is as follows:

the four-axis numerical control vending machine comprises a vending machine box body, a container and a four-axis numerical control delivery device; the container is fixed on a base in the vending machine case; four-axis numerical control cargo discharging device includes: the X-axis transmission device, the Y-axis transmission device and the Z-axis transmission device are positioned in the middle of the vending machine box body and driven by 3 numerical control stepping motors, wherein the X-axis stepping motor drives the sliding blocks to move left and right on the guide rails, the Z-axis stepping motor drives the guide rails to move up and down, the X-axis sliding blocks are fixedly connected with the Z-axis sliding blocks, the Y-axis stepping motor drives the two Y-axis sliding blocks to respectively move front and back on the two guide rails, and the two Y-axis guide rails are fixed in the middle of the upright columns on the left side and the right side in the vending machine box body; the both ends of X axle guide rail respectively with both sides Y axle slider fixed connection, four-axis numerical control cargo discharging device still includes: a container door rotating shaft component which is positioned at the side of the container and is driven by 1 numerical control stepping motor.

In the four-axis numerical control shipment device, the X-axis part includes: the X-axis positioning device comprises an X-axis guide rail, an X-axis rack, an X-axis gear, an X-axis stepping motor, an X-axis slider and an X-axis positioning sensor; the X-axis rack is fixedly connected with the X-axis guide rail; the X-axis gear is meshed with the X-axis rack and is coaxially connected with the X-axis stepping motor; the X-axis stepping motor is fixedly connected with the X-axis sliding block; the X-axis sliding block is fixedly connected with the Z-axis sliding block and is in sliding connection with the X-axis guide rail; and the pair of X-axis positioning sensors are fixedly connected with two ends of the X-axis guide rail and used for positioning and limiting the left and right movement of the X-axis sliding block and eliminating the movement accumulated error. The Y-axis component includes: the Y-axis guide rail, the Y-axis guide rail bracket, the Y-axis synchronous belt pulley, the Y-axis synchronous belt, the Y-axis stepping motor, the Y-axis sliding block and the Y-axis positioning sensor are arranged on the Y-axis guide rail bracket; the two Y-axis guide rails are fixed in the middle of the upright columns on the left side and the right side in the automatic vending machine box in parallel through a Y-axis guide rail bracket; the two ends of the Y-axis guide rails on the two sides are respectively provided with the Y-axis synchronous belt pulley, wherein the synchronous belt pulley at the rear end of the Y-axis guide rail is coaxially connected with output shafts on the two sides of the Y-axis stepping motor; the Y-axis synchronous belt wheel is meshed and connected with the Y-axis synchronous belt; the Y-axis synchronous belt is fixedly connected with the Y-axis sliding block; the Y-axis sliding block is connected with the Y-axis guide rail in a sliding manner; and the pair of Y-axis positioning sensors are fixed at two ends of the Y-axis guide rail on the left side of the box body and used for positioning and limiting the front and back movement of the Y-axis sliding block and eliminating the accumulated movement error. The two ends of the X-axis guide rail are respectively fixedly connected with the Y-axis sliding blocks at the left side and the right side, and the formed X, Y two-axis linkage plane motion mechanism adopts a front-end open design, so that the mutual motion interference of the mechanism arranged in the middle of the vending machine is avoided, and the replenishment of operators is facilitated.

In the four-axis numerical control shipment device, Z axle spare includes: the device comprises a Z-axis guide rail, a Z-axis rack, a Z-axis gear, a Z-axis stepping motor, a Z-axis slider, a Z-axis positioning sensor, an article suction device and a photoelectric sensor; the Z-axis rack is fixedly connected with the Z-axis guide rail; the Z-axis gear is meshed with the Z-axis rack and is coaxially connected with the Z-axis stepping motor; the Z-axis stepping motor is fixedly connected with the Z-axis sliding block; the Z-axis sliding block is fixedly connected with the X-axis sliding block and is in sliding connection with the Z-axis guide rail; and the two groups of Z-axis positioning sensors are fixedly connected with two ends of the Z-axis sliding block and are used for positioning and limiting the lifting motion of the Z-axis guide rail and eliminating motion accumulated errors. The lower end of the Z shaft is provided with an article suction device and two groups of photoelectric sensors, so that the high-speed operation and the accurate positioning of the Z shaft are controlled in a variable speed and accurate mode, the article picking speed is increased, and the article picking accuracy and stability are improved. The Z-axis stepping motor is fixedly connected with the X-axis stepping motor through a Z-axis sliding block and an X-axis sliding block, and two ends of the X-axis guide rail are respectively fixedly connected with the sliding blocks on the two Y-axis guide rails, so that an X, Y, Z three-axis linkage space compound motion article picking and placing mechanism located in the middle of the vending machine box is formed.

Among the four-axis numerical control shipment device, the packing cupboard door rotation axis part includes: the device comprises a rotating shaft guide rail, a rotating shaft reducer, a rotating shaft stepping motor, a rotating shaft rocker arm, a pulley and a rotating shaft positioning sensor; the rotating shaft guide rail is fixed on the side surface of the cargo cabinet door; the rotating shaft speed reducer is fixed on the side surface of the container body, the input end of the rotating shaft speed reducer is connected with the rotating shaft stepping motor, and the output end of the rotating shaft speed reducer is connected with the lower end of the rotating shaft rocker arm; the upper end of the rotating shaft rocker arm is connected with the rotating shaft pulley; the rotating shaft pulley is connected with the rotating shaft guide rail in a sliding mode. The rotating shaft positioning sensor is fixed on the side surface of the container and used for positioning and limiting the movement of the rotating shaft rocker arm and eliminating the accumulated movement error.

Drawings

FIG. 1 is a schematic structural view of a four-axis numerically controlled vending machine according to the present invention;

FIG. 2 is a schematic structural diagram of a four-axis numerical control delivery device; wherein, the partial view is a rear partial structure schematic diagram of the X-axis component;

wherein, 1, the box body of the automatic vending machine, 11, the base of the box, 12, the upright post of the box, 2, the container, 21, the door of the container, 311, the guide rail of the X-axis, 312, the rack of the X-axis, 313, the gear of the X-axis, 314, the stepping motor of the X-axis, 315, the slide block of the X-axis, 316, the positioning sensor of the X-axis, 321, the guide rail of the Y-axis, 3211, the support of the guide rail of the Y-axis, 322, the synchronous pulley of the Y-axis, 323, the synchronous belt of the Y-axis, 324, the stepping motor of the Y-axis, 325, the slide block of the Y-axis, 326, the positioning sensor of the Y-axis, 331, the guide rail of the Z-axis, 332, the rack of the Z-axis, 333, the gear of the Z-axis, 334, the stepping motor of the Z-axis, 335, the slide block of the Z-axis, 336, the suction device of the, 346. and a rotating shaft positioning sensor.

Detailed Description

In order to illustrate the technical solution proposed in the present invention, the technical solution in the embodiment of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiment of the present invention, and it is obvious that the described embodiment is only a part of the embodiment of the present invention, and not a whole embodiment. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

The four-axis numerical control vending machine shown in figure 1 comprises a vending machine box body 1, a container 2 and a four-axis numerical control delivery device; the container 2 is fixed on a base 11 in the vending machine box body; four-axis numerical control cargo discharging device includes: the automatic vending machine comprises an X-axis transmission device, a Y-axis transmission device and a Z-axis transmission device, wherein the X-axis transmission device, the Y-axis transmission device and the Z-axis transmission device are positioned in the middle of a box body of the automatic vending machine and driven by 3 numerical control stepping motors, the X-axis stepping motor 314 drives a sliding block 315 to move left and right on a guide rail 311, the Z-axis stepping motor 334 drives a guide rail 331 to move up and down, the X-axis sliding block 315 is fixedly connected with the Z-axis sliding block 335, the Y-axis stepping motor 324 drives two Y-axis sliding blocks 325 to respectively move back and forth on two guide rails 321, and the two Y-axis guide rails 321 are fixed in the middle of upright columns; the both ends of X axle guide rail 311 with both sides Y axle slider 325 fixed connection, four-axis numerical control cargo discharging device still includes: rotating shaft parts located at the side of the container 2 and driven by 1 numerical control stepping motor 343: a rotation shaft reducer 342, a rotation shaft rocker arm 344, and a rotation shaft pulley 345.

As shown in fig. 1 and 2, in the four-axis numerical control shipping apparatus, the X-axis member includes: an X-axis guide rail 311, an X-axis rack 312, an X-axis gear 313, an X-axis stepping motor 314, an X-axis slider 315 and an X-axis positioning sensor 316; the X-axis rack 312 is fixedly connected to the X-axis guide rail 311; the X-axis gear 313 is meshed with the X-axis rack 312; the X-axis gear 313 is also coaxially connected with an X-axis stepping motor 314; the X-axis stepping motor 314 is fixedly connected with an X-axis sliding block 315; the X-axis sliding block 315 is connected with the X-axis guide rail 311 in a sliding manner; the pair of X-axis positioning sensors 316 is fixedly connected to two ends of the X-axis guide rail 311, and is used for positioning, limiting and eliminating motion accumulation errors of the X-axis slider 315. The Y-axis component includes: a Y-axis guide rail 321, a Y-axis guide rail bracket 3211, a Y-axis synchronous pulley 322, a Y-axis synchronous belt 323, a Y-axis stepping motor 324, a Y-axis sliding block 325 and a Y-axis positioning sensor 326; the two Y-axis guide rails 321 are fixed in parallel in the middle of the upright posts 12 on the left and right sides in the case through Y-axis guide rail brackets 3211; two ends of each Y-axis guide rail 321 are respectively provided with a Y-axis synchronous belt pulley 322, wherein the synchronous belt pulley 322 at the rear end of each Y-axis guide rail 321 is coaxially connected with output shafts at two sides of the Y-axis stepping motor 324; the Y-axis stepping motor 324 is fixedly connected with a Y-axis guide rail 321 positioned on the same side of the box body; the Y-axis synchronous belt wheel 322 is meshed with the Y-axis synchronous belt 323; the Y-axis synchronous belt 323 is fixedly connected with the Y-axis sliding block 325; the Y-axis sliding block 325 is slidably connected with the Y-axis guide rail 321; a pair of Y-axis positioning sensors 326 are fixed to both ends of the Y-axis guide rail 321 on the left side of the box body, and are used for positioning and limiting the forward and backward movement of the Y-axis slider 325, and eliminating the accumulated movement error. Two ends of the X-axis guide rail 311 are respectively and fixedly connected with the Y-axis sliding blocks 325 at the left side and the right side to form X, Y two-axis linkage of left, right, front and back movement, and plane coordinate positioning of goods taking of a lower goods channel is completed. The X, Y biaxial linkage plane motion mechanism is located in the middle of the automatic vending machine case, and the front end open design is adopted, so that the mutual motion interference of the mechanism arranged in the middle of the vending machine is avoided, and the replenishment of operators is facilitated. The Z-axis component includes: a Z-axis guide rail 331, a Z-axis rack 332, a Z-axis gear 333, a Z-axis stepping motor 334, a Z-axis slider 335, a Z-axis article suction device 336, Z-axis

photoelectric sensors

3371 and 3372 and a Z-axis positioning sensor 338; the Z-axis rack 332 is fixedly connected to the Z-axis guide rail 331; the Z-axis gear 333 is meshed with the Z-axis rack 332 and is coaxially connected with the Z-axis stepping motor 334; the Z-axis slide block 335 is slidably connected with a Z-axis guide rail 331; a Z-axis article pickup device 336 provided at the lower end of the Z-axis for performing pickup and release operations on the article; two groups of

photoelectric sensors

3371 and 3372 at the lower end of the Z axis are used for carrying out speed-adjustable accurate control on high-speed movement and accurate positioning of the Z axis. The Z-axis stepping motor 334 is fixedly connected with the X-axis stepping motor 314 through a Z-axis slider 335 and an X-axis slider 315, and two ends of the X-axis guide rail 311 are respectively fixedly connected with sliders 325 on two Y-axis guide rails 321, so as to form X, Y, Z three-axis linkage located in the middle of the vending machine case 11, when the X, Y three-axis linkage planar motion mechanism completes goods selection and positioning on a lower goods channel, the Z-axis with the article suction device 336 arranged at the lower end descends to a selected goods level, and ascends after sucking the articles, and cooperates with the X-axis and the Y-axis to transfer the articles to a goods outlet, release the articles, and complete goods delivery. The two sets of Z-axis positioning sensors 338 are fixedly connected to two ends of the Z-axis slider 335, and are configured to position, limit, and eliminate motion accumulation errors of the Z-axis guide rails 331.

As shown in fig. 1 and 2, in the four-axis numerical control discharging device, the container door rotating shaft comprises: a rotation axis guide 341, a rotation axis reducer 342, a rotation axis stepping motor 343, a rotation axis swing arm 344, a rotation axis pulley 345, and a rotation axis positioning sensor 346; the rotating shaft guide 341 is fixed to the right side surface of the cargo cabinet door 21; the rotating shaft reducer 342 and the rotating shaft stepping motor 343 are fixed on the right side of the container 2 box, the input end of the rotating shaft reducer 342 is connected with the rotating shaft stepping motor 343, and the output end of the rotating shaft reducer 342 is connected with the lower end of the rotating shaft rocker 344; the upper end of the rotating shaft rocker arm 344 is connected with the rotating shaft pulley 345; the rotation shaft pulley 345 is slidably connected to the rotation shaft guide 341. The rotating shaft positioning sensor 346 is fixed on the right side surface of the container 2 and is used for positioning, limiting and eliminating motion accumulated errors of the rotating shaft rocker arm 344. After the goods is selected and positioned, the rotating shaft drives the goods cabinet door 21 to be opened, the three shafts are linked to finish sucking the goods at X, Y, Z, and after the goods are moved out of the goods cabinet, the rotating shaft drives the goods cabinet door 21 to be closed.

In the description of the present invention, the terms "left", "right", "front", "rear", "upper", "lower", and the like indicate orientations or positional relationships based on the drawings, and thus, should not be construed as limiting the present invention.

Claims

1. The utility model provides a four-axis numerical control automatic vending machine which characterized in that, includes automatic vending machine box, packing cupboard and four-axis numerical control cargo discharging device: the container is fixed on a base in the vending machine box body; four-axis numerical control cargo discharging device includes: the X-axis transmission device, the Y-axis transmission device and the Z-axis transmission device are positioned in the middle of the vending machine box body and driven by 3 numerical control stepping motors, wherein the X-axis stepping motor drives the sliding blocks to move left and right on the guide rails, the Z-axis stepping motor drives the guide rails to move up and down, the X-axis sliding blocks are fixedly connected with the Z-axis sliding blocks, the Y-axis stepping motor drives the two Y-axis sliding blocks to respectively move front and back on the two guide rails, and the two Y-axis guide rails are fixed in the middle of the upright columns on the left side and the right side in the vending machine box body; the both ends of X axle guide rail respectively with both sides Y axle slider fixed connection, four-axis numerical control cargo discharging device still includes: and the container door rotating shaft component is positioned on the side surface of the container and is driven by 1 numerical control stepping motor.

2. The four-axis numerical control discharge device according to claim 1, wherein said X-axis member comprises: the X-axis positioning device comprises an X-axis guide rail, an X-axis rack, an X-axis gear, an X-axis stepping motor, an X-axis slider and an X-axis positioning sensor; the X-axis rack is fixedly connected with the X-axis guide rail; the X-axis gear is meshed with the X-axis rack; the X-axis gear is coaxially connected with the X-axis stepping motor; the X-axis stepping motor is fixedly connected with the X-axis sliding block; the X-axis sliding block is fixedly connected with the Z-axis sliding block; the X-axis sliding block is also connected with the X-axis guide rail in a sliding manner; and the pair of X-axis positioning sensors are fixedly connected with two ends of the X-axis guide rail and used for positioning, limiting and eliminating motion accumulated errors of the X-axis sliding block moving left and right on the guide rail.

3. The four-axis numerical control discharge device according to claim 1, wherein said Y-axis member comprises: the Y-axis guide rail, the Y-axis guide rail bracket, the Y-axis synchronous belt pulley, the Y-axis synchronous belt, the Y-axis stepping motor, the Y-axis sliding block and the Y-axis positioning sensor are arranged on the Y-axis guide rail bracket; the two Y-axis guide rails are fixed in the middle of the upright columns on the left side and the right side in the automatic vending machine box in parallel through a Y-axis guide rail bracket; y-axis synchronous belt pulleys are respectively installed at two ends of the Y-axis guide rails at two sides, wherein the synchronous belt pulleys at the rear ends of the Y-axis guide rails are coaxially connected with output shafts at two sides of the Y-axis stepping motor; the Y-axis synchronous belt wheel is meshed and connected with the Y-axis synchronous belt; the Y-axis sliding block is fixedly connected with the Y-axis synchronous belt; the Y-axis sliding block is also connected with the Y-axis guide rail in a sliding manner; two ends of the X-axis guide rail are respectively fixedly connected with the Y-axis sliding blocks on the left side and the right side; the Y-axis stepping motor is fixedly connected with the rear end of the right Y-axis guide rail; the pair of Y-axis positioning sensors are fixedly connected with two ends of the left Y-axis guide rail; the Y-axis slide block is used for positioning and limiting the front and back movement of the Y-axis slide block on the guide rail and eliminating the accumulated movement error.

4. The four-axis numerical control discharge device according to claim 1, wherein said Z-axis member comprises: the Z-axis positioning device comprises a Z-axis guide rail, a Z-axis rack, a Z-axis gear, a Z-axis stepping motor, a Z-axis slider and a Z-axis positioning sensor; the Z-axis rack is fixedly connected with the Z-axis guide rail; the Z-axis gear is meshed with the Z-axis rack; the Z-axis gear is coaxially connected with the Z-axis stepping motor; the Z-axis stepping motor is fixedly connected with the Z-axis sliding block; the Z-axis sliding block is fixedly connected with the X-axis sliding block; the Z-axis sliding block is also connected with the Z-axis guide rail in a sliding manner; and the two groups of Z-axis positioning sensors are fixedly connected with two ends of the Z-axis sliding block and are used for positioning and limiting the lifting motion of the Z-axis guide rail and eliminating motion accumulated errors.

5. The four-axis numerically controlled discharge device according to claim 1, wherein said container door turning shaft unit comprises: the device comprises a rotating shaft guide rail, a rotating shaft reducer, a rotating shaft stepping motor, a rotating shaft rocker arm, a rotating shaft pulley and a rotating shaft positioning sensor; the rotating shaft guide rail is fixed on the right side surface of the cargo cabinet door; the rotating shaft stepping motor and the rotating shaft reducer are fixed on the right side surface of the container body; the input end of the rotating shaft speed reducer is connected with the rotating shaft stepping motor; the output end of the rotating shaft speed reducer is connected with the lower end of the rotating shaft rocker arm; the upper end of the rotating shaft rocker arm is connected with the rotating shaft pulley; the rotating shaft pulley is connected with the rotating shaft guide rail in a sliding manner; the pair of rotating shaft positioning sensors are fixed on the right side surface of the container body and used for positioning and limiting the movement of the rotating shaft rocker arm and eliminating the movement accumulated error.

6. The four-axis numerical control discharging device according to claim 1, wherein the X, Y two-axis linkage plane motion mechanism is fixedly connected with the middle part of the upright post in the vending machine case; x, Y biaxial linkage plane motion adopts front end open design, packing cupboard switch door mechanism adopts rotation axis step motor, rotation axis rocking arm and pulley cooperation design, has avoided the automatic vending machine middle part sets up the mechanism motion interference each other to make X, Y, Z triaxial linkage pick up and put the article route and can optimize, effectively shorten article pick up and put the time.

7. The four-axis numerical control delivery device of claim 1, wherein the lower end of the Z axis is provided with an article suction device and two sets of photoelectric sensors for performing variable speed precise control on high-speed running and precise positioning of the Z axis.