CN111325910B

CN111325910B - Frog tongue type mechanical arm

Info

Publication number: CN111325910B
Application number: CN202010145291.9A
Authority: CN
Inventors: 钱军
Original assignee: Individual
Current assignee: Individual
Priority date: 2020-03-04
Filing date: 2020-03-04
Publication date: 2022-03-29
Anticipated expiration: 2040-03-04
Also published as: CN111325910A

Abstract

The invention discloses a frog tongue type mechanical arm which comprises a mechanical arm shell, a driving device, an upper adsorption device, a lower adsorption device, an upper elastic hose, a lower elastic hose, an upper bending guide part, a lower bending guide part, an upper 180-degree bending sliding pipe, a lower 180-degree bending sliding pipe, an upper electromagnetic clutch and a lower electromagnetic clutch. The invention has the advantages of ingenious and reasonable structural design, rapid moving speed, high working efficiency, long telescopic distance, high working stability, simple overall structure, small volume, low price, easy realization, suitability for an automatic vending system, simple and reliable structure of the automatic vending cabinet, great reduction of the cost and contribution to the use and popularization of the automatic vending cabinet, and can respectively drive the upper elastic hose or the lower elastic hose to extend out or retract into the mechanical arm shell so as to correspondingly drive the upper and lower adsorption devices to reciprocate.

Description

Frog tongue type mechanical arm

Technical Field

The invention relates to the technical field of mechanical arms, in particular to a frog tongue type mechanical arm.

Background

With the development of society and the improvement of labor cost, more and more retail industries adopt unmanned vending machines to sell commodities, so that the cost is reduced, the business can be carried out for 24 hours, convenience is brought to users, and the economic benefit of merchants is improved.

However, since the currently used vending machines adopt a distributed control mode, that is, each kind of goods corresponds to one electromechanical device, each electromechanical device is responsible for taking the goods out to the vending window during the delivery. Because one vending machine is few, more than ten and hundreds of varieties, the electromechanical device has complex structure, complex installation and debugging, low reliability and high cost, the common vending machine has few selling varieties, generally only more than ten varieties, even only a few varieties, and the popularization and the application are limited. And the mechanical arms which are mature in technology and used in large quantity at present are complex in structure, large in occupied space and high in cost, and are not suitable for being used in automatic sales cabinets.

Disclosure of Invention

In view of the above disadvantages, the present invention provides a frog tongue type mechanical arm with smart and reasonable structure design, easy implementation and low cost.

In order to achieve the purpose, the technical scheme provided by the invention is as follows:

a frog tongue type mechanical arm comprises a mechanical arm shell, a driving device, an upper adsorption device, a lower adsorption device, an upper elastic hose, a lower elastic hose, an upper bending guide part and a lower bending guide part, wherein an upper telescopic hole and a lower telescopic hole are correspondingly arranged at the upper end and the lower end of the mechanical arm shell, the upper bending guide part and the lower bending guide part are respectively arranged in the mechanical wall shell corresponding to the upper telescopic hole and the lower telescopic hole, one end of the upper elastic hose extends out of the upper telescopic hole through the guide of the upper bending guide part and is connected with the upper adsorption device, and the other end of the upper elastic hose is accommodated in the mechanical arm shell; one end of the lower elastic hose extends out of the lower telescopic hole through the guide of the lower bending guide component and is connected with the lower adsorption device, and the other end of the lower elastic hose is accommodated in the mechanical arm shell; the driving device is arranged on the mechanical arm shell and can respectively drive the upper elastic hose or the lower elastic hose to extend or retract.

In a preferred embodiment of the present invention, the upper bending guide member and the lower bending guide member are 90-degree bending slide tubes.

As a preferable scheme of the invention, two sides of the upper part of the cross section structure of the mechanical arm shell are respectively provided with a flexible pipe sliding bin, the lower part of the cross section structure of the mechanical arm shell is provided with a flexible pipe redundant bin, one end of the 90-degree bent sliding pipe is butted with an upper telescopic hole or a lower telescopic hole corresponding to the 90-degree bent sliding pipe, and the other end of the 90-degree bent sliding pipe extends to the flexible pipe sliding bin.

As a preferred scheme of the invention, a 180-degree bent sliding pipe which enables the flexible hose sliding bin and the flexible hose redundant bin to be communicated is arranged in the mechanical arm shell.

As a preferable scheme of the invention, a wiring bin and an air source buffer bin are further arranged on the cross section structure of the mechanical arm shell.

As a preferable scheme of the present invention, the driving device includes a driving motor, a driving wheel, a driven wheel and a synchronous belt, the driving wheel and the driven wheel are disposed at two ends of the mechanical arm casing and connected to each other through the synchronous belt, and a driving shaft of the driving motor drives the driving wheel to rotate.

As a preferable scheme of the present invention, the synchronous belt drives the upper elastic hose and the lower elastic hose to extend or retract by an electromagnetic clutch.

As a preferable scheme of the invention, the pulley is arranged on the bottom surface of the electromagnetic valve through the height adjusting device, so that the height between the pulley and the electromagnetic valve can be adjusted, and the height position of the sucking disc can be adjusted to meet different use requirements.

As a preferable aspect of the present invention, the upper suction device includes an electromagnetic valve and a suction cup provided on the electromagnetic valve. The lower adsorption device and the upper adsorption device are consistent in structure.

As a preferable aspect of the present invention, a contact sensor is provided on the suction cup.

In a preferred embodiment of the present invention, a pulley is disposed on a bottom surface of the solenoid valve, and a sliding table is disposed below the pulley, and the sliding table can be used to store the adsorbed objects and then send the adsorbed objects to a vending window. In addition, when the upper elastic hose and the lower elastic hose extend out of the goods shelf, the pulleys can be supported through the sliding table and can slide, so that the reciprocating motion from the upper adsorption device and the lower adsorption device to the goods shelf is more flexible and smooth.

The invention has the beneficial effects that: the invention has the advantages of ingenious and reasonable structural design, high moving speed, high working efficiency, long telescopic distance, high working stability, simple overall structure, small volume, low price and easy realization, is very suitable for an automatic vending system, ensures that the structure of the automatic vending cabinet becomes simple and reliable, greatly reduces the cost, and is beneficial to the use and popularization of the automatic vending cabinet.

The invention is further described with reference to the following figures and examples.

Drawings

Fig. 1 is a schematic perspective view 1 of the present invention.

Fig. 2 is a schematic perspective view of the present invention 2.

Fig. 3 is a schematic exploded view of the present invention.

Fig. 4 is a schematic bottom view of the present invention.

Figure 5 is a schematic top view of the robot arm housing of the present invention.

Detailed Description

Embodiment, referring to fig. 1 to 5, the frog tongue type mechanical arm provided by the embodiment includes a mechanical arm housing 1, a driving device 2, an upper adsorption device 3, a lower adsorption device 4, an upper elastic hose 5, a lower elastic hose 6, an upper bending guide member 7, a lower bending guide member 8, an upper 180-degree bending slide pipe 9, a lower 180-degree bending slide pipe 10, an upper electromagnetic clutch 11 and a lower electromagnetic clutch 12.

In order to ensure the ductility (straightness) of the upper elastic hose 5 and the lower elastic hose 6 and to enhance the tensile force of the elastic hoses, an elastic material such as carbon fiber or glass fiber sheets may be disposed inside the upper elastic hose 5 and the lower elastic hose 6 to enhance the performance thereof.

The two sides of the upper part of the cross section structure of the mechanical arm shell 1 are respectively provided with a flexible hose sliding bin 101, the lower part of the cross section structure of the mechanical arm shell 1 is provided with a flexible hose redundant bin 102, and preferably, the cross section structure of the mechanical arm shell 1 can be further provided with a wiring bin 103 and an air source cache bin 104. The wiring bin 103 facilitates wiring of the upper electromagnetic clutch 11, the lower electromagnetic clutch 12 and other electrical appliances, for example, wires of the upper electromagnetic clutch 11, the lower electromagnetic clutch 12, the contact sensor, the electromagnetic valve and the driving motor can be converged at one position through the wiring bin 103 and then connected with the controller through the quick connector 14, so that convenience is brought to installation and connection. The air source buffer bin 104 facilitates the arrangement of air source pipelines, and as the upper elastic hose 5 and the lower elastic hose 6 can be converged at one position through the air source buffer bin 104 and then connected with an air source system through the quick connector 15.

Corresponding on the upper end of arm shell 1 and the lower extreme position be equipped with flexible hole and lower flexible hole, go up the position setting that flexible hole, lower flexible hole were corresponding respectively to flexible guide part 7, lower flexible guide part 8 in mechanical wall shell, in this embodiment, go up flexible guide part 7 and lower flexible guide part 8 and be the 90 degree slide pipes of buckling. In other embodiments, the upper and lower turning guide members 7 and 8 may be guide wheels, runners or other members for bending and reversing the upper and lower

elastic tubes

5 and 6.

One end of the upper turning guide part 7 is butted with the corresponding upper telescopic hole, and the other end extends to one side position of the upper part of the telescopic hose sliding bin 101. When the robot arm housing 1 is seen in a perspective view and a cross-sectional view, the other end of the upper turning guide member 7 extends to the upper end of the flexible hose sliding chamber 101 located at the right side. One end of the lower 180-degree bent sliding pipe 10 is communicated with the lower end of the telescopic hose sliding bin 101 located at the right side, and the other end of the lower 180-degree bent sliding pipe 10 extends to the lower end left side of the telescopic hose redundant bin 102.

One end of the upper elastic hose 5 extends out of the upper telescopic hole through the guiding of the upper bending guiding component 7 and is connected with the upper adsorption device 3, and the other end of the upper elastic hose 5 extends into the telescopic hose sliding bin 101 at the right side position and is stored at the lower position of the telescopic hose redundant bin 102 through the lower 180-degree bending sliding pipe 10.

One end of the lower bending guide part 8 is butted with the corresponding lower telescopic hole, and the other end extends to the other side position of the lower part of the telescopic hose sliding bin 101. When the robot arm housing 1 is seen in a perspective view and a cross-sectional view, the other end of the lower bending guide part 8 extends to the lower end of the flexible hose sliding bin 101 located at the left side. One end of the upper 180-degree bent sliding pipe 9 is communicated with the upper end of the telescopic hose sliding bin 101 located at the left side, and the other end of the upper 180-degree bent sliding pipe 9 extends to the upper right side of the telescopic hose redundant bin 102.

One end of the lower elastic hose 6 extends out of the lower telescopic hole through the guide of the lower bending guide component 8 and is connected with the lower adsorption device 4, the other end of the lower elastic hose 6 extends into the telescopic hose sliding bin 101 located at the right side position, and the lower elastic hose is accommodated in the upper position of the mechanical arm shell 1 in the telescopic hose redundant bin 102 through the upper 180-degree bending sliding tube 9.

The driving device 2 is arranged on the mechanical arm shell 1 and can drive the upper elastic hose 5 and the lower elastic hose 6 to simultaneously perform extending or retracting actions. Specifically, drive arrangement 2 includes driving motor 21, action wheel 22, follows driving wheel 23 and hold-in range 24, action wheel 22 sets up the both ends position in arm shell 1 with following driving wheel 23, and passes through hold-in range 24 is connected, driving motor 21's drive shaft with action wheel 22 is the keyway formula and is connected, driving motor 21's drive shaft can drive when rotating action wheel 22 rotates.

The driving portion of the upper electromagnetic clutch 11 is located at an upper position of the straight portion of the timing belt 24, and the actuating portion of the upper electromagnetic clutch 11 is provided on the lower elastic tube 6 at a position corresponding to the driving portion. When the electromagnetic adsorption type starting device works, the driving part and the starting part are subjected to electromagnetic adsorption, so that the purpose of attraction driving is achieved.

The driving portion of the lower electromagnetic clutch 12 is located at a lower position of the other straight portion of the timing belt 24, and the actuating portion of the lower electromagnetic clutch 12 is provided on the upper elastic hose 5 at a position corresponding to the driving portion. When the electromagnetic adsorption type starting device works, the driving part and the starting part are subjected to electromagnetic adsorption, so that the purpose of attraction driving is achieved.

The lower adsorption device 4 is consistent with the upper adsorption device 3 in structure. The upper suction device 3 includes a suction cup 32 having an electromagnetic valve 31 provided on the electromagnetic valve 31. A pulley 33 is arranged on the bottom surface of the electromagnetic valve 31, and a sliding table 13 is arranged below the pulley 33, and the sliding table 13 can be used for storing adsorbed articles and then delivering the adsorbed articles to a vending window. In addition, when the upper elastic hose and the lower elastic hose extend out of the goods shelf, the sliding table 13 can support the pulley 33 for the pulley 33 to slide, so that the reciprocating motion of the upper adsorption device and the lower adsorption device to the goods shelf is more flexible and smoother. Preferably, the pulley 33 is disposed on the bottom surface of the electromagnetic valve through a height adjusting device, so that the height between the pulley 33 and the electromagnetic valve 31 is adjustable, and the height position of the suction cup 32 is adjusted to meet different use requirements. Specifically, the height adjusting means may be constituted by a miniature electric push rod, which is extended or retracted to change the distance between the pulley 33 and the solenoid valve 31. If the adsorption device is used in a high-fixed occasion, the heights of the pulley and the electromagnetic valve can also adopt a fixed mode, and the structure is simpler. In other embodiments, the height adjusting device may also adopt other structures to realize the height adjustment between the pulley 33 and the solenoid valve 31.

The contact sensor is arranged on the suction cup 32, when the suction cup 32 is in contact with an article to be adsorbed, the contact sensor senses a feedback signal and sends the feedback signal to the controller, and the controller controls the electromagnetic valve 31 to be communicated with a loop between the suction cup 32 and a negative pressure air source, so that the adsorption purpose is realized. The connecting wires of the contact sensor and the electromagnetic valve are arranged in the air pipe of the electromagnetic valve, and preferably, the upper elastic hose 5 or the lower elastic hose 6 is also used as the air pipe of the negative pressure air source.

When the frog tongue type mechanical arm works, the frog tongue type mechanical arm has the following working states:

firstly, when the upper adsorption device 3 needs to be controlled to adsorb articles independently:

1. the driving motor 21 drives the driving wheel 22 to rotate and correspondingly drives the synchronous belt 24 to move; meanwhile, the lower electromagnetic clutch 12 performs a pull-in motion;

2. the synchronous belt 24 drives the lower electromagnetic clutch 12 to move upwards; the upper elastic hose 5 slides upwards in the telescopic hose sliding bin 101 under the driving of the upper electromagnetic clutch 12 and makes an extending action, so that the upper adsorption device 3 is pushed to move towards the article to be adsorbed;

by the moving distance of the upper adsorption device 3, the upper elastic hose 5 in the redundant telescopic hose bin 102 is supplemented to the telescopic hose sliding bin 101 at the right side position through the lower 180-degree bent sliding pipe 10 and the upper turning guide part 7, and conversely, the upper elastic hose 5 is retracted by the amount, and the redundant telescopic hose bin 102 is stored by the amount;

3. when the upper adsorption device 3 is contacted with an article to be adsorbed, the contact sensor on the suction cup 32 senses a feedback signal to the controller, the controller stops driving the motor 21 to rotate and controls the electromagnetic valve 31 to be communicated with a loop between the suction cup 32 and a negative pressure air source, so that the purpose of adsorbing the article is achieved;

4. after the suction cup 32 sucks the article, the controller controls the driving motor 21 to rotate reversely, so that the article is pulled onto the sliding table and then conveyed to a preset position, such as a vending window, by the reverse movement of the upper sucking device 3. Realize quick absorption and drive article and remove the purpose to required position, work efficiency is high, and flexible distance is long, and job stabilization nature is high.

Secondly, when the adsorption device 4 is required to be controlled to adsorb articles independently:

1. the driving motor 21 drives the driving wheel 22 to rotate and correspondingly drives the synchronous belt 24 to move; meanwhile, the upper electromagnetic clutch 11 performs a suction motion;

2. the synchronous belt 24 drives the upper electromagnetic clutch 11 to move downwards; the lower elastic hose 6 slides downwards in the telescopic hose sliding bin 101 under the downward driving of the upper electromagnetic clutch 11 and makes an extending action, so that the lower adsorption device 4 is pushed to move towards the article to be adsorbed; by the moving distance of the lower adsorption device 4, the lower elastic hose 6 in the redundant telescopic hose bin 102 is supplemented to the telescopic hose bin 101 at the left side position through the upper 180-degree bending sliding pipe 9 and the lower bending guide part 8, and conversely, the lower elastic hose 6 is retracted by the amount, and the redundant telescopic hose bin 102 is stored by the amount;

3. when the lower adsorption device 4 is contacted with an article to be adsorbed, the contact sensor on the suction cup 32 senses a feedback signal to the controller, the controller stops driving the motor 21 to rotate and controls the electromagnetic valve 31 to be communicated with a loop between the suction cup 32 and a negative pressure air source, so that the purpose of adsorbing the article is achieved;

4. after the suction cup 32 sucks the article, the controller controls the driving motor 21 to rotate reversely, so that the lower suction device 4 moves reversely to pull the article onto the sliding table and then deliver the article to a predetermined position, such as a vending window. Realize quick absorption and drive article and remove the purpose to required position, work efficiency is high, and flexible distance is long, and job stabilization nature is high.

Variations and modifications to the above-described embodiments may occur to those skilled in the art, which fall within the scope and spirit of the above description. Therefore, the present invention is not limited to the specific embodiments disclosed and described above, and some modifications and variations of the present invention should fall within the scope of the claims of the present invention. In addition, although specific terms are used herein, such terms are used for convenience of description and are not intended to limit the present invention in any way, and it is within the scope of the present invention to use other mechanical arms that are the same or similar to the terms.

Claims

1. A frog tongue type mechanical arm comprises a mechanical arm shell and is characterized by further comprising a driving device, an upper adsorption device, a lower adsorption device, an upper elastic hose, a lower elastic hose, an upper bending guide component and a lower bending guide component, wherein an upper telescopic hole and a lower telescopic hole are correspondingly formed in the upper end and the lower end of the mechanical arm shell, the upper bending guide component and the lower bending guide component are respectively arranged in the mechanical wall shell in a position corresponding to the upper telescopic hole and the lower telescopic hole, one end of the upper elastic hose extends out of the upper telescopic hole through the guide of the upper bending guide component and is connected with the upper adsorption device, and the other end of the upper elastic hose is contained in the mechanical arm shell; one end of the lower elastic hose extends out of the lower telescopic hole through the guide of the lower bending guide component and is connected with the lower adsorption device, and the other end of the lower elastic hose is accommodated in the mechanical arm shell; the driving device is arranged on the mechanical arm shell and can respectively drive the upper elastic hose or the lower elastic hose to extend or retract; the upper bending guide part and the lower bending guide part are both 90-degree bending sliding pipes; the two sides of the upper part of the cross section structure of the mechanical arm shell are respectively provided with a flexible pipe sliding bin, the lower part of the cross section structure of the mechanical arm shell is provided with a flexible pipe redundant bin, one end of the 90-degree bent sliding pipe is butted with an upper flexible hole or a lower flexible hole corresponding to the 90-degree bent sliding pipe, and the other end of the 90-degree bent sliding pipe extends to the flexible pipe sliding bin; an upper 180-degree bending sliding pipe and a lower 180-degree bending sliding pipe which are used for communicating the telescopic hose sliding bin with the telescopic hose redundant bin are arranged in the mechanical arm shell; the cross section structure of the mechanical arm shell is also provided with a wiring bin and an air source buffer bin; the driving device comprises a driving motor, a driving wheel, a driven wheel and a synchronous belt, wherein the driving wheel and the driven wheel are arranged at two ends in the mechanical arm shell and are connected through the synchronous belt, and a driving shaft of the driving motor drives the driving wheel to rotate; the synchronous belt drives the upper elastic hose and the lower elastic hose to extend or retract through an electromagnetic clutch; the upper adsorption device comprises an electromagnetic valve and a sucker arranged on the electromagnetic valve; a pulley is arranged on the bottom surface of the electromagnetic valve, and a sliding table is arranged below the pulley; the pulley is arranged on the bottom surface of the electromagnetic valve through a height adjusting device; one end of the lower 180-degree bending sliding pipe is communicated with the lower end of the telescopic hose sliding bin positioned at the right side position, and the other end of the lower 180-degree bending sliding pipe extends to the left side position of the lower end of the telescopic hose redundant bin; the other end of the upper elastic hose extends into the telescopic hose sliding bin positioned at the right side position and is accommodated at the lower part of the telescopic hose redundant bin through the lower 180-degree bent sliding tube; one end of the upper 180-degree bent sliding pipe is communicated with the upper end of the telescopic hose sliding bin positioned at the left side position, and the other end of the upper 180-degree bent sliding pipe extends to the right side position of the upper end of the telescopic hose redundant bin; the other end of the lower elastic hose extends into the telescopic hose sliding bin positioned at the right side position and is accommodated in the upper position of the telescopic hose redundant bin of the mechanical arm shell through the upper 180-degree bent sliding tube.

2. The frog-tongue robot arm of claim 1, wherein: and a contact sensor is arranged on the sucker.