CN111716366B - Single-drive double-freedom-degree constant-pressure card scraping robot - Google Patents
Single-drive double-freedom-degree constant-pressure card scraping robot Download PDFInfo
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- CN111716366B CN111716366B CN202010581561.0A CN202010581561A CN111716366B CN 111716366 B CN111716366 B CN 111716366B CN 202010581561 A CN202010581561 A CN 202010581561A CN 111716366 B CN111716366 B CN 111716366B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
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Abstract
The invention discloses a single-machine-driven double-freedom-degree constant-pressure card scraping robot, and belongs to the field of card scraping robots. The card box is internally provided with a password card, a single machine driving module arranged on a machine frame, and a reciprocating rack and a lifting rack arranged on the single machine driving module; a lifting and descending card pushing column is arranged on the lifting rack in a sliding manner, and a metal spiral spring is arranged on the card pushing column; the bottom of the card box is provided with a push card board in a sliding manner, and the push card board is arranged at the top of the push card column; the single machine driving module comprises a plate wheel shaft, a reversing shaft A, a reversing shaft B, a ratchet wheel shaft, a motor, a horizontal guide rod pair, a lifting guide rail pair, a driving wheel, a plate wheel, a reversing gear A, a reversing gear B, a reversing gear C, a ratchet wheel and a pawl. The invention is a card scraping robot which has simple and reasonable structure and can realize the reciprocating motion of a scraper and the constant keeping of the pressure and the friction force of the scraper by the continuous rotation of a single motor in the same direction.
Description
Technical Field
The invention mainly relates to the field of card scraping robots, in particular to a single-machine-driven double-freedom-degree constant-pressure card scraping robot.
Background
The cryptographic card is typically provided with a layer of varnish or seal to protect the cryptographic content. The traditional password cards are mostly scraped by manual operation, and document 1 (patent No. 201510151455.8) discloses a password cracking card scraping robot which can realize automatic continuous card scraping of the password cards, but has the following disadvantages: the motor needs to be continuously reversed due to the reciprocating motion of the scratch card, so that the service life of the scratch card is shortened, and the pressure and the friction force of a scraper are gradually reduced, so that the scratch card performance is unstable. Therefore, the design of the card scraping robot which has a simple structure, can realize card scraping without reversing a motor and can keep constant card scraping force has very important value.
Disclosure of Invention
The technical problems to be solved by the invention are as follows: aiming at the technical problems in the prior art, the invention provides the card scraping robot which is simple and reasonable in structure and can realize the reciprocating motion of a scraper and keep the pressure and the friction force of the scraper constant by means of the continuous rotation of a single motor in the same direction.
In order to solve the problems, the solution proposed by the invention is as follows: a single-machine-driven double-freedom-degree constant-pressure card scraping robot comprises a card box, a single-machine driving module, a reciprocating rack and a lifting rack, wherein a password card is arranged in the card box;
a liftable card pushing column is slidably arranged on the lifting rack, a metal spiral spring is arranged on the card pushing column, and a box hole allowing the metal spiral spring and the card pushing column to penetrate is formed in the bottom of the card box; the bottom of the card box is provided with a push card board in a sliding manner, and the push card board is arranged at the top of the push card column;
the single-machine driving module comprises a disk wheel shaft, a reversing shaft A, a reversing shaft B, a ratchet shaft, a motor, a horizontal guide rod pair and a lifting guide rail pair which are rotatably arranged on the rack, a driving wheel fixedly arranged on an output shaft of the motor, a disk wheel fixedly arranged on the disk wheel shaft and in meshing transmission with the driving wheel, a reversing gear A fixedly arranged on the reversing shaft A and in meshing transmission with the reciprocating rack, a reversing gear B fixedly arranged on the reversing shaft B and in meshing transmission with the reversing gear A, a reversing gear C fixedly arranged on the ratchet shaft and in meshing transmission with the reversing gear B, a ratchet wheel fixedly arranged on the ratchet shaft and in meshing transmission with the lifting rack by adopting a one-way bearing, a pawl matched with the ratchet wheel, a driving pin shaft fixedly arranged on the disk wheel and parallel to the disk wheel shaft, a reversing rod A fixedly arranged on the reversing gear A, and a reversing rod B fixedly arranged on the reversing gear B;
the structure and the length of the reversing rod A are the same as those of the reversing rod B, and only one reversing rod is in contact with the active pin shaft at any time.
Further, the output shaft of the motor, the disc wheel shaft, the reversing shaft A, the reversing shaft B and the ratchet shaft sequentially penetrate through a rolling bearing A, a rolling bearing B, a rolling bearing C, a rolling bearing D and a rolling bearing E which are arranged on the rack.
Further, when the one-way bearing is in a stopping state, the ratchet shaft and the ratchet wheel rotate synchronously, and the lifting rack moves upwards.
Furthermore, a line connecting the center of the reversing gear A and the center of the reversing gear B forms an angle with the vertical direction.
Further, reversing bar A with reversing bar B is in parallel state all the time, just the first half cycle of dish wheel clockwise rotation, initiative round pin axle promotes reversing bar B clockwise rotates, the latter half cycle of dish wheel clockwise rotation, initiative round pin axle promotes reversing bar A clockwise rotates.
Furthermore, the reciprocating rack is fixedly arranged on a sliding block of the horizontal guide rail pair, and the horizontal guide rail pair is fixedly arranged on the rack.
Compared with the prior art, the invention has the following advantages and beneficial effects: the invention is provided with a single machine driving module, can drive the scraper to horizontally reciprocate through a motor, realizes automatic reversing without reversing rotation of the motor, and simultaneously realizes automatic rising and constant pressure of the password card. Therefore, the scraping robot has the advantages of simple and reasonable structure and high movement stability, and can realize the reciprocating movement of the scraper and keep the pressure and the friction force of the scraper constant by means of the continuous rotation of the single motor in the same direction.
Drawings
Fig. 1 is a schematic structural principle diagram of a single-machine-driven two-degree-of-freedom constant-pressure card scraping robot of the invention.
FIG. 2 is a schematic diagram of the horizontal relative position of the stand-alone drive module of the present invention.
In the figure, 1-cartridge; 10-a password card; 11-a card pushing plate; 12-cartridge aperture; 13-pushing the clamping column; 14-a metal coil spring; 15-a frame; 2, a scraper; 21-reciprocating rack; 22-reversing gear a; 221-reversing lever a; 23-reversing gear B; 231-reversing lever B; 24-a ratchet wheel; 25-a plate wheel; 26-active pin shaft; 27-a pawl; 28-driving wheel; 29-a motor; 3, lifting a rack; 31-a lifting guide rail pair; 41-rolling bearing A; 42-rolling bearing B; 43-disk hub; 44-reversing axis A; 45-rolling bearing C; 46-a ratchet shaft; 47-rolling bearing E; 51-reversing gear C; 52-one-way bearing.
Detailed Description
The invention will be described in further detail below with reference to the accompanying drawings and specific embodiments.
Referring to fig. 1 and 2, the single-machine-driven two-degree-of-freedom constant-pressure card scraping robot of the present invention includes a card box 1 with a password card 10 inside, a single-machine driving module mounted on a frame 15, and a reciprocating rack 21 and a lifting rack 3 mounted on the single-machine driving module.
Referring to fig. 1 and 2, a lifting card pushing column 13 is slidably mounted on the lifting rack 3, a metal spiral spring 14 is mounted on the card pushing column 13, and a box hole 12 for allowing the metal spiral spring 14 and the card pushing column 13 to pass through is formed in the bottom of the card box 1; the bottom of the card box 1 is provided with a card pushing plate 11 in a sliding way, and the card pushing plate 11 is arranged at the top of a card pushing column 13.
Referring to fig. 1 and 2, the single-machine driving module includes a disk wheel shaft 43 rotatably mounted on the frame 15, a reversing shaft a44, a reversing shaft B, a ratchet shaft 46, a motor 29 fixedly mounted on the frame 15, a horizontal guide bar pair and a lifting guide rail pair 31, a driving wheel 28 fixedly mounted on an output shaft of the motor 19, a disk wheel 25 fixedly mounted on the disk wheel shaft 43 and in meshing transmission with the driving wheel 28, a reversing gear a22 fixedly mounted on the reversing shaft a44 and in meshing transmission with the reciprocating rack 21, a reversing gear B23 fixedly mounted on the reversing shaft B and in meshing transmission with the reversing gear a22, a reversing gear C51 fixedly mounted on the ratchet shaft 46 and in meshing transmission with the reversing gear B23, a ratchet 24 rotatably fixed on the ratchet shaft 46 and in meshing transmission with the lifting rack 3 by using a one-way bearing 52, a pawl 27 engaged with the ratchet 24, a driving pin shaft 26 fixedly mounted on the disk wheel 25 and parallel to the disk wheel shaft 43, a reversing lever a221 fixedly mounted on the reversing gear a22, and a reversing lever B231 fixed on the reversing gear B23.
Referring to fig. 1 and 2, the structure and length of the reversing lever a221 and the reversing lever B231 are the same, and only one reversing lever is in contact with the driving pin 26 at any time.
Referring to fig. 1 and 2, preferably, the output shaft of the motor 29, the disk wheel shaft 43, the reversing shaft a44, the reversing shaft B, and the ratchet shaft 46 sequentially pass through a rolling bearing a41, a rolling bearing B42, a rolling bearing C45, a rolling bearing D, and a rolling bearing E47 mounted on the frame 15.
Referring to fig. 1 and 2, preferably, when the one-way bearing 52 is in a stop state, the ratchet shaft 46 and the ratchet 24 rotate synchronously, and the lifting rack 3 moves up.
Referring to fig. 1 and 2, preferably, a line connecting the center of the reversing gear a22 and the center of the reversing gear B23 forms an angle of 45 degrees with the vertical direction.
Referring to fig. 1 and 2, preferably, the reversing lever a221 and the reversing lever B231 are always in a parallel state, and the driving pin 26 pushes the reversing lever B231 to rotate clockwise in the first half of the clockwise rotation of the disk wheel 25, and the driving pin 26 pushes the reversing lever a221 to rotate clockwise in the second half of the clockwise rotation of the disk wheel 25.
Referring to fig. 1 and 2, preferably, the reciprocating rack 21 is fixedly installed on a slide block of a horizontal guide rail pair, and the horizontal guide rail pair is fixedly installed on the frame 15.
The working process of the invention is as follows:
firstly, stacking a plurality of password cards 10 to be scratched into the card box 1, and enabling the metal spiral spring 14 to be in a compressed state;
then, the motor 29 rotates forward to drive the disc wheel 25 to rotate clockwise, the driving pin shaft 26 pushes the reversing rod B231 to rotate clockwise in the first half cycle of the clockwise rotation of the disc wheel 25, so as to drive the reversing gear B23 to rotate clockwise, further drive the reversing gear a22 and the reversing rod a221 to rotate counterclockwise, and the reciprocating rack 21 moves leftward under the action of the counterclockwise rotation of the reversing gear a22 and the positioning and guiding action of the horizontal guide rail pair, so that the scraper 2 hangs off the seal on the uppermost password card 10;
in the first half cycle of clockwise rotation of the disk wheel 25, the reversing gear B23 rotates clockwise, which in turn drives the reversing gear C51 and the ratchet shaft 46 to rotate clockwise, during which the one-way bearing 52 is in a moving and rotating state, i.e. the ratchet shaft 46 and the ratchet wheel 24 rotate freely, so that the ratchet wheel 24 locks the lifting rack 3 under the action of the pawl 27, so that the compression amount of the metal coil spring 14 is kept unchanged, and the pressure and friction force during the card scraping are kept.
Finally, the motor 29 continues to rotate in the forward direction to drive the plate wheel 25 to rotate clockwise, that is, the plate wheel 25 enters the second half cycle of the clockwise rotation, at this time, the driving pin shaft 26 is in contact with the reversing rod a221 and is separated from the reversing rod B231, so that the clockwise rotation of the driving pin shaft 26 pushes the reversing rod a221 and the reversing gear a22 to rotate clockwise, the reciprocating rack 21 moves rightwards under the action of the clockwise rotation of the reversing gear a22 and the positioning and guiding action of the horizontal guide rail pair, and the scraper 2 pushes the uppermost password card 10 to leave the card box;
during the second half of the clockwise rotation of the plate wheel 25, the reversing gear a22 rotates clockwise to drive the reversing gear B23 to rotate counterclockwise and further drive the reversing gear C51 and the ratchet shaft 46 to rotate counterclockwise, and in this process, the one-way bearing 52 is in a stop state, i.e., the ratchet shaft 46 and the ratchet wheel 24 are not allowed to rotate, so that the ratchet wheel 24 also rotates counterclockwise under the action of the ratchet shaft 46, and further the lifting rack 3 is driven to lift by the thickness distance of a single password card 10.
The above process is the whole process of completing the card scraping of one password card 10, and the card scraping operation of all the password cards 10 in the card box 1 can be realized by continuously repeating the above process. The thickness distance of the lifting rack 3 is kept every time the scraper 2 pushes away one password card 10, so that the compression amount of the metal spiral spring 14 is kept unchanged in the card scraping process, and the constant-pressure card scraping is realized.
The above is only a specific embodiment of the present invention, but the scope of the present invention is not limited thereto, and any changes or substitutions that are not thought of through creative efforts should fall within the scope of the present invention.
Claims (5)
1. The utility model provides a two degree of freedom constant pressure of unit drive scrape card robot, includes inside card box (1) of installing password card (10), installs the unit drive module in frame (15), install in reciprocal rack (21) and lifting rack (3) on the unit drive module, its characterized in that:
a liftable card pushing column (13) is slidably arranged on the lifting rack (3), a metal spiral spring (14) is arranged on the card pushing column, and a box hole (12) allowing the metal spiral spring (14) and the card pushing column (13) to penetrate through is formed in the bottom of the card box (1); the bottom of the card box (1) is provided with a push clamping plate (11) in a sliding manner, and the push clamping plate (11) is placed at the top of the push clamping column (13);
the single machine driving module comprises a disk wheel shaft (43), a reversing shaft A (44), a reversing shaft B and a ratchet shaft (46) which are rotatably arranged on the rack (15), a motor (29), a horizontal guide rod pair and a lifting guide rail pair (31) which are fixedly arranged on the rack (15), a driving wheel (28) which is fixedly arranged on an output shaft of the motor (29), a disk wheel (25) which is fixedly arranged on the disk wheel shaft (43) and is in meshing transmission with the driving wheel (28), a reversing gear A (22) which is fixedly arranged on the reversing shaft A (44) and is in meshing transmission with the reciprocating rack (21), a reversing gear B (23) which is fixedly arranged on the reversing shaft B and is in meshing transmission with the reversing gear A (22), a reversing gear C (51) which is fixedly arranged on the ratchet shaft (46) and is in meshing transmission with the reversing gear B (23), and a ratchet wheel (24) which is rotatably fixed on the ratchet shaft (46) and is in meshing transmission with the lifting rack (3) by adopting a one-way bearing (52), a pawl (27) matched with the ratchet wheel (24), a driving pin shaft (26) fixedly arranged on the disk wheel (25) and parallel to the disk wheel shaft (43), a reversing rod A (221) fixedly arranged on the reversing gear A (22), and a reversing rod B (231) fixedly arranged on the reversing gear B (23);
the structure and the length of the reversing rod A (221) and the reversing rod B (231) are the same, and only one reversing rod is contacted with the driving pin shaft (26) at any time;
the reversing rod A (221) and the reversing rod B (231) are always in a parallel state, in addition, the front half cycle of the clockwise rotation of the disk wheel (25), the driving pin shaft (26) pushes the reversing rod B (231) to rotate clockwise, the reversing gear B (23) rotates clockwise, the reversing gear A (22) and the reversing rod A (221) rotate anticlockwise, the reciprocating rack (21) moves leftwards, and the reversing gear C (51) and the ratchet shaft (46) rotate clockwise;
the plate wheel (25) rotates clockwise for the latter half of the circumference, the active pin shaft (26) pushes the reversing rod A (221) to rotate clockwise, the reversing gear A (22) rotates clockwise to drive the reversing gear B (23) to rotate counterclockwise, and then the reversing gear C (51) and the ratchet shaft (46) are driven to rotate counterclockwise.
2. The single-drive two-degree-of-freedom constant-pressure card scraping robot as claimed in claim 1, wherein: the output shaft of the motor (29), the disc wheel shaft (43), the reversing shaft A (44), the reversing shaft B and the ratchet shaft (46) sequentially penetrate through a rolling bearing A (41), a rolling bearing B (42), a rolling bearing C (45), a rolling bearing D and a rolling bearing E (47) which are arranged on the rack (15).
3. The single-drive two-degree-of-freedom constant-pressure card scraping robot as claimed in claim 1, wherein: when the one-way bearing (52) is in a stop state, the ratchet shaft (46) and the ratchet wheel (24) synchronously rotate, and the lifting rack (3) moves upwards.
4. The single-drive two-degree-of-freedom constant-pressure card scraping robot as claimed in claim 1, wherein: and a line connecting the center of the reversing gear A (22) and the center of the reversing gear B (23) forms an angle of 45 degrees with the vertical direction.
5. The single-drive two-degree-of-freedom constant-pressure card scraping robot as claimed in claim 1, wherein: the reciprocating rack (21) is fixedly arranged on a sliding block of the horizontal guide rail pair, and the horizontal guide rail pair is fixedly arranged on the rack (15).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010581561.0A CN111716366B (en) | 2020-06-23 | 2020-06-23 | Single-drive double-freedom-degree constant-pressure card scraping robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010581561.0A CN111716366B (en) | 2020-06-23 | 2020-06-23 | Single-drive double-freedom-degree constant-pressure card scraping robot |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN111716366A CN111716366A (en) | 2020-09-29 |
| CN111716366B true CN111716366B (en) | 2023-02-28 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202010581561.0A Active CN111716366B (en) | 2020-06-23 | 2020-06-23 | Single-drive double-freedom-degree constant-pressure card scraping robot |
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| CN (1) | CN111716366B (en) |
Citations (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| GB702710A (en) * | 1950-02-24 | 1954-01-20 | Ncr Co | Apparatus for separating cards, cheques, or the like from a stack |
| JP2001151366A (en) * | 1999-11-30 | 2001-06-05 | Shinko Electric Co Ltd | Card issuing device |
| CN101058347A (en) * | 2007-04-05 | 2007-10-24 | 张鹤林 | Plant fiber paper fetching mechanism for packaging machinery |
| CN104085715A (en) * | 2014-05-27 | 2014-10-08 | 浙江茉织华印刷有限公司 | Waste collecting device for scratch card membrane printing and labeling machine |
| CN104385275A (en) * | 2014-09-18 | 2015-03-04 | 常州大学 | Password cracking card scraping robot |
| CN104573749A (en) * | 2015-01-29 | 2015-04-29 | 李中华 | Card receiving and dispensing machine card pushing device and automatic card receiving and dispensing machine with same |
| CN104786222A (en) * | 2015-04-01 | 2015-07-22 | 常州大学 | Parallel card scraping robot in transversely-moving mode |
| CN104786223A (en) * | 2015-04-01 | 2015-07-22 | 常州大学 | Rotating-mode parallel card scraping robot |
| CN104933380A (en) * | 2015-06-15 | 2015-09-23 | 北方工业大学 | Device for automatically and rapidly removing card password coating |
-
2020
- 2020-06-23 CN CN202010581561.0A patent/CN111716366B/en active Active
Patent Citations (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| GB702710A (en) * | 1950-02-24 | 1954-01-20 | Ncr Co | Apparatus for separating cards, cheques, or the like from a stack |
| JP2001151366A (en) * | 1999-11-30 | 2001-06-05 | Shinko Electric Co Ltd | Card issuing device |
| CN101058347A (en) * | 2007-04-05 | 2007-10-24 | 张鹤林 | Plant fiber paper fetching mechanism for packaging machinery |
| CN104085715A (en) * | 2014-05-27 | 2014-10-08 | 浙江茉织华印刷有限公司 | Waste collecting device for scratch card membrane printing and labeling machine |
| CN104385275A (en) * | 2014-09-18 | 2015-03-04 | 常州大学 | Password cracking card scraping robot |
| CN104573749A (en) * | 2015-01-29 | 2015-04-29 | 李中华 | Card receiving and dispensing machine card pushing device and automatic card receiving and dispensing machine with same |
| CN104786222A (en) * | 2015-04-01 | 2015-07-22 | 常州大学 | Parallel card scraping robot in transversely-moving mode |
| CN104786223A (en) * | 2015-04-01 | 2015-07-22 | 常州大学 | Rotating-mode parallel card scraping robot |
| CN104933380A (en) * | 2015-06-15 | 2015-09-23 | 北方工业大学 | Device for automatically and rapidly removing card password coating |
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| CN111716366A (en) | 2020-09-29 |
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