CN206684838U - A kind of rotation picking mechanism of vending machine - Google Patents
A kind of rotation picking mechanism of vending machine Download PDFInfo
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- CN206684838U CN206684838U CN201720540757.9U CN201720540757U CN206684838U CN 206684838 U CN206684838 U CN 206684838U CN 201720540757 U CN201720540757 U CN 201720540757U CN 206684838 U CN206684838 U CN 206684838U
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- large arm
- forearm
- sensor
- motor
- vending machine
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Abstract
The utility model discloses a kind of rotation picking mechanism of vending machine, including supporting plate, left position sensor and right end position sensor are respectively arranged with left and right sides of supporting plate, supporting plate middle and lower part is provided with large arm motor mounting plate and big arm restraining board, large arm motor is fixed on large arm motor mounting plate, the front output shaft of large arm motor is connected with large arm, large arm is connected with big arm restraining board by large arm resetting block, large arm reseting sensor is provided with below large arm, forearm reseting sensor is provided with above large arm, large arm front end is provided with side U-type groove, forearm motor is provided with the top of the U-type groove of side, forearm is arranged in the U-type groove of side and fixed with the front output shaft of forearm motor, forearm rear end is provided with forearm resetting block, duct is provided among forearm, forearm front end is provided with sucker, tracheae is connected by duct with sucker.The utility model is used for the crawl of high-bulk-density goods, by rotating large arm and forearm, can capture the goods of diverse location, good reliability.
Description
Technical field
The utility model belongs to the technical field of vending machine picking mechanism, and in particular to a kind of rotation of vending machine
Turn picking mechanism.
Background technology
Vending machine is the common equipment of business automation, is a kind of brand-new retailing form, is otherwise known as 24
The micro supermarket of hour business.Traditional small-sized vending machine is typically all to carry out picking by way of " motor+spring ", still
This picking mode compatibility is poor, and the cost of machine and the size of shelf are substantially proportional to, and the motor on shelf is required for
Wiring, control circuit is complicated, and fault rate is high, and installation maintenance cost is also higher.
At present, in the market have also appeared the mechanism that picking is carried out by push pedal or belt, but be only applicable to can for the mechanism
Promotion and the goods of profile rule, can not then be taken for the too thin irregular goods of goods or profile using the mechanism
Goods, this just strongly limit the use range of the picking mechanism, and the picking mechanism is not suitable for high-bulk-density goods yet
Thing, so as to which the low space utilization of shelf can be caused.Thus it is necessary that the Qu Wu mechanisms for being directed to vending machine are further to be studied
And improvement.
The content of the invention
The problem of based on the above, the purpose of this utility model are to be directed to above-mentioned deficiency, there is provided a kind of vending machine
Rotation picking mechanism, it is expected to solve, the picking mechanism poor compatibility of vending machine, control circuit in the prior art be complicated, installation
Maintenance cost is high and high to the shape requirement of goods and is not suitable for the technical problem of high-bulk-density goods etc..
A kind of rotation picking mechanism of vending machine, including supporting plate, the supporting plate left and right sides are respectively arranged with left end
Position sensor and right end position sensor, supporting plate middle and lower part are provided with large arm motor mounting plate and big arm restraining board, large arm
Motor is fixed on large arm motor mounting plate, and the front output shaft of large arm motor is connected with large arm, and large arm passes through with big arm restraining board
Large arm resetting block is connected, and large arm reseting sensor is provided with below large arm, is provided with forearm reseting sensor above large arm, greatly
The left and right sides is provided with left end reset catch above arm and right-hand member resets catch, and large arm front end is provided with side U-type groove, side U-type groove
Top is provided with forearm motor, and forearm is arranged in the U-type groove of side and fixed with the front output shaft of forearm motor, and forearm rear end is provided with
Forearm resetting block, duct is provided among forearm, forearm front end is provided with sucker, and tracheae is connected by duct with sucker.
Preferably, the front end of the left position sensor and right end position sensor is higher by left end reset catch and the right side
End resets catch 2-4mm.
Preferably, through hole is provided with rear side of the side U-type groove, the front end of forearm reseting sensor is located in through hole.
Preferably, the distance between the front end of the large arm reseting sensor and large arm resetting block and forearm reset sensing
The distance between the front end of device and forearm resetting block are 2-4mm.
Preferably, the forearm and side U-type groove front end have been respectively arranged below the first control sensor and the second control passes
Sensor.
Preferably, the sucker is the vacuum cup with buffering, and the vacuum interface direction of sucker for horizontal direction or is hung down
Nogata is to the material of cupule head is silicon rubber or polyurethane.
Preferably, the large arm motor and forearm motor are with encoder step stepper motor.
Preferably, the left position sensor, right end position sensor, large arm reseting sensor and forearm reset sensing
Device is metal sensor.
Preferably, the first control sensor and the second control sensor are travel switch.
The beneficial effects of the utility model：Rotation picking mechanism is made up of large arm and forearm, by rotating large arm and forearm,
It can make large arm and forearm that different picking " posture " be presented in space, so as to capture the goods of diverse location, flexibility
It is high；The crawl of goods is carried out by the way of vacuum, size of the Qu Wu mechanisms to goods for solving vending machine in the prior art
And the technical problem that shape requirement is high, suitable for the crawl of different size and high-bulk-density goods, compatible good, the scope of application
It is more extensive；Sucker is the vacuum cup with buffering, it is possible to reduce sucker and the impact that fierceness is caused during cargo contacts, to goods
Have certain protective effect, the material of cupule head is silicon rubber or polyurethane, is all soft material, and intensity also compared with
Greatly, this aspect ensure that the sealing of sucker and cargo contacts, on the other hand also ensure that the durability of sucker；Below forearm
The first control sensor is provided with, the undue feelings for extruding goods and causing damage during the crawl of picking mechanism can be prevented
Condition, side U-type groove front end lower section are provided with the second control sensor, can prevent to cause picking mechanism due to software
The situation of damage；Large arm motor and forearm motor are with encoder step stepper motor, and are provided with left position sensor, the right side
End position sensor, large arm reseting sensor and forearm reseting sensor, large arm and forearm can be accurately controlled in the position in space
State, so as to ensure that the Stability and veracity of picking.
Brief description of the drawings
Fig. 1 is a kind of structural representation of the rotation picking mechanism of vending machine of the utility model.
Fig. 2 is a kind of left view of the rotation picking mechanism of vending machine of the utility model.
Fig. 3 is a kind of right view of the rotation picking mechanism of vending machine of the utility model.
Fig. 4 is a kind of top view of the rotation picking mechanism of vending machine of the utility model.
Label is described as follows in figure：1- supporting plates, 2- left position sensors, 3- right end position sensors, 4- large arm electricity
Machine installing plate, the big arm restraining boards of 5-, 6- large arm motors, 7- large arm, 8- large arm resetting blocks, 9- large arm reseting sensors, 10- forearms
Reseting sensor, 11- left ends reset catch, and 12- right-hand members reset catch, 13- sides U-type groove, 14- forearm motors, 15- forearms, 16-
Forearm resetting block, 17- ducts, 18- suckers, 19- tracheaes, 20- first control sensor, and 21- second controls sensor, and 22- inhales
Coiled hair.
Embodiment
Further illustrate the technical solution of the utility model below in conjunction with the accompanying drawings and by embodiment.
Fig. 1, Fig. 2, Fig. 3 and Fig. 4 are respectively that a kind of structure of the rotation picking mechanism of vending machine of the utility model is shown
Intention, left view, right view and top view, including supporting plate 1, the left and right sides of supporting plate 1 are respectively arranged with left position sensing
Device 2 and right end position sensor 3, rotation picking mechanism can only be entered between left position sensor 2 and right end position sensor 3
Row motion, thereby may be ensured that will not collide between rotation picking mechanism and supporting plate 1 and cause the situation of damage.Support
The middle and lower part of plate 1 is provided with large arm motor mounting plate 4 and big arm restraining board 5, and large arm motor 6 is fixed on large arm motor mounting plate 4,
The front output shaft of large arm motor 6 is connected with large arm 7, and the rotation of large arm motor 6 can drive large arm 7 to rotate together, so that big
Different picking " posture " can be presented in space for arm 7, so as to capture the goods of diverse location.Large arm 7 is consolidated with large arm
Fixed board 5 is connected by large arm resetting block 8, and the lower section of large arm 7 is provided with large arm reseting sensor 9, and large arm reseting sensor 9 is gold
Belong to sensor, the ultimate range of detection is 5mm, and the distance between the front end of large arm reseting sensor 9 and large arm resetting block 8 are 2-
It 4mm, can both ensure that large arm resetting block 8 was detected by large arm reseting sensor 9, and can ensure that large arm resetting block 8 will not be with again
Large arm reseting sensor 9 interferes, so as to ensure the reliability of the reset of large arm 7.The top of large arm 7 is provided with forearm and resets sensing
Device 10, the top of large arm 7 left and right sides are provided with left end and reset catch 11 and right-hand member reset catch 12, and the front end of large arm 7 is provided with side U
Type groove 13, the top of side U-type groove 13 are provided with forearm motor 14, forearm 15 be arranged in side U-type groove 13 and with forearm motor 14
Front output shaft is fixed, and the rotation of forearm motor 14 can drive forearm 15 to rotate together, so that forearm 15 can be in space
Existing different picking " posture ", so as to capture the goods of diverse location, the rear end of forearm 15 is provided with forearm resetting block 16, small
Duct 17 is provided among arm 15, the front end of forearm 15 is provided with sucker 18, and tracheae 19 is connected by duct 17 with sucker 18.
The left position sensor 2 and right end position sensor 3 are metal sensor, and the ultimate range of detection is
The front end of 5mm, left position sensor 2 and right end position sensor 3 resets catch 11 than left end and right-hand member resets catch 12
Installation site be higher by 2-4mm, can both ensure that left end resets catch 11 and right-hand member and resets catch 12 by left position sensor 2
Detected with right end position sensor 3, can ensure that left end resets catch 11 and right-hand member reset catch 12 will not be with left end position again
Put sensor 2 and right end position sensor 3 interferes, so as to ensure the reliability of left and right ends position reset.
The rear side of side U-type groove 13 is provided with through hole, and the front end of forearm reseting sensor 10 is located in through hole, and forearm resets
Sensor 10 is metal sensor, and the ultimate range of detection is 5mm, the front end of forearm reseting sensor 10 and forearm resetting block 16
The distance between be 2-4mm, can both ensure that forearm resetting block 16 was detected by forearm reseting sensor 10, can ensure again small
Arm resetting block 16 will not interfere with forearm reseting sensor 10, so as to ensure the reliability of the reset of forearm 15.
The forearm 15 and the front end of side U-type groove 13 have been respectively arranged below the first control sensor 20 and the second control sensing
Device 21, it is travel switch that the first control sensor 20 and second, which controls sensor 21, and the effect of the first control sensor 20 is
During picking, picking mechanism down moves in the presence of control system with up-down mechanism, sucker 18 and cargo contacts
Process, sucker 18 can be reduced constantly with first control the distance between sensor 20, when the control sensor of sucker 18 and first
20 when contacting with each other, and control system, which sends instruction, allows up-down mechanism to stop continuing down to move and immediately begin to up
Motion, so as to prevent the undue situation for extruding goods and causing damage during the crawl of picking mechanism；Second control passes
The effect of sensor 21 is due to that software makes a mistake, and picking mechanism can first remove to capture the goods of heel row, but front-seat goods ratio
The height of heel row, picking mechanism in the presence of control system with up-down mechanism when down moving, the second control sensor 21
It is in contact with elder generation and goods, control system, which sends instruction, allows up-down mechanism to stop continuing down to move and immediately begin to past
Upper motion, so as to prevent to cause extruding excessive between picking mechanism and goods due to software and damage
Situation.
The sucker 18 is the vacuum cup with buffering, it is possible to reduce sucker 18 is with causing rushing for fierceness during cargo contacts
Hit, there is certain protective effect to goods, the vacuum interface direction of sucker 18 is horizontal direction or vertical direction, can basis
Actual situation selects the vacuum interface of different directions, facilitates trend and the installation of tracheae 19, the present embodiment is using water
Square to vacuum interface, the material of cupule head 22 is silicon rubber or polyurethane, is all soft material, and intensity
Larger, this aspect ensure that the sealing of sucker 18 and cargo contacts, on the other hand also ensure that the durability of sucker 18.
The large arm motor 6 and forearm motor 14 are with encoder step stepper motor, can accurately control the He of large arm 7
Different picking " posture " is presented, so as to ensure that the Stability and veracity of picking in the location status in space in forearm 15.
Operation principle of the present utility model：Rotation picking mechanism is first arranged on upper and lower and side-to-side movement by supporting plate 1
In mechanism, and tracheae 19 is attached with vacuum equipment.First, picking mechanism is rotated first with upper and lower and side-to-side movement mechanism
The highest point centre position of equipment is risen to, large arm 7 and forearm 15 start in the presence of control system while carried out respective
Reset, the rotation of large arm motor 6 drives large arm 7 to rotate together, and the large arm reseting sensor 9 of the lower section of large arm 7 also can be along large arm
Resetting block 8 is rotated, and when large arm reseting sensor 9 reaches the dead-center position of large arm resetting block 8, control system can be sent
Instruction allows large arm motor 6 to stop the rotation motion, and similarly, the rotation of forearm motor 14 drives forearm 15 to rotate together, forearm reset
Block 16 can also rotate along forearm reseting sensor 10, reset biography when the dead-center position of forearm resetting block 16 reaches forearm
During sensor 10, control system, which can send instruction, allows forearm motor 14 to stop the rotation motion, so as to which large arm 7 and forearm 15 complete respectively
From reset.During picking, control system can control rotation picking mechanism in side-to-side movement mechanism according to the location of goods
On move to corresponding position and control large arm motor 6 and forearm motor 14 while rotated, the rotation meeting of large arm motor 6
Large arm 7 is driven to rotate together, large arm motor 6 is the stepper motor with encoder, can accurately control the rotation of large arm motor 6
Situation, so that required picking " posture " can be presented in space for large arm 7, equally, the rotation of forearm motor 14 drives
Forearm 15 rotates together, and forearm motor 14 is the stepper motor with encoder, can accurately control the rotation of forearm motor 14
Situation, so that required picking " posture ", left position sensor 2 and right end position can be presented in space for forearm 15
Sensor 3 is capable of the high order end position and low order end position of safety movement for rotation picking mechanism, then rotates the meeting of picking mechanism
As up-down mechanism is gradually reduced, at the same time, vacuum equipment is started working in the presence of control system, works as cupule head
22 with goods when contacting with each other, and the air pressure of sucker 18 and tracheae 19 can gradually decrease down certain numerical value, now cupule head
22 can be tively firm adjacent to goods together with, during sucker 18 and cargo contacts, the control of sucker 18 and first senses
The distance between device 20 can be reduced constantly, when sucker 18 and first controls sensor 20 to contact with each other, control system hair
Going out instruction allows up-down mechanism to stop continuing down to move and immediately begin to up move, and sucker 18 can also follow rotation to take thing
Mechanism up moves and takes out goods.
During unloading, control system can control rotation picking mechanism in side-to-side movement mechanism according to the position of export of goods
Move to corresponding position and control large arm motor 6 and forearm motor 14 while rotated, the rotation of large arm motor 6 can band
Dynamic large arm 7 rotates together, and large arm motor 6 is the stepper motor with encoder, can accurately control the rotation feelings of large arm motor 6
Condition, so that required unloading " posture " can be presented in space for large arm 7, equally, the rotation drive of forearm motor 14 is small
Arm 15 rotates together, and forearm motor 14 is the stepper motor with encoder, can accurately control the rotation feelings of forearm motor 14
Condition, so that required unloading " posture " can be presented in space for forearm 15, then rotating picking mechanism can be with upper and lower
Motion gradually decreases down the height and position of setting unloading, and vacuum equipment is closed in the presence of control system, and connects big
Gas, the air pressure of sucker 18 and tracheae 19 can be gradually increasing, and when air pressure rises to atmospheric pressure, goods is fallen due to the weight of itself
The position specified is fallen on, so far completes once complete Discharging Process.
The utility model rotation picking mechanism is made up of large arm 7 and forearm 15, by rotating large arm 7 and forearm 15, can be made
Different picking " posture " is presented in large arm 7 and forearm 15 in space, so as to capture the goods of diverse location, flexibility
It is high；The crawl of goods is carried out by the way of vacuum, size of the Qu Wu mechanisms to goods for solving vending machine in the prior art
And the technical problem that shape requirement is high, suitable for the crawl of different size and high-bulk-density goods, compatible good, the scope of application
It is more extensive；Sucker 18 is the vacuum cup with buffering, it is possible to reduce sucker 18 and the impact that fierceness is caused during cargo contacts, it is right
Goods has certain protective effect, and the material of cupule head 22 is silicon rubber or polyurethane, is all soft material, and by force
Degree is also larger, and this aspect ensure that the sealing of sucker 18 and cargo contacts, on the other hand also ensure that the durable of sucker 18
Property；The lower section of forearm 7 is provided with the first control sensor 20, can prevent undue extruding goods during the crawl of picking mechanism and
The situation of damage is caused, the second control sensor 21 is provided with below the front end of side U-type groove 13, the original due to software can be prevented
The situation for thus causing picking mechanism to damage；Large arm motor 6 and forearm motor 14 are with encoder step stepper motor, and are set
There are left position sensor 2, right end position sensor 3, large arm reseting sensor 9 and forearm reseting sensor 10, can accurately control
Large arm 7 processed and forearm 15 space location status, so as to ensure that the Stability and veracity of picking.
Embodiment described above is only that preferred embodiment of the present utility model is described, not to this practicality
New scope is defined, on the premise of the utility model design spirit is not departed from, this area ordinary skill technical staff
The various modifications made to the technical solution of the utility model and improvement, claims of the present utility model all should be fallen into and determined
Protection domain in.
Claims (9)
- A kind of 1. rotation picking mechanism of vending machine, it is characterised in that：Including supporting plate, set respectively at left and right sides of supporting plate Left position sensor and right end position sensor are equipped with, supporting plate middle and lower part is provided with large arm motor mounting plate and large arm is fixed Plate, large arm motor are fixed on large arm motor mounting plate, and the front output shaft of large arm motor is connected with large arm, and large arm is fixed with large arm Plate is connected by large arm resetting block, and large arm reseting sensor is provided with below large arm, and forearm is provided with above large arm and resets biography Sensor, the large arm top left and right sides are provided with left end and reset catch and right-hand member reset catch, and large arm front end is provided with side U-type groove, Forearm motor is provided with the top of the U-type groove of side, forearm is arranged in the U-type groove of side and fixed with the front output shaft of forearm motor, after forearm End is provided with forearm resetting block, duct is provided among forearm, forearm front end is provided with sucker, and tracheae passes through duct and sucker phase Connection.
- A kind of 2. rotation picking mechanism of vending machine as claimed in claim 1, it is characterised in that：The left position passes The front end of sensor and right end position sensor is higher by left end and resets catch and right-hand member reset catch 2-4mm.
- A kind of 3. rotation picking mechanism of vending machine as claimed in claim 1, it is characterised in that：After the side U-type groove Side is provided with through hole, and the front end of forearm reseting sensor is located in through hole.
- A kind of 4. rotation picking mechanism of vending machine as claimed in claim 1, it is characterised in that：The large arm, which resets, to be passed Between the front end and forearm resetting block of the distance between the front end of sensor and large arm resetting block and forearm reseting sensor away from From being 2-4mm.
- A kind of 5. rotation picking mechanism of vending machine as claimed in claim 1, it is characterised in that：The forearm and side U Type groove front end has been respectively arranged below the first control sensor and the second control sensor.
- A kind of 6. rotation picking mechanism of vending machine as claimed in claim 1, it is characterised in that：The sucker is that band is slow The vacuum cup of punching, the vacuum interface direction of sucker are horizontal direction or vertical direction, the material of cupule head for silicon rubber or Person's polyurethane.
- A kind of 7. rotation picking mechanism of vending machine as claimed in claim 1, it is characterised in that：The large arm motor and Forearm motor is with encoder step stepper motor.
- A kind of 8. rotation picking mechanism of vending machine as claimed in claim 1, it is characterised in that：The left position passes Sensor, right end position sensor, large arm reseting sensor and forearm reseting sensor are metal sensor.
- A kind of 9. rotation picking mechanism of vending machine as claimed in claim 5, it is characterised in that：First control passes Sensor and the second control sensor are travel switch.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720540757.9U CN206684838U (en) | 2017-05-16 | 2017-05-16 | A kind of rotation picking mechanism of vending machine |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720540757.9U CN206684838U (en) | 2017-05-16 | 2017-05-16 | A kind of rotation picking mechanism of vending machine |
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| Publication Number | Publication Date |
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| CN206684838U true CN206684838U (en) | 2017-11-28 |
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| CN201720540757.9U Active CN206684838U (en) | 2017-05-16 | 2017-05-16 | A kind of rotation picking mechanism of vending machine |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106981136A (en) * | 2017-05-16 | 2017-07-25 | 珠海市利保机器人有限公司 | A kind of rotation picking mechanism of vending machine |
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2017
- 2017-05-16 CN CN201720540757.9U patent/CN206684838U/en active Active
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106981136A (en) * | 2017-05-16 | 2017-07-25 | 珠海市利保机器人有限公司 | A kind of rotation picking mechanism of vending machine |
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