CN206857699U - It is a kind of to be used to capture the manipulator for transferring kinds of goods - Google Patents

Abstract

It the utility model is related to a kind of manipulator for being used to capture transfer kinds of goods.The utility model includes the first arm joint, the second arm joint, the first direct current generator and the second direct current generator, and first rotating shaft is fixed in the first arm joint end, and the first arm joint front end is rotatably connected to and end fixed second rotating shaft of the second arm joint；First direct current generator is co-axially mounted with the second direct current generator, and first the first arm joint of DC motor Driver drives the second arm joint with the second rotating shaft synchronous axial system with first rotating shaft synchronous axial system, the second direct current generator by synchronous pulley mechanism.The utility model is that the second arm joint is acted by arm joint in front of belt wheel mechanism driving mechanical hand, i.e. the second direct current generator realizes the control of the rotation to the second arm joint by way of remote control, the end that the driving direct current generator of front arm joint is installed on to the first arm joint can be realized additionally by belt wheel mechanism, so as to effectively mitigate the nuisance load that rear arm joint is the first arm joint, the service life and installation strength of manipulator are substantially increased.

Description

It is a kind of to be used to capture the manipulator for transferring kinds of goods

Technical field

It the utility model is related to a kind of manipulator for being used to capture transfer kinds of goods.

Background technology

Manipulator is generally all in series by several arm joints, and the manipulator of traditional structure has problems in that：Driving The direct current generator that each arm joint rotates and decelerator are coaxially installed in rotary shaft, and each arm joint again directly with itself After rotary shaft is fixed, and such structure is although compact, but the driving direct current generator and decelerator of front arm joint can turn into The nuisance load of square arm joint, i.e., it can cause the reduction of rear arm joint pay(useful) load.

The content of the invention

In order to solve the above technical problems, the utility model provides a kind of manipulator for being used to capture transfer kinds of goods.

To achieve the above object, the utility model employs following technical scheme：

It is a kind of to be used to capture the manipulator for transferring kinds of goods, including the first arm joint, the second arm joint, the first direct current generator and the First rotating shaft is fixed in two direct current generators, the first arm joint end, and the first arm joint front end is rotatably connected to and described End fixed second rotating shaft of two arm joints；First direct current generator, the second direct current generator and first rotating shaft are co-axially mounted, described First arm joint described in first DC motor Driver passes through timing belt with the first rotating shaft synchronous axial system, second direct current generator Take turns mechanism and drive second arm joint with the second rotating shaft synchronous axial system.

Further, first direct current generator is connected by first shaft coupling with first harmonic reductor, and described first The output shaft of harmonic wave speed reducing machine forms the first rotating shaft of fixed first arm joint；Second direct current generator passes through the second shaft coupling Device is connected with second harmonic reductor, and the driving wheel of the synchronous pulley mechanism is fixed on the second harmonic reductor output Axle, the driven pulley of the synchronous pulley mechanism are fixed on second rotating shaft.

Further, the second arm joint front end be rotatably connected to end fixed 3rd rotating shaft of the 3rd arm joint, it is described It is provided with second arm joint and the 4th rotating shaft of the 3rd shaft parallel and the 3rd direct current generator, the 3rd direct current generator Output shaft and the 4th rotating shaft right angle setting, are provided with first gear in the 3rd direct current generator output shaft, and the described 4th Second gear and the 3rd gear are installed in rotating shaft, the 4th gear, the first gear, are installed in the 3rd rotating shaft Two gears are the helical gear being engaged with each other, and the 3rd gear engages with the 4th gear, described in the 3rd DC motor Driver First gear, second gear, the 3rd gear, the 4th pinion rotation simultaneously drive the 3rd arm joint with the 3rd rotating shaft synchronous axial system, 3rd rotating shaft be located at vertical direction and with first rotating shaft and the axially in parallel installation of the second rotating shaft.

Further, first direct current generator and the second direct current generator are fixed in mounting seat, are set in the mounting seat There is the first angle sensor for measuring the first arm joint rotational angle, the first arm joint front end is provided with for measuring second The second angle sensor of arm joint rotational angle, the second arm joint front end are provided with for measuring the 3rd arm joint rotational angle Third angle sensor.

Further, the sucker group for capturing kinds of goods is installed, the sucker group includes in the 3rd arm joint First circular magnetic chuck and 4 the second circular magnetic chucks for being evenly arranged in the first circular magnetic chuck periphery, described first is circular The diameter of sucker is more than the diameter of second circular magnetic chuck.

Further, the angular transducer includes carbon ink resistor disc and the carbon brush with respective axes of rotation synchronous axial system, institute State carbon ink resistor disc to fix relative to respective axes of rotation, the carbon ink resistor disc is circular in opening and with respective axes of rotation coaxially pacifies Dress, the carbon brush slide with while respective axes of rotation synchronous axial system along the carbon ink resistor disc ring on the carbon ink resistor disc To change the resistance length in the carbon ink resistor disc access circuit.

The beneficial effect of above-mentioned technical proposal is mainly reflected in the following aspects：

(1) the utility model is that the second arm joint is acted by arm joint in front of belt wheel mechanism driving mechanical hand, i.e., described Second direct current generator realizes the control of the rotation to second arm joint by way of remote control, additionally by belt wheel mechanism The end that the driving part such as direct current generator and decelerator of front arm joint is installed on to the first arm joint can be realized, so as to effectively Mitigate the nuisance load that rear arm joint is the first arm joint, substantially increase the service life and installation strength of manipulator.

(2) the first direct current generator described in the utility model is used to control and drives first arm joint to rotate, and described second Direct current generator is used to control the belt wheel mechanism and drives second arm joint to rotate by belt wheel mechanism, the 3rd direct current Machine is used to control and drives the 3rd arm joint to rotate, the respective rotational action of first arm joint, the second arm joint, the 3rd arm joint It is compound to realize the manipulator close to the kinds of goods and implement to capture the action of kinds of goods.The action control of the utility model manipulator It is more accurate, and the manipulator pay(useful) load compared to traditional structure can be increased.

(3) the conventional Serial manipulator of tradition is all by the way of being driven using servomotor, but the cost of servomotor Height, volume is big, weight is big.And the utility model records each arm joint using DC motor Driver by angular transducer The angle of rotation, it can equally realize the function of servomotor.The utility model greatly reduces manipulator manufacturing cost, reduces The volume and weight of manipulator.

The angular transducer measures the mode of corresponding arm joint rotational angle：The carbon brush rotated with respective axes of rotation it is same When, carbon brush is moved up in the carbon ink resistor disc and employed to change the resistance length in the carbon ink resistor disc access circuit, described Resistance length change in carbon ink resistor disc access circuit then causes resistance value in circuit to change, and passes through the resistance value of change With the rotational angle of corresponding arm joint is linear measures the rotational angle of corresponding arm joint.

(4) the sucker group has the first big circular magnetic chuck of diameter and small the second circular magnetic chuck of four diameters to form, First circular magnetic chuck provides main grasp force, it is ensured that the grasp force is enough the gravity for overcoming commodity, second circle Shape sucker provides auxiliary suction, and the swing to manipulator plays cushioning effect, and second circular magnetic chuck can increase swing branch Point span, same oscillatory forces, fulcrum span are bigger, and the amplitude of oscillation is smaller, by this method, can be greatly reduced and be crawled commodity The amplitude of oscillation during moving horizontally, so as to reduce the risk that comes off.

Brief description of the drawings

Fig. 1 is the utility model structure diagram.

Fig. 2,3 are jacking system structural representation.

Fig. 4 is the scheme of installation after the first driven line wheel removal in jacking system.

Fig. 5 is fixing axle axial sectional view.

Fig. 6 is that kinds of goods capture conveyer system structural representation.

Fig. 7,8 are guide rail mechanism structural representation.

Fig. 9 is the end structure illustration after rail end shrouding removes.

Figure 10,11 are robot manipulator structure schematic diagram.

Figure 12,13 are manipulator axial sectional view.

Figure 14 is brush scheme of installation.

Figure 15 is corresponding equivalent circuit connection figure when angular transducer works.

Figure 16 is that dead bolt is in locked state with lock in shipment door.

Figure 17 is that dead bolt is in released state with lock in shipment door.

The implication of label symbol is as follows in figure：

1- active line wheels；The first elastic block tongues of 11-；The second elastic block tongues of 12-；The first driven line wheels of 2-；3- second is driven Line wheel；4- lifting trays；41- first layer lifting trays；42- second layer lifting trays；43- third layer lifting trays；51- whirlpools Wheel；52- worm screws；53- drive sprockets；54- driven sprockets；55- servomotors；56- chains；6- guide wheels；7- fixing axles；71- One mounting bracket；The magnetic valves of 711- first；The valve rod of the magnetic valves of 711a- first；712- spacer pins；713- limiting blocks；72- second pacifies Shelve；721- second solenoid valves；The valve rod of 721a- second solenoid valves；8- cable wires；The cable wires of 81- first；The cable wires of 82- second；83- 3rd cable wire；9- shipment doors；91- door-plates；92- is latched；93- dead bolts；The magnetic valves of 94- the 3rd；100- first shaft couplings；110- One harmonic wave speed reducing machine；120- second shaft couplings；130- second harmonic reductors；A- manipulators；A1- sucker groups；A11- first justifies Shape sucker；The circular magnetic chucks of A12- second；The arm joints of A21- first；The arm joints of A22- second；The arm joints of A23- the 3rd；The direct currents of A31- first Machine；The direct current generators of A32- second；The direct current generators of A33- the 3rd；A41- driving wheels；A42- driven pulleys；A43- wheel belt；A5- is installed Seat；A61- carbon ink resistor discs；A62- carbon brush；The rotating shafts of A7- second；A81- first gears；A82- second gears；The teeth of A83- the 3rd Wheel；The gears of A84- the 4th；B- guide rail mechanisms；B1- guide rails；B11- chutes；B12- grooves；B13/B14- shroudings；B2- sliding blocks； B21- supporting legs；B22- balls；C1- screw mandrels；C2- nuts；The motors of D- first；E- shaft couplings；F- brakes.

Embodiment

In conjunction with design feature of the present utility model is illustrated, automatic selling counter described in the utility model includes kinds of goods liter Drop system and kinds of goods crawl conveyer system：

Kinds of goods jacking system is as Figure 1-5：

Kinds of goods jacking system includes the active line wheel 1 for being driven and being rotated by drive mechanism, the both ends of active line wheel 1 difference It is driven for the first driven line wheel 2 coaxially arranged with the active line wheel 1, the second driven line wheel 3, the active line wheel 1, first 2 and second driven line wheel 3 of line wheel is connected by cable wire 8 with each self-corresponding kinds of goods lifting tray 4 respectively, the active line wheel 1 is provided with the first elastic block tongue 11, the second elastic block tongue 12, and the selectivity of the first elastic block tongue 11 is with described first from moving-wire Bayonet socket on wheel 2 is engaged to realize that the active line wheel 1 drives the described first driven line wheel 2 to rotate, second elasticity The selectivity of block tongue 12 is engaged with the bayonet socket in the described second driven line wheel 3 to realize that the active line wheel 1 drives described the Two driven line wheels 3 rotate.The drive mechanism, active line wheel 1, the first driven 2 and second driven line wheel 3 of line wheel are arranged at Automatic vending cabinet top portion.

The active line wheel 1, the first driven 2 and second driven line wheel 3 of line wheel are installed in fixing axle 7, the fixation The shaft end of the close first driven line wheel 2 of axle 7 is fixed with the first mounting bracket 71, and close described the second of the fixing axle 7 The shaft end of driven line wheel 3 is fixed with the second mounting bracket 72, and the first magnetic valve 711 is provided with first mounting bracket 71, described First magnetic valve 711 controls the described first elastic block tongue 11 and the described first driven line wheel by the stretching motion of itself valve rod 2 upper latch notches are engaged or separated, and second solenoid valve 721, the second solenoid valve 721 are provided with second mounting bracket 72 The described second elastic block tongue 12 and the described second driven upper latch notch card of line wheel 3 are controlled by the stretching motion of itself valve rod Close or separate.

The cable wire 8 includes the first cable wire 81 being connected in the active line wheel 1, is connected to the described first driven line wheel The second cable wire 82 on 2 and the 3rd cable wire 83 being connected in the described second driven line wheel 3, first cable wire 81, second The cable wire 83 of cable wire 82 and the 3rd includes some branch's cable wires respectively, and branch's cable wire orients correcting simultaneously by guide wheel 6 respectively It is connected with the lifting tray 4.

The lifting tray 4 is square, and first cable wire 81, the second cable wire 82 and the 3rd cable wire 83 include 4 threads Branch's cable wire, branch's cable wire are respectively connecting to each corner of the lifting tray 4.

The lifting tray 4 include from top to bottom be arranged first layer lifting tray 41, second layer lifting tray 42, Third layer lifting tray 43, the first layer lifting tray 41 are connected with first cable wire 81, the second layer lifting tray 42 are connected with second cable wire 82, and the third layer lifting tray 43 is connected with the 3rd cable wire 83.

The utility model when in use, can from top to bottom arrange 3 layers of lifting tray 4 and 1 layer in the automatic selling counter Fixed tray, the lifting tray 4 and fixed tray need not be reserved for manipulator and carry out kinds of goods grasping manipulation between layers Gap or space, and be to reserve certain lifting space i.e. above first layer lifting tray 41 only in automatic selling counter inner top Can.The utility model jacking system to be easy to manipulator that kinds of goods are captured and transported while the reduction of automatic vending cabinet product To outlet, cost reduces and convenience in transport, use.

The specifically used method of the jacking system：The corresponding control first layer lifting tray 41 of the active line wheel 1, described first The corresponding control second layer lifting tray 42 of driven line wheel 2, the corresponding control third layer lifting tray 43 of the second driven line wheel 3；

When customer selects the kinds of goods on first layer lifting tray 41, the active line wheel 1, the first driven line wheel 2, second Taken turns from moving-wire 3 it is motionless, manipulator by automatic selling counter inner top reserve space can carry out capture kinds of goods action；

When customer selects the kinds of goods on second layer lifting tray 42, the active line wheel 1 rotates and by the first cable wire 81 drive the first layer lifting trays 41 to rise to automatic selling counter inner top so that the first layer lifting tray 41 and the The space that kinds of goods grasping manipulation is carried out for manipulator is formed between two layers of lifting tray 42, kinds of goods crawl terminates the rear first layer Lifting tray 41 resets；

When customer selects the kinds of goods on third layer lifting tray 43, the first elastic block tongue 11 in the active line wheel 1 In the bayonet socket being fastened in the described first driven line wheel 2 and so that the active line wheel 1 drives the described first driven 2 turns of line wheel It is dynamic, risen with realizing that the first layer lifting tray 41, second layer lifting tray 42 are synchronous so that the second layer lifting tray The space that kinds of goods grasping manipulation is carried out for manipulator is formed between 42 and third layer lifting tray 43, kinds of goods crawl is described after terminating First layer lifting tray 41, second layer lifting tray 42 reset；

When customer selects the kinds of goods on the 4th layer of fixed tray, the first elastic block tongue 11 in the active line wheel 1 blocks Close in the bayonet socket in the described first driven line wheel 2, the second elastic block tongue 12 is fastened in the described second driven line wheel 3 In bayonet socket, and the active line wheel 1 is caused to drive the described first driven 2 and second driven line wheel 3 of line wheel to rotate together, with reality The existing first layer lifting tray 41, second layer lifting tray 42 and the synchronous rising of third layer lifting tray 43 so that described The space that kinds of goods grasping manipulation is carried out for manipulator is formed between third layer lifting tray 43 and the 4th layer of fixed tray, kinds of goods are grabbed The first layer lifting tray 41, second layer lifting tray 42 and third layer lifting tray 43 reset after taking end.

First cable wire 81 described in the utility model, the second cable wire 82, the 3rd cable wire 83 are respectively used to connect different liftings Pallet 4, in order to which the active line wheel 1, the first driven 2 and second driven line wheel 3 of line wheel are carried out to corresponding lifting tray 4 Control respectively.The guide wheel 6 may insure branch's cable wire in drawing process will not it is entangled with one another or slip, it is ensured that each layer rises Drop pallet 4 carries out lifting process and not disturbed independently of one another.

The utility model is controlled by first magnetic valve 711 to the described first elastic block tongue 11, when described One magnetic valve 711 is under "on" position, and the valve rod 711a of the first magnetic valve stretches out and acts on the described first elastic block tongue 11 It is upper that the first elastic block tongue 11 is deviate from from the bayonet socket in the described first driven line wheel 2；When first magnetic valve 711 Under off-position, the valve rod 711a of first magnetic valve 711 retracts, and the first elastic block tongue 11 is in the elasticity of itself Effect is lower to be engaged with the bayonet socket in the described first driven line wheel 2.

The second solenoid valve 721 is same as above to the control principle of the described second elastic block tongue 12, and here is omitted.It is described Whether active line wheel 1 needs to drive the described first driven 2 and second driven line wheel 3 of line wheel rotation can be according to lifting tray 4 Lifting requirement determine.

The drive mechanism includes turbine 51, worm screw 52, drive sprocket 53 and driven sprocket 54, the turbine 51 and master Movable sprocket 53 is co-axially mounted and synchronous axial system, and the worm screw 52 engages with turbine 51 and the worm screw 52 drives with servomotor 55 Connection, the drive sprocket 53 drive the driven sprocket 54 to rotate by chain 56, the driven sprocket 54 and the active Line wheel 1 is co-axially mounted and the driven sprocket 54 drives the synchronous axial system of active line wheel 1.The turbine 51 and the biography of worm screw 52 Send than for 1:80, the transmission of the drive sprocket 53 and driven sprocket 54 is compared for 2:1.Servomotor 55 described in the utility model can The good, stable action of control property, can be by the high speed low torque of the servomotor 55 by turbine and worm mechanism and chain-wheel mechanism Input is converted into big torque low speed output, effectively lifts load capacity.

The turbine and worm mechanism can realize auto-lock function, i.e. lifting tray 4 is in ascent stage, though have a power failure or Input torque, lifting tray 4 are not in the situation that nature slides to servomotor yet, ensure that kinds of goods are not in lifting tray 4 It can topple over and be damaged.

First mounting bracket 71 is provided with the spacer pin 712 of the rotational travel of limitation active line wheel 1, and described first from moving-wire Wheel 2 is provided with the limiting block 713 coordinated with the spacer pin 712.Active line wheel 1 described in the utility model is driving described first When driven line wheel 2 rotates, the first driven line wheel 2 turns to the spacer pin 712 when being resisted against on the limiting block 713, The active line wheel 1 stops operating.Limiting block 713 described in the utility model coordinates with spacer pin 712 and can be used for the master The rotational travel of moving-wire wheel 1 is controlled, and avoids causing branch's cable wire each other because the rotational travel of active line wheel 1 is excessive Tangle；The other structure also achieves the limitation to the lifting travel of lifting tray 4, avoids the lifting of the lifting tray 4 Stroke exceedes the height that automatic selling counter inner top is the reserved lifting space in the top of first layer lifting tray 41.

Kinds of goods capture conveyer system as shown in Fig. 6-14：

The utility model kinds of goods crawl conveyer system includes the manipulator A and guide rail mechanism being arranged in automatic selling counter B, the guide rail mechanism B include guide rail B1 and the slide block B 2 for installing the manipulator A, the guide rail B1 and slide block B 2 By aluminium alloy extrusions extrusion forming, have on the guide rail B1 bodies and screw mandrel spiral shell is installed on straight B11, the guide rail B1 Parent agency, the screw mandrel C1 of the leading screw and nut mechanism is parallel with chute B11 and is arranged in juxtaposition, and the slide block B 2 is fixed on the silk On the nut C2 of stem nut mechanism, there are supporting leg B21, the supporting leg B21 in the embedded chute B11 in the slide block B 2 On the ball B22 that multiple row is arranged along the chute B11 length directions and rolled in the chute B11, the screw mandrel are installed C1 is driven by the first motor D and rotated to realize the nut C2 and slide block B 2 moving along the chute B11, the manipulator A front ends are provided with the sucker group A1 for being used for capturing kinds of goods.

On the one hand guide rail B1 described in the utility model and slide block B 2 pass through using aluminium alloy extruded profile structure Guide rail B1 and the dimensionally stable of slide block B 2 that expressing technique is prepared, cost are cheap；On the other hand aluminum alloy surface is utilized Wearing layer is generated after oxidation, the slip that the guide rail B1 and slide block B 2 can carry out self-lubricating mode by the wearing layer is matched somebody with somebody Close, it is not necessary to additionally increase auxiliary lubricant, improve the sanitary grade of automatic selling counter.

Guide rail B1 described in the utility model and slide block B 2 have good anti-upset ability, i.e., described sliding block when coordinating B2 installations are stable and will not be produced relative rotation between the chute B11.The ball B22 can effectively reduce slide block B 2 with Sliding friction between guide rail B1 so that slide block B 2 can swimmingly slide, i.e. manipulator A can smoothly carry out straight line up and down It is mobile.

Slide block B 2 described in the utility model realizes manipulator A rectilinear movement by nut C2 and screw mandrel C1 cooperation, i.e., The rectilinear movement of the nut C2 and slide block B 2 is realized in screw mandrel C1 rotation, and the structure is compared to traditional line slideway machine Structure, the sliding velocity of slide block B 2 described in the utility model are more easily controlled with stability.

The sucker group A1 is made up of multiple suckers, and the manipulator A is held kinds of goods with reality by the sucker group A1 Now the crawl to kinds of goods in automatic selling counter transfers, and the sucker group A1 suction that multiple suckers are formed is strong so that kinds of goods are transferring to During outlet, occur swinging even if kinds of goods and also will not fall off, ensure that the normal work of automatic selling counter.The sucker The suction of group is provided by air pound.

The flute length direction of fluted B12 on the guide rail B1 bodies, the screw mandrel C1 along the groove B12 is arranged on described In groove B12, the chute B11 is provided with two and is located at the both sides of the groove B12 respectively.The notch of the chute B11 is in Closing in shape, the ball B22 are provided with 4 row and are uniformly distributed on the same face of cylinder.Chute B11 described in the utility model is described Groove B12 both sides are symmetrical arranged two, can so cause the slide block B 2 to install more stable and slide more smoothly.

The first motor D is connected by shaft coupling E with the screw mandrel C1, and brake F is provided with the screw mandrel C1.I.e. When manipulator A moves up and down correct position with slide block B 2, the first motor D is stopped, and now brake F will Screw mandrel C1 is locked, and the manipulator A is then positioned in corresponding required height.

The sucker group A1 includes the first circular magnetic chuck A11 and is evenly arranged in the first circular magnetic chuck A11 peripheries 4 second circular magnetic chucks A12, the first circular magnetic chuck A11 diameter be more than the second circular magnetic chuck A12 diameter. The first circular magnetic chuck A11 provides main grasp force, it is ensured that and the grasp force is enough the gravity for overcoming kinds of goods, and described second Circular magnetic chuck A12 provides auxiliary suction, and the swing to manipulator A plays cushioning effect, and the second circular magnetic chuck A12 can increase Big swing pivot span, same oscillatory forces, fulcrum span are bigger, and the amplitude of oscillation is smaller, can be greatly reduced by this method by The amplitude of oscillation of the kinds of goods during moving horizontally is captured, so as to reduce the risk that comes off.

The manipulator A is made up of shaft-like mechanical arm, and the manipulator A is by DC MOTOR CONTROL and rotates to realize to certainly The crawl transfer operations of kinds of goods in dynamic sales counter.

As illustrated, the manipulator includes the first arm joint A21, the second arm joint A22, the first direct current generator A31 and the First rotating shaft is fixed in two direct current generator A32, the first arm joint A21 ends, and the first arm joint A21 front ends are rotatably connected to With the end fixed second rotating shaft A7 of the second arm joint A22；The first direct current generator A31, the second direct current generator A32 and One rotating shaft is co-axially mounted, and the first direct current generator A31 drives the first arm joint A21 with the first rotating shaft synchronous axial system, The second direct current generator A32 drives the second arm joint A22 with the second rotating shaft synchronous axial system by synchronous pulley mechanism. The utility model is that the second arm joint A22 is acted by arm joint in front of belt wheel mechanism driving mechanical hand, i.e., described second direct current Motor A32 realizes the control of the rotation to the second arm joint A22 by way of remote control, can additionally by belt wheel mechanism To realize the end that the driving part such as direct current generator and decelerator of front arm joint is installed on to the first arm joint A21, so as to have Effect mitigates the nuisance load that rear arm joint is the first arm joint A21, substantially increases the service life and installation strength of manipulator.

As shown in figure 12, the first direct current generator A31 is connected by first shaft coupling 100 and first harmonic reductor 110 Connect, the output shaft of the first harmonic reductor 110 forms fixed first arm joint A21 first rotating shaft；Described second is straight Stream motor A32 is connected by second shaft coupling 120 with second harmonic reductor 130, the driving wheel A41 of the synchronous pulley mechanism The output shaft of second harmonic reductor 130 is fixed on, the driven pulley A42 of the synchronous pulley mechanism is fixed on described second turn Axle.

As shown in figure 13, the second arm joint A22 front ends are rotatably connected to the 3rd turn end fixed with the 3rd arm joint A23 Axle, it is provided with and the 4th rotating shaft of the 3rd shaft parallel and the 3rd direct current generator A33, institute on the second arm joint A22 The 3rd direct current generator A33 output shafts and the 4th rotating shaft right angle setting are stated, is installed on the 3rd direct current generator A33 output shafts There is first gear A81, second gear A82 and the 3rd gear A 83 are installed in the 4th rotating shaft, pacified in the 3rd rotating shaft Equipped with the 4th gear A 84, the first gear A81, second gear A82 are the helical gear being engaged with each other, the 3rd gear A 83 Engaged with the 4th gear A 84, the 3rd direct current generator A33 drives the first gear A81, second gear A82, the 3rd gear A83, the 4th gear A 84 rotate and drive the 3rd arm joint A23 to be located at perpendicular with the 3rd rotating shaft synchronous axial system, the 3rd rotating shaft Nogata to and with first rotating shaft and the second rotating shaft axially in parallel installation.

First direct current generator A31 described in the utility model is used to control and drives the first arm joint A21 to rotate, and described the Two direct current generator A32 are used to control the belt wheel mechanism and drive the second arm joint A22 to rotate by belt wheel mechanism, and described the Three direct current generator A33 are used to control and drive the 3rd arm joint A23 to rotate, the first arm joint A21, the second arm joint A22, the Three arm joint A23 each realize the manipulator close to the kinds of goods and implement to capture the action of kinds of goods by the compound of rotational action.This The action control of utility model manipulator is more accurate, and the manipulator pay(useful) load compared to traditional structure can be increased.

The first direct current generator A31 and the second direct current generator A32 are fixed on mounting seat A5, are set on the mounting seat A5 There is the first angle sensor for measuring the first arm joint A21 rotational angles, the first arm joint A21 front ends are provided with for surveying The second angle sensor of the arm joint A22 rotational angles of flow control two, the second arm joint A22 front ends are provided with for measuring the 3rd arm Save the third angle sensor of A23 rotational angles.The conventional Serial manipulator of tradition is all by the way of being driven using servomotor, But the cost of servomotor is high, volume is big, weight is big.And the utility model passes through angle using DC motor Driver The angle that each arm joint of sensor record rotates, it can equally realize the function of servomotor.The utility model greatly reduces Manipulator manufacturing cost, reduce the volume and weight of manipulator.

The angular transducer includes the carbon ink resistor disc A61 and carbon brush A62 with respective axes of rotation synchronous axial system, the carbon Black resistor disc A61 fixes relative to respective axes of rotation, and the carbon ink resistor disc A61 is circular in opening and coaxially pacifies with respective axes of rotation Dress, the carbon brush A62 with while respective axes of rotation synchronous axial system along the carbon ink resistor disc A61 rings in the carbon ink resistor disc Slided on A61 to change the resistance length in the carbon ink resistor disc A61 accesses circuit.The angular transducer measurement is corresponding The mode of arm joint rotational angle：For the carbon brush A62 while being rotated with respective axes of rotation, carbon brush A62 is in the carbon ink resistor disc A61, which is moved up, to be employed to change the resistance length in the carbon ink resistor disc A61 accesses circuit, the carbon ink resistor disc A61 accesses Resistance length change in circuit then causes resistance value in circuit to change, and passes through the resistance value of change and turning for corresponding arm joint Dynamic angle is linear to measure the rotational angle of corresponding arm joint.

Corresponding equivalent circuit connection figure is as shown in figure 15 when angular transducer described in the utility model uses, the angle Sensor detects that the calculating process of corresponding arm joint rotational angle is：The carbon ink resistor disc A61 arc length is L, respective axes of rotation 0~n of rotational angle range, wherein n are also center of circle angle corresponding to arc length L, and L=2 π rn/ are obtained according to fan-shaped arc length formula 360；

The resistance value R and arc length L of the carbon ink resistor disc A61 relation is：R=ρ L/s, wherein s are carbon ink resistor disc A61 cross-sectional areas；

It is calculated according to above-mentioned formula：The π rn/360 of Rs/ ρ=2, i.e., respective axes of rotation can be obtained according to measuring resistance value R Rotational angle n.

As shown in Figure 16,17, the shipment door 9 includes the door-plate 91 being hingedly mounted on automatic selling counter body, described The back side of door-plate 91 is provided with lock 92, and the front of door-plate 91 is provided with the handle for being easy to human hand push-and-pull, the automatic selling counter sheet The dead bolt 93 coordinated with the lock 92 is installed in vivo, the dead bolt 93 carries out extension and contraction control to realize by the 3rd magnetic valve 94 With 92 sealed of the lock or separating.The utility model when in use, when the kinds of goods transfer to outlet by manipulator, 3rd magnetic valve 94 controls the dead bolt 93 to be separated with lock 92, in order to which customer's smooth opening door-plate takes out kinds of goods.Institute Automatic selling counter is stated in not shipment, the shipment door 9 is closed all the time, beneficial to the management of automatic selling counter.

Claims (6)

1. a kind of be used to capture the manipulator for transferring kinds of goods, it is characterised in that：Including the first arm joint (A21), the second arm joint (A22), the first direct current generator (A31) and the second direct current generator (A32), the first arm joint (A21) end are fixed on first Rotating shaft, the first arm joint (A21) front end are rotatably connected to and end fixed second rotating shaft of the second arm joint (A22)；Institute State the first direct current generator (A31), the second direct current generator (A32) is co-axially mounted with first rotating shaft, first direct current generator (A31) First arm joint (A21) is driven to pass through synchronous pulley with the first rotating shaft synchronous axial system, second direct current generator (A32) Mechanism drives second arm joint (A22) with the second rotating shaft synchronous axial system.

2. as claimed in claim 1 be used to capture the manipulator for transferring kinds of goods, it is characterised in that：First direct current generator (A31) be connected by first shaft coupling (100) with first harmonic reductor (110), the first harmonic reductor (110) it is defeated Shaft forms the first rotating shaft of fixed first arm joint (A21)；Second direct current generator (A32) passes through second shaft coupling (120) it is connected with second harmonic reductor (130), it is humorous that the driving wheel (A41) of the synchronous pulley mechanism is fixed on described second Ripple reductor (130) output shaft, the driven pulley (A42) of the synchronous pulley mechanism are fixed on second rotating shaft.

3. as claimed in claim 1 be used to capture the manipulator for transferring kinds of goods, it is characterised in that：Second arm joint (A22) Front end be rotatably connected to the 3rd end fixed 3rd rotating shaft of arm joint (A23), be provided with second arm joint (A22) and institute State the 4th rotating shaft and the 3rd direct current generator (A33) of the 3rd shaft parallel, the 3rd direct current generator (A33) output shaft and institute The 4th rotating shaft right angle setting is stated, first gear (A81) is installed on the 3rd direct current generator (A33) output shaft, the described 4th Second gear (A82) and the 3rd gear (A83) are installed in rotating shaft, the 4th gear (A84) is installed in the 3rd rotating shaft, The first gear (A81), second gear (A82) are the helical gear being engaged with each other, the 3rd gear (A83) and the 4th gear (A84) engage, the 3rd direct current generator (A33) drives the first gear (A81), second gear (A82), the 3rd gear (A83), the 4th gear (A84) rotates and drives the 3rd arm joint (A23) with the 3rd rotating shaft synchronous axial system, the 3rd rotating shaft Positioned at vertical direction and with first rotating shaft and the axially in parallel installation of the second rotating shaft.

4. as claimed in claim 3 be used to capture the manipulator for transferring kinds of goods, it is characterised in that：First direct current generator (A31) it is fixed on the second direct current generator (A32) in mounting seat (A5), the mounting seat (A5), which is provided with, to be used to measure the first arm The first angle sensor of (A21) rotational angle is saved, the first arm joint (A21) front end is provided with for measuring the second arm joint (A22) the second angle sensor of rotational angle, the second arm joint (A22) front end are provided with for measuring the 3rd arm joint (A23) the third angle sensor of rotational angle.

5. as claimed in claim 3 be used to capture the manipulator for transferring kinds of goods, it is characterised in that：3rd arm joint (A23) On sucker group (A1) for capturing kinds of goods is installed, the sucker group (A1) include the first circular magnetic chuck (A11) and It is evenly arranged in 4 second circular magnetic chucks (A12) on the first circular magnetic chuck (A11) periphery, first circular magnetic chuck (A11) diameter is more than the diameter of second circular magnetic chuck (A12).

6. as claimed in claim 4 be used to capture the manipulator for transferring kinds of goods, it is characterised in that：The angular transducer includes Carbon ink resistor disc (A61) and the carbon brush (A62) with respective axes of rotation synchronous axial system, the carbon ink resistor disc (A61) is relative to phase Rotating shaft is answered to fix, the carbon ink resistor disc (A61) is circular in opening and is co-axially mounted with respective axes of rotation, the carbon brush (A62) Slided with while respective axes of rotation synchronous axial system along carbon ink resistor disc (A61) ring on the carbon ink resistor disc (A61) To change the resistance length in carbon ink resistor disc (A61) the access circuit.