CN207938092U - Automatic goods taking device - Google Patents
Automatic goods taking device Download PDFInfo
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- CN207938092U CN207938092U CN201820186005.1U CN201820186005U CN207938092U CN 207938092 U CN207938092 U CN 207938092U CN 201820186005 U CN201820186005 U CN 201820186005U CN 207938092 U CN207938092 U CN 207938092U
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Abstract
The utility model discloses a kind of automatic goods taking devices, including：Column and picking walking mechanism, column are equipped with rack, and column first end is connect with active rotating shaft, column second end and driven axis connection, the output shaft of active rotating shaft and rotary drive motor is by being driven chain link, and under the action of rotary drive motor, active rotating shaft drives column rotation；Picking walking mechanism includes picking walker, picking pallet, picking walking gear and picking movable motor, picking walker is slidably arranged on column, picking walking gear is rotatably arranged on picking walker, the output axis connection of picking walking gear and picking movable motor, picking walking gear is engaged with the rack on column, under the action of picking movable motor, picking walking gear drives picking walker to be moved along rack.The automatic goods taking device of the utility model is simple and compact for structure, and picking method and step is few, easy to operate, and the speed for obtaining cargo is fast, efficient, and low energy consumption.
Description
Technical field
The utility model is related to the structure technical field of improvement of automatic vending machine, espespecially a kind of automatic goods taking device.
Background technology
In recent years, with the fast development of robot technology, intelligent mobile robot plays in human lives
More and more important role is widely applied in all trades and professions, wherein vending machine is quickly grown, still, new
Field is processed and peddled to the automatic of fresh fruit, and coconut vending machine is novel product on the market, and structure is perfect not enough.
The picking structure of coconut and the Unclosing structure of coconut husk are very crucial in coconut vending machine, and in existing vending machine, coconut is general
It is that multilayer, the form of left and right multiple row are arranged up and down in storage chamber, picking walking mechanism needs move up and down to certain
One position could obtain the coconut of fixed bed and fixed row, then coconut is transported at Kai Ye mechanisms again and carries out out coconut palm, existing
Picking walking mechanism obtain a coconut need longer time, the efficiency for obtaining coconut is very low, and energy consumption is higher.
Therefore, the application is dedicated to providing a kind of novel automatic goods taking device.
Utility model content
The purpose of this utility model is to provide a kind of automatic goods taking device, and automatic goods taking device is simple and compact for structure, picking
Method and step is few, easy to operate, and the speed for obtaining cargo is fast, efficient, and low energy consumption.
The technical scheme that the utility model is provided is as follows：
A kind of automatic goods taking device, including：Column, the column are equipped with rack, the first end of the column and a master
Turn axis connection, the second end of the column and a driven axis connection, the output shaft of the active rotating shaft and rotary drive motor
By a transmission chain link, under the action of the rotary drive motor, the active rotating shaft drives the column rotation；Picking
Walking mechanism, the picking walking mechanism include picking walker, picking walking gear and picking movable motor, the picking row
It walks frame to be slidably arranged on the column, the picking walker is equipped with a picking pallet, and the picking walking gear can turn
It is arranged dynamicly on the picking walker, the output axis connection of the picking walking gear and the picking movable motor, institute
Picking walking gear is stated to engage with the rack on the column, under the action of the picking movable motor, the picking walking
Gear drives the picking walker to be moved along the rack.
Automatic goods taking device in the utility model makes the picking on column walk by rotary drive motor Rotary cloumn
Mechanism drives rack of the picking walking gear on column to move towards first direction and second direction, then by picking movable motor
Dynamic, picking walking gear drives picking walker to be moved along column, to drive picking pallet to move, makes picking walking mechanism can
With first position picking in a first direction, coconut palm is carried out out in the second direction second position, this automatic goods taking device is compact-sized,
It occupies little space, picking is efficient, and low energy consumption.
Preferably, the both sides of the column are respectively provided with a guide rail, and the guide rail is located at the both sides of the rack, the picking
Walker is slidably connected to by a pair of of sliding block on the guide rail.
Picking walking mechanism can be made along column even running by the cooperation of sliding block and guide rail, to make picking walk
Mechanism can smoothly conveying articles.
Preferably, the first position switch and second being electrically connected with the picking movable motor are additionally provided on the column
Switch is set, the picking walker is equipped with to be touched for triggering the picking switch of the first position switch and second position switch
Block, when the picking walking mechanism is when the column uplink goes to corresponding collision block position, movable motor is out of service.In picking
When walking mechanism runs to preset target position, corresponding position switch can be triggered simultaneously, picking is controlled by position switch
Movable motor is out of service, and setting in this way can effectively limit picking walking mechanism, and motor is avoided to drive picking walking
Mechanism is more than target location, and picking walking mechanism is further made to be kept fixed state in target location.
Preferably, the automatic goods taking device further includes：Walking mechanism is compressed, the compression walking mechanism includes compressing to go
Frame is walked, walking gear is compressed, compresses movable motor and compress pawl, the compression walking gear is rotatably arranged in the compression
It is described to compress walking gear and the output axis connection for compressing movable motor, the compression walking gear and institute on walker
The rack engagement on column is stated, the compression pawl is arranged on the compression walker, and the pawl mouth for compressing pawl is described in
Picking walking mechanism, under the action of the compression movable motor, the compression walking gear drives the compression walker edge
The rack movement, until the compression pawl pushes down the cargo in the picking walking mechanism.
The automatic goods taking device of the utility model first passes through picking walking mechanism and obtains cargo, then by compressing walking mechanism
Acquisition is pressed in picking walking mechanism, to allow picking walking mechanism smoothly by goods movement to target location,
For coconut vending machine, coconut is fixed by compressing walking mechanism, it can also Shi Kai coconut palms mechanism be more stable accurately opens coconut palm
Shell avoids coconut from being rotated during opening coconut palm and coconut palm is caused out to fail.
Preferably, the compression pawl is equipped with a connecting pole, and the compression walker is equipped with one for installing the company
The mounting hole of column is connect, the hole wall of the mounting hole is equipped with sliding slot, and the connecting pole is equipped with a slide bar, and the slide bar is inserted in
In the sliding slot, and the slide bar by the sliding slot sliding axially along the connecting pole, a bullet is equipped in the mounting groove
Property part, when the compression pawl is by external pressure, the connecting pole compresses the elastic component.
By the way that elastic component is arranged between compressing pawl and compressing walker, compression pawl is made to can be adapted for the goods of different height
Object ensure that can effectively cargo be fixed by compressing pawl.
Preferably, the compression pawl includes multiple press strips, and multiple press strips are arranged around a central shaft, the press strip packet
First segment and second segment are included, the distance between the first segment of the press strip and the central shaft are along from pawl bottom to the direction of pawl mouth
Gradually increase, the second segment of the press strip is arranged in parallel with the central shaft.
Preferably, the compression pawl further includes a stiffening ring, described to reinforce around multiple press strip settings.
It, can be on compressing pawl by the way that the shorter press strip of length is arranged when automatic goods taking device is applied to coconut vending machine
A notch is formed, consequently facilitating Kai Ye mechanisms open coconut husk by the notch.
Preferably, the both sides of the column are respectively provided with a guide rail, and the guide rail is located at the both sides of the rack, the compression
Walker is slidably connected to by a pair of of sliding block on the guide rail.
Preferably, the third place switch being electrically connected with the compression movable motor and the 4th are additionally provided on the column
Switch is set, the walker that compresses is touched equipped with the clamping switch for triggering the third place switch and the 4th position switch
Block, when the compression walking mechanism is when the column uplink goes to corresponding position, the compression movable motor is out of service.
When compression walking mechanism runs to preset target position, corresponding position switch can be triggered simultaneously, passes through position
Switch is out of service to control compression movable motor, and setting in this way can effectively be limited to compressing walking mechanism, avoid electricity
It is more than target location that machine, which drives and compresses walking mechanism, and compression walking mechanism is further made to be kept fixed state in target location.
A kind of automatic picking method, including step：
S10：Column is rotated, makes the picking walking mechanism being located on the column towards first direction；
S20：The picking walking mechanism is driven to be moved to first position on the column；
S30：Cargo is placed in the picking walking mechanism；
S40：The picking walking mechanism is driven to be moved to the second position on the column；
S50：The column is rotated, makes the picking walking mechanism equipped with cargo towards second direction.
Automatic picking method and step in the utility model is few, and easy to operate, picking is efficient.
Preferably, described to take when the picking walking mechanism runs to the first position in the step S20
Picking switch collision block triggering first position switch in goods walking mechanism, the first position switch and the picking walking mechanism
In the electrical connection of picking movable motor, it is out of service that first position switch controls the picking movable motor after being triggered；
In the step S40, when the picking walking mechanism runs to the second position, taking in the picking walking mechanism
Goods switchs collision block triggering second position switch, the second position switch and the picking movable motor in the picking walking mechanism
Electrical connection, it is out of service that the second position switch controls the picking movable motor after being triggered.
It can be with simplified control system, when picking walking mechanism runs to target location, picking by installation position switch
Walking mechanism triggers corresponding position switch, and the operation of movable motor, this control are controlled by corresponding position switch
Mode accuracy is high, efficient.
Preferably, the automatic picking method further includes step S60 after the step S30：The compression is driven to go
It walks mechanism and is moved to the third place on the column, when the compression walking mechanism is located at the third place, the pressure
The cargo is pressed in the picking walking mechanism by the compression pawl in tight walking mechanism.
Picking walking mechanism can be made in conveying articles by compressing walking mechanism, cargo can be made to be effectively fixed in
In picking walking mechanism, cargo is avoided to fall off from picking walking mechanism, when cargo is coconut, by compressing walking mechanism pressure
Tight coconut can make open the process of coconut palm more smooth, avoid coconut from being shaken during opening coconut palm and coconut palm is caused out to fail.
Preferably, in the step S60, when the compression walking mechanism is moved to the third place, the pressure
Clamping switch collision block triggering the third place switch in tight walking mechanism, the third place switch and the compression walking mechanism
In the electrical connection of compression movable motor, it is out of service that the third place switch controls the compression movable motor after being triggered.
It can be compressed with simplified control system when compression walking mechanism runs to target location by installation position switch
Walking mechanism triggers corresponding position switch, and the operation of movable motor, this control are controlled by corresponding position switch
Mode accuracy is high, efficient.
A kind of automatic goods taking device provided by the utility model can bring following at least one advantageous effect：
1, the automatic goods taking device in the utility model makes the picking row on column by rotary drive motor Rotary cloumn
Mechanism is walked towards first direction or second direction, then rack of the picking walking gear on column is driven by picking movable motor
Mobile, picking walking gear drives picking walker to be moved to first position or the second position along column, and picking walking mechanism exists
When first direction first position, cargo is placed in picking walking mechanism, picking walking mechanism is in the second direction second position
When, coconut palm is carried out out to the coconut in picking walking mechanism, this automatic goods taking device is compact-sized, occupies little space, and take
Goods is efficient, and low energy consumption.
2, the automatic goods taking device of the utility model first passes through picking walking mechanism and obtains cargo, then by compressing vehicle with walking machine
Structure is pressed on object is obtained in picking walking mechanism, to allow picking walking mechanism smoothly by goods movement to target position
It sets, for coconut vending machine, coconut is fixed by compressing walking mechanism, it can also Shi Kai coconut palms mechanism be more stable accurately opens
Coconut husk avoids coconut from being rotated during opening coconut palm and coconut palm is caused out to fail.
3, the utility model can be with simplified control system, when walking mechanism runs to target location by installation position switch
When, walking mechanism triggers corresponding position switch, and the operation of movable motor, this control are controlled by corresponding position switch
Mode accuracy processed is high, efficient.
4, the automatic picking method and step of the utility model is simple, and easy to operate, picking is efficient, and control system is simple.
Description of the drawings
Below by a manner of clearly understandable, preferred embodiment is described with reference to the drawings, to the above-mentioned spy of the utility model
Property, technical characteristic, advantage and its realization method are further described.
Fig. 1 is a kind of structural schematic diagram of specific embodiment of the automatic goods taking device of the utility model；
Fig. 2 is automatic goods taking device central post and the decomposition diagram for the structure being arranged on column shown in Fig. 1；
Fig. 3 is the decomposition diagram of picking walking mechanism in automatic goods taking device shown in Fig. 1；
Fig. 4 is the decomposition diagram that walking mechanism is compressed in automatic goods taking device shown in Fig. 1；
Fig. 5 a are structure top view of the picking walking mechanism when obtaining cargo in automatic goods taking device shown in Fig. 1；
Fig. 5 b are structure top view of the picking walking mechanism when handling cargo in automatic goods taking device shown in Fig. 1.
Drawing reference numeral explanation：
Column 101, rack 102, guide rail 103, sliding block 1031, driven shaft 104, bearing base 105, active rotating shaft 106, axis
Bearing sleeve 107, fixing and mounting bracket 108, big synchronous pulley 109, small synchronous pulley 1010, synchronous belt 1020, rotary drive motor
1030, rotary drive motor holder 1040, position-limited rack 1050, switch bracket 1060, first position switch 1061, the second position is opened
Pass 1062, the third place switch 1063, the 4th position switch 1064；
Picking walking mechanism 20, picking walker 201, picking movable motor 202, picking movable motor holder 2021 take
Goods walking gear 203, picking switch collision block 204, picking pallet 205, coconut palm emperor 2051；
Walking mechanism 30 is compressed, slider frame 301 compresses movable motor 302, compresses movable motor holder 3021, compresses row
Gear 303 is walked, clamping switch collision block 304 compresses walker 305, and spring 306 compresses pawl 307, slide bar 308.
Specific implementation mode
In order to illustrate the embodiment of the utility model or the technical proposal in the existing technology more clearly, attached drawing will be compareed below
Illustrate specific embodiment of the present utility model.It should be evident that the accompanying drawings in the following description is only the one of the utility model
A little embodiments for those of ordinary skill in the art without creative efforts, can also be according to these
Attached drawing obtains other attached drawings, and obtains other embodiments.To make simplified form, only schematically showing in each figure
With the relevant part of the utility model, they do not represent its practical structures as product.
Specific embodiment one
As shown in figures 1-4, this specific embodiment discloses a kind of automatic goods taking device, including column 101 and picking walking
Mechanism 20.Column 101 is equipped with rack 102, first end (upper end of column 101 i.e. shown in Fig. 2) and the active of column 101
Shaft 106 connects, and the second end (lower end of column 101 i.e. shown in Fig. 2) of column 101 is connect with driven shaft 104, actively turns
Axis 106 and the output shaft of rotary drive motor 1030 pass through a transmission chain link, under the action of rotary drive motor 1030, master
Turn axis 106 drives column 101 to rotate.As shown in figure 3, picking walking mechanism 20 includes picking walker 201, picking walking tooth
Wheel 203 and picking movable motor 202, picking walker 201 are slidably arranged on column 101, and picking walker 201 is additionally provided with one
Picking pallet 205, picking walking gear 203 are rotatably arranged on picking walker 201, and picking movable motor 202 is arranged
On a picking movable motor holder 2021, the output axis connection of picking walking gear 203 and picking movable motor 202, picking
Walking gear 203 is engaged with the rack 102 on column 101, under the action of picking movable motor 202, picking walking gear 203
Picking walker 201 is driven to be moved along rack 102.
Specifically, referring to Fig. 1, Fig. 2, the first end that active rotating shaft 106 is fixedly installed on column 101 is (i.e. shown in Fig. 2
The top of column 101), active rotating shaft 106 is threaded through on bearing holder (housing, cover) 107, and bearing holder (housing, cover) 107 is fixedly installed on fixing and mounting bracket 108,
Fixing and mounting bracket 108 is fixedly mounted at the top of its applications device (such as automatic vending machine), and driven spindle 104 is fixed at
The second end (bottom end of column 101 i.e. shown in Fig. 2) of column 101, driven spindle 104, which is threaded through, to be held on pedestal 105, bearing
Pedestal 105 is fixedly mounted on its applications device (such as automatic vending machine) bottom.
In the utility model embodiment, referring to Fig. 1, Fig. 2, big synchronous pulley 109 is threaded through on active rotating shaft 106, small
Synchronous pulley 1010 is threaded through on the output shaft of rotary drive motor 1030 and rotatable by rotary drive motor holder 1040
Ground is arranged on fixing and mounting bracket 108, big synchronous pulley 109 and small synchronous pulley 1010 by 1020 passing power of synchronous belt,
Small synchronous pulley 1010 is driven to rotate by rotary drive motor 1030, small synchronous pulley 1010 is driven greatly by synchronous belt 1020
Synchronous pulley 109 rotates, and big synchronous pulley 109 drives column 101 to rotate by active rotating shaft 106, so that setting is vertical
Picking walking mechanism 20 on column 101 rotates with.
Specifically, the both sides of column 101 are respectively provided with a guide rail 103, referring to Fig. 1,2, rack 102 is fixedly mounted on column
101 front, and a pair of guide rails 103 is respectively symmetrically fixed at the two sides of column 101, the both ends of column 101 are respectively provided with
A pair of of position-limited rack 1050, and position-limited rack 1050 is located at the end of guide rail 103, it can be to avoid picking row by the way that position-limited rack 1050 is arranged
Mechanism is walked to slip from column 101.Picking walker 201 is slidably connected by a pair of of sliding block 1031 of lower section shown in Fig. 2
In on guide rail 103.Picking walking mechanism can be made along column even running by the cooperation of sliding block and guide rail, to make picking
Walking mechanism can smoothly conveying articles.
Specifically, being additionally provided with the first position switch 1061 and second being electrically connected with picking movable motor 202 on column 101
Position switch 1062, first position switch 1061 and second position switch 1062 are fixed on column by switch bracket 1060 respectively
101 back side, picking walker 201 are equipped with the picking for triggering first position switch 1061 and second position switch 1062
Collision block 204 is switched, when picking walking mechanism 20 is when 101 uplink of column goes to first position, picking switchs the triggering of collision block 204 the
One position switch 1061, the control picking movable motor 202 of first position switch 1061 is out of service, when picking walking mechanism 20 exists
When 101 uplink of column goes to the second position, picking switchs collision block 204 and triggers second position switch 1062, second position switch
1062 control picking movable motors 202 are out of service.
When picking walking mechanism runs to preset target position, corresponding position switch can be triggered simultaneously, passes through position
Switch is out of service to control picking movable motor, and setting in this way can effectively limit picking walking mechanism, avoid electricity
It is more than target location that machine, which drives picking walking mechanism, and picking walking mechanism is further made to be kept fixed state in target location.
Specifically, as shown in Fig. 1,4, the automatic goods taking device in this specific embodiment further includes compressing walking mechanism 30,
It includes compressing movable motor 302, compressing walking gear 303, compress walker 305 and compress pawl 307 to compress walking mechanism 30, pressure
Tight walking gear 303, which is rotatably arranged in, to be compressed on walker 305, is compressed walking gear 303 and is compressed movable motor 302
Axis connection is exported, walking gear 303 is compressed and is engaged with the rack 102 on column 101, compression walker 305 is slidably arranged in vertical
Top on column 101 and positioned at picking walker 201 compresses the setting of pawl 307 on compressing walker 305, compresses the pawl of pawl 307
Mouth is towards picking walking mechanism 20, under the action of compressing movable motor 302, compresses walking gear 303 and drives compression walker
305 move along rack, until compressing pawl 307 pushes down the cargo in picking walking mechanism 20.
The automatic goods taking device of the utility model first passes through picking walking mechanism and obtains cargo, then by compressing walking mechanism
The cargo of acquisition is pressed in picking walking mechanism, to allow picking walking mechanism smoothly by goods movement to target
Coconut is fixed in position when the automatic goods taking device in the present embodiment is applied to coconut vending machine by compressing walking mechanism,
Can also Shi Kai coconut palms mechanism is more stable accurately opens coconut husk, avoid coconut from being rotated during opening coconut palm and coconut palm caused out to fail.
Specifically, compressing pawl 307 is equipped with a connecting pole, compresses walker 305 and be equipped with one for installing connecting pole
Mounting hole, the hole wall of mounting hole are equipped with sliding slot, specifically, as shown in figure 4, sliding slot here is slotted hole structure, on connecting pole
Equipped with slide bar 308, slide bar 308 is inserted in sliding slot, and slide bar 308 by sliding slot sliding axially along connecting pole, in mounting hole
Equipped with a spring 306, (for example coconut of the pawl on compressing picking walking mechanism, coconut palm are compressed by external pressure when compressing pawl 307
Son, which can be given, compresses the upward applied external force of pawl) when, connecting pole compressed spring 306.It compresses pawl and passes through spring and compression walker
Connection, allows compression pawl to be fixed the coconut of different height.
Specifically, as shown in figure 4, it includes multiple press strips to compress pawl 307, multiple press strips are arranged around a central shaft, press strip
Including first segment and second segment, the first segment of press strip is relative to its second segment bending, between the first segment and central shaft of press strip
Distance is along from pawl bottom (top of compression pawl 307 as shown in Figure 4) to pawl mouth (lower part of compression pawl 307 as shown in Figure 4)
Direction gradually increase, second segment and the central shaft of press strip are arranged in parallel.Specifically, it further includes a stiffening ring to compress pawl 307, add
It surrounds multiple press strips by force to be arranged, and stiffening ring is located at the first segment of press strip and the junction of second segment.Specifically, compressing pawl 307
Multiple press strips in multiple first press strips, the length of the second segment of multiple first press strips is identical, and less than adjacent thereto other
The length of the second segment of press strip when being arranged in this way, can form notch in the side for compressing the pawl mouth of pawl.When in the present embodiment
When automatic goods taking device is applied to coconut vending machine, formed in the side for compressing pawl 307 by the first shorter press strip of length
Notch can open coconut husk in order to which Kai Ye mechanisms stretch into compress by the notch from the side for compressing pawl in pawl.
Specifically, slider frame 301 is fixed on walker 305 as shown in figure 4, compressing, institute in slider frame 301 and Fig. 2
A pair of of sliding block 1031 of the top shown is fixedly connected, and is compressed walker 305 and is slidably connected to guide rail by this pair of of sliding block 1031
On 103.
In this embodiment, it in conjunction with shown in Fig. 2,4, is additionally provided on column 101 and is electrically connected with compression movable motor 302
The third place switch 1063 and the 4th position switch 1064, the third place switch 1063 and the 4th position switch 1064 lead to respectively
The back side that switch bracket 1060 is fixed on column 101 is crossed, walker 305 is compressed and is equipped with for triggering the third place switch 1063
With the clamping switch collision block 304 of the 4th position switch 1064, the third place is gone in 101 uplink of column when compressing walking mechanism 30
When, clamping switch collision block 304 triggers the third place switch 1063, and the control of the third place switch 1063 compresses movable motor 302 and stops
It only runs, to make compression walking mechanism 30 be fixed at the third place.Also, when compression walking mechanism 30 is on column 101
When walking to the third place, the picking that cargo (such as coconut palm emperor 2051) is pressed on by the compression pawl 307 in walking mechanism 30 is compressed
On picking disk 205 in walker 201.When compress walking mechanism 30 when 101 uplink of column goes to four positions, clamping switch
Collision block 304 triggers the 4th position switch 1064, and the 4th position switch 1064 control compression movable motor 302 is out of service, to
Compression walking mechanism 30 is set to be fixed at the 4th position.
When compression walking mechanism runs to preset target position, corresponding position switch can be triggered simultaneously, passes through position
Switch is out of service to control compression movable motor, and setting in this way can effectively be limited to compressing walking mechanism, avoid electricity
It is more than target location that machine, which drives and compresses walking mechanism, and compression walking mechanism is further made to be kept fixed state in target location.
Automatic goods taking device in this specific embodiment is compact-sized, occupies little space, operates steadily, and picking is efficient,
Low energy consumption.
Automatic goods taking device disclosed in this specific embodiment is suitable for vending machine, is particularly suitable for automatic fresh coconut palm dealer
Machine is sold, in conjunction with shown in Fig. 1~5, specific implementation step of the automatic goods taking device when obtaining coconut in this specific embodiment is such as
It is lower described：
Rotary drive motor 1030 drives the rotation of column 101 to first direction, and picking movable motor 202 drives picking walking
Frame 201 slides into first position on guide rail, and the picking switch collision block 204 on picking walker 201 triggers first position switch
1061, picking movable motor 202 is closed in the control of first position switch 1061, and as shown in Figure 5 a, picking walker 201 is fixed on the
At one direction first position, at this point, coconut is pushed on the picking disk 205 in picking walker 201；
Picking movable motor 202 drives picking walker 201 to slide into the second position, picking walker on guide rail 103
Picking switch collision block 204 on 201 triggers second position switch 1062, and picking walking electricity is closed in the control of second position switch 1062
Machine 202, at this point, picking walker 201 fixes the second place in a first direction；
It compresses the driving compression walker 305 of movable motor 302 and slides into the third place on guide rail, compress walker 305
On clamping switch collision block 304 trigger the third place switch 1063, the control closing compression movable motor of the third place switch 1063
302, it compresses walker 305 and fixes at the third place in a first direction, the compression pawl 307 compressed on walker 305 consolidates coconut
It is scheduled on the picking disk in picking walker 201；
Rotary drive motor 1030 drives the rotation of column 101 to second direction, as shown in Figure 5 b, the picking row of coconut is housed
Walk mechanism 20 and compress walking mechanism 30 be located at the second direction second place, here, by Kai Ye mechanisms from compression pawl 307
Lateral notch at open coconut husk；
After opening shell, compresses the driving compression walker 305 of movable motor 302 and slide into the 4th position on guide rail, press
Clamping switch collision block 304 on tight walker 305 triggers the 4th position switch 1064, and pressure is closed in the control of the 4th position switch 1064
Tight movable motor 302, makes compression walker 305 be fixed at the 4th position of second direction, to discharge the coconut palm after opening coconut husk
Son can take coconut away convenient for customer.
It of courses, in other specific embodiments of the automatic goods taking device of the utility model, compresses the tool of walking mechanism
Body structure can carry out the adjustment of structure according to the features of shape of cargo, can also selectively be arranged；Four position switch also may be used
To be not provided with, but the operation and stopping of movable motor are controlled by total controller；The connection type of walker and column,
The mode of rotary drive motor driving column can be adjusted according to actual needs.
Specific embodiment two
This specific embodiment discloses a kind of automatic picking method more preferred embodiment, is answered in the automatic picking method
For buying to resell the automatic picking process of coconut palm machine automatically, the automatic picking method in the present embodiment includes step：
S10：Column is rotated, makes the picking walking mechanism being located on column towards first direction；
S20：Driving picking walking mechanism is moved to first position on column, when picking walking mechanism runs to first
When setting, the picking switch collision block triggering first position switch in picking walking mechanism, first position switchs and picking walking mechanism
In picking movable motor electrical connection, first position switch be triggered after control picking movable motor it is out of service；
S30：Coconut is pushed in picking walking mechanism；
S40：Driving picking walking mechanism is moved to the second position on column, when picking walking mechanism runs to second
When setting, the picking switch collision block triggering second position switch in picking walking mechanism, the second position switchs and picking walking mechanism
In picking movable motor electrical connection, the second position switch be triggered after control picking movable motor it is out of service；
S50：Driving compresses walking mechanism and is moved to the third place on column, is located at the third place when compressing walking mechanism
When, cargo is pressed in picking walking mechanism by the compression pawl compressed in walking mechanism, and third is moved to when compressing walking mechanism
When position, the clamping switch collision block triggering the third place switch in walking mechanism is compressed, the third place switchs and compresses vehicle with walking machine
Compression movable motor electrical connection in structure, control compression movable motor is out of service after the third place switch is triggered；
S60：Column is rotated, makes the picking walking mechanism equipped with cargo towards second direction.
After step S60, picking walking mechanism is located at the second direction second position, compresses walking mechanism and is in second party
To the third place, the coconut compressed in pawl compression picking walking mechanism in walking mechanism is compressed, at this time to picking walking mechanism
On coconut carry out out coconut palm processing, after treatment, driving compress walking mechanism the 4th position is moved on column, work as compression
When walking mechanism is located at four positions, the compression pawl in walking mechanism is compressed far from the coconut in picking walking mechanism, works as compression
When walking mechanism is moved to four positions, clamping switch collision block the 4th position switch of triggering in compression walking mechanism, the 4th
It sets switch and is electrically connected with the compression movable motor compressed in walking mechanism, control compression walking electricity after the 4th position switch is triggered
Machine is out of service, then, so that it may to be delivered to access section the coconut after shell is opened.
Automatic picking method and step in the utility model is few, and easy to operate, picking is efficient, in step S20 and walks
It, can be with simplified control system, when picking walking mechanism or compression walking mechanism run to mesh by installation position switch in rapid S40
When cursor position, walking mechanism triggers corresponding position switch, and the operation of movable motor is controlled by corresponding position switch,
This control mode accuracy is high, efficient.Picking walking mechanism can be made defeated by compressing walking mechanism in step s 50
When delivery object, cargo can be made to be effectively fixed in picking walking mechanism, cargo is avoided to fall off from picking walking mechanism, when
When cargo is coconut, the process of coconut palm can be made open more smooth by compressing walking mechanism compression coconut, coconut is avoided to open coconut palm
Shaking in the process causes out coconut palm to fail.
It of courses, in other specific embodiments of the automatic picking method of the utility model, step S50 can be selective
Setting；Step S20, movable motor can not be controlled by position switch in 40,50, but is controlled by total controller
The operation and stopping of movable motor.
It should be strongly noted that in above-mentioned specific embodiment, automatic goods taking device is carried out by coconut of cargo
Illustrate, still, the automatic goods taking device in the utility model can also be applied in the acquisition process of other cargos.
In addition, it should also be noted that above-described embodiment can be freely combined as needed.The above is only this practicality
Novel preferred embodiment, it is noted that for those skilled in the art, new not departing from this practicality
Under the premise of type principle, several improvements and modifications can also be made, these improvements and modifications also should be regarded as the guarantor of the utility model
Protect range.
Claims (7)
1. a kind of automatic goods taking device, which is characterized in that including：
Column, the column are equipped with rack, and the first end of the column is connect with an active rotating shaft, the second end of the column
With a driven axis connection, the output shaft of the active rotating shaft and rotary drive motor is by a transmission chain link, in the rotation
Under the action of driving motor, the active rotating shaft drives the column rotation；
Picking walking mechanism, the picking walking mechanism include picking walker, picking walking gear and picking movable motor, institute
It states picking walker and is equipped with picking pallet, the picking walker is slidably arranged on the column, the picking walking tooth
Wheel is rotatably arranged on the picking walker, and the output shaft of the picking walking gear and the picking movable motor connects
It connecing, the picking walking gear is engaged with the rack on the column, under the action of the picking movable motor, the picking
Walking gear drives the picking walker to be moved along the rack.
2. automatic goods taking device according to claim 1, it is characterised in that：
The both sides of the column are respectively provided with a guide rail, and the guide rail is located at the both sides of the rack, and the picking walker passes through
A pair of of sliding block is slidably connected on the guide rail；
And/or；
The first position switch being electrically connected with the picking movable motor and second position switch are additionally provided on the column, it is described
Picking walker is equipped with switchs collision block for triggering the picking of the first position switch and second position switch, is taken when described
For goods walking mechanism when the column uplink goes to corresponding collision block position, movable motor is out of service.
3. automatic goods taking device according to claim 1, which is characterized in that further include：
Walking mechanism is compressed, the compression walking mechanism includes compressing walker, compressing walking gear, compress movable motor and pressure
Tight pawl, the compression walking gear are rotatably arranged on the compression walker, the compression walking gear and the pressure
The output axis connection of tight movable motor, the compression walking gear are engaged with the rack on the column, the compression pawl setting
On the compression walker, the pawl mouth for compressing pawl is towards the picking walking mechanism, in the compression movable motor
Under effect, the compression walking gear drives the compression walker to be moved along the rack, until the compression pawl pushes down institute
State the cargo in picking walking mechanism.
4. automatic goods taking device according to claim 3, it is characterised in that：
The compression pawl is equipped with a connecting pole, and the walker that compresses is equipped with an installation for installing the connecting pole
The hole wall in hole, the mounting hole is equipped with sliding slot, and the connecting pole is equipped with a slide bar, and the slide bar is inserted in the sliding slot
In, and the slide bar by the sliding slot sliding axially along the connecting pole, an elastic component is equipped in the mounting hole, works as institute
When stating compression pawl by external pressure, the connecting pole compresses the elastic component.
5. automatic goods taking device according to claim 3, it is characterised in that：
The compression pawl includes multiple press strips, multiple press strips around a central shaft arrange, the press strip include first segment and
Second segment, the distance between the first segment of the press strip and the central shaft gradually increase along from pawl bottom to the direction of pawl mouth,
The second segment of the press strip is arranged in parallel with the central shaft.
6. automatic goods taking device according to claim 5, it is characterised in that：
The compression pawl further includes a stiffening ring, described to reinforce around multiple press strip settings.
7. automatic goods taking device according to claim 3, it is characterised in that：
The both sides of the column are respectively provided with a guide rail, and the guide rail is located at the both sides of the rack, and the compression walker passes through
A pair of of sliding block is slidably connected on the guide rail；
And/or；
The third place switch and the 4th position switch being electrically connected with the compression movable motor are additionally provided on the column, it is described
Walker is compressed equipped with the clamping switch collision block for triggering the third place switch and the 4th position switch, when the pressure
It is out of service to compress movable motor when the column uplink goes to corresponding position for tight walking mechanism.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820186005.1U CN207938092U (en) | 2018-02-02 | 2018-02-02 | Automatic goods taking device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820186005.1U CN207938092U (en) | 2018-02-02 | 2018-02-02 | Automatic goods taking device |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN207938092U true CN207938092U (en) | 2018-10-02 |
Family
ID=63651333
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201820186005.1U Expired - Fee Related CN207938092U (en) | 2018-02-02 | 2018-02-02 | Automatic goods taking device |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN207938092U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108171882A (en) * | 2018-02-02 | 2018-06-15 | 道美科技(上海)有限公司 | Automatic goods taking device and method |
-
2018
- 2018-02-02 CN CN201820186005.1U patent/CN207938092U/en not_active Expired - Fee Related
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108171882A (en) * | 2018-02-02 | 2018-06-15 | 道美科技(上海)有限公司 | Automatic goods taking device and method |
| CN108171882B (en) * | 2018-02-02 | 2024-03-19 | 胡璇 | Automatic goods taking device and method |
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| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20181002 Termination date: 20210202 |
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| CF01 | Termination of patent right due to non-payment of annual fee |