CN209335621U - A kind of automatic vending machine manipulator - Google Patents
A kind of automatic vending machine manipulator Download PDFInfo
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- CN209335621U CN209335621U CN201821650951.3U CN201821650951U CN209335621U CN 209335621 U CN209335621 U CN 209335621U CN 201821650951 U CN201821650951 U CN 201821650951U CN 209335621 U CN209335621 U CN 209335621U
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- fixedly connected
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Abstract
The utility model discloses a kind of automatic vending machine manipulators, including X-axis mobile mechanism, Y-axis moving mechanism, mechanical gripper；The X-axis mobile mechanism includes the first pedestal, X-axis driving motor, X-axis transmission mechanism, X-ray axis, X-axis link block；The Y-axis moving mechanism includes Y-axis bottom plate, Y-axis driving motor, Y-axis transmission mechanism, Y optical axis, Y-axis movable block, and the Y-axis bottom plate is fixedly connected on the X-axis link block to keep moving synchronously.The utility model realizes displacement in entire area by setting X-axis mobile mechanism, Y-axis moving mechanism cooperative mechanical handgrip, moves fast and reliable, stable structure, and realization can be cooperated to connect cup, splicing, connect coffee, Jia Shui, stirring, gland, go out the processes such as cup.
Description
Technical field
The utility model relates to manipulator, especially a kind of automatic vending machine manipulator.
Background technique
Lack fast and reliable manipulator in automatic vending machine at present, only simple pushing mechanism is by cargo from picking window
Mouth is released, thus the vending machines such as beverage, coffee for not adapting to field fabrication type, and the vending machines such as beverage, coffee are in machine
Multiple working procedure is designed when making beverage, cup, splicing is connect, connects coffee, Jia Shui, stirring, gland, goes out the processes such as cup, need one kind can
Any position is stopped, the manipulator of crawl assists realizing.
Utility model content
In order to solve the above technical problems, the purpose of the utility model is to provide a kind of fast and reliable, all region coverings to stop,
The automatic vending machine manipulator of crawl.
The technical solution adopted in the utility model is:
A kind of automatic vending machine manipulator, including X-axis mobile mechanism, Y-axis moving mechanism, mechanical gripper；
The X-axis mobile mechanism includes the first pedestal, X-axis driving motor, X-axis transmission mechanism, X-ray axis, X-axis link block,
The X-axis driving motor, X-axis transmission mechanism, X-ray axis are all mounted on the first pedestal, and X-axis link block is slidably connected at X-ray axis
On, the X-axis driving motor is connect by the X-axis transmission mechanism with X-axis link block to drive X-axis link block on X-ray axis
Sliding；
The Y-axis moving mechanism includes Y-axis bottom plate, Y-axis driving motor, Y-axis transmission mechanism, Y optical axis, Y-axis movable block, institute
State Y-axis bottom plate be fixedly connected on the X-axis link block with keep move synchronously, the Y-axis driving motor, Y-axis transmission mechanism,
Y optical axis is all mounted on Y-axis bottom plate, and the Y-axis movable block is slidably connected on Y optical axis, and the Y-axis driving motor passes through described
Y-axis transmission mechanism is connect to drive Y-axis movable block to slide on Y optical axis with Y-axis movable block, and the mechanical gripper and Y-axis are mobile
Block is fixedly connected.
Further, the X-axis transmission mechanism includes X-axis synchronous belt, two X-axis synchronizing wheels, and the X-axis synchronous belt is mounted on
In two X-axis synchronizing wheels, the output shaft of the X-axis driving motor is fixedly connected with one of X-axis synchronizing wheel axle center, the X
Axis connection block is fixed on X-axis synchronous belt to keep moving synchronously.
Further, the Y-axis transmission mechanism includes the first screw rod, the first feed screw nut, and first screw rod is mounted on Y-axis
It being fixedly connected on bottom plate and with the output shaft of the Y-axis driving motor, the first screw rod is parallel with the Y optical axis, and described first
Stem nut is mounted on worm drive on the first screw rod and is fixedly connected with the Y-axis movable block.
Preferably, the Y optical axis has two, and two Y optical axises are arranged in parallel in the first screw rod two sides.
Preferably, the X-ray axis, X-axis link block have two groups altogether, and two X-ray axis parallel intervals are arranged described
On first pedestal, Y-axis bottom plate one end is fixedly connected with one of X-axis link block, and the Y-axis bottom plate other end and another X-axis connect
Block is connect to be fixedly connected.
Further, the mechanical gripper include the second pedestal, and be arranged on the second pedestal handgrip driving motor, grab
Hand transmission mechanism and handgrip mechanism, second pedestal are fixedly connected with Y-axis movable block；
The handgrip transmission mechanism includes the second screw rod, the second feed screw nut, sliding shoe, and second screw rod is grabbed with described
The output shaft of hand-drive motor is fixedly connected, and second feed screw nut is mounted on worm drive on the second screw rod, the sliding
Block is fixedly connected with the second feed screw nut；
The handgrip mechanism includes left claw, right pawl, left connecting rod, right connecting rod, and the left claw and right pawl are all arc claw-like knot
Structure simultaneously extends outside the second pedestal, and left claw and right pawl are oppositely arranged on the elongated central line two sides of sliding shoe, the left claw tail
End has first connecting portion and the end of the first connecting portion is connect with the second base pivot, and the right pawl tail end has second to connect
The end of socket part and the second connecting portion is connect with the second base pivot, before the left connecting rod is fixedly connected on first connecting portion
Between end and the left side of sliding shoe, the right connecting rod is fixedly connected between the front end of second connecting portion and the right side of sliding shoe.
Further, the handgrip transmission mechanism further includes guide rail, the guide rail be fixed on the second pedestal and with the cunning
Motion block is slidably connected, and second screw rod is arranged in parallel with guide rail.
Wherein, the end of the first connecting portion and the end of second connecting portion are all lantern ring, the lantern ring and fixed company
The rotary shaft connect on the second pedestal is pivotally connected.
Further, there is top bar in the lantern ring and get out of a predicament or an embarrassing situation, be provided with from bottom to up in top bar and be set in rotation
First flange bearing, the first washer on axis, the get out of a predicament or an embarrassing situation second packing ring being provided be arranged from bottom to up on the rotary shaft, second
Flange bearing.
Preferably, the rotary shaft plays screw using match, and first washer, second packing ring use tetrafluoroethene washer.
The utility model has the beneficial effects that
The utility model realizes position in entire area by setting X-axis mobile mechanism, Y-axis moving mechanism cooperative mechanical handgrip
It moves, moves fast and reliable, stable structure, realization can be cooperated to connect cup, splicing, connect coffee, Jia Shui, stirring, gland, the out stream such as cup
Journey.
Mechanical gripper cooperates the second screw rod transmission structure and link mechanism by the left and right pawl structure of simulation manpower design,
Realize that left and right pawl is relatively closed and expansion action, to solve the problems, such as to connect cup in cup drink machine, hold cup, put the crawls such as cup.
Detailed description of the invention
Specific embodiment of the present utility model is described further with reference to the accompanying drawing.
Fig. 1 is the perspective view of the utility model automatic vending machine manipulator；
Fig. 2 is the exploded view of Y-axis moving mechanism；
Fig. 3 is the exploded view of X-axis mobile mechanism；
Fig. 4 is the closed state figure of mechanical gripper；
Fig. 5 is the open configuration figure of mechanical gripper；
Fig. 6 is the explosive view of mechanical gripper；
Fig. 7 is the left claw exploded view of mechanical gripper.
Specific embodiment
As shown in Figure 1, being a kind of automatic vending machine manipulator of the utility model, including X-axis mobile mechanism 1, Y-axis movement
Mechanism 2, mechanical gripper 3 are respectively used to Y direction movement, X-direction movement and grasping movement.
As shown in Fig. 2, the X-axis mobile mechanism 1 include the first pedestal 11, X-axis driving motor 12, X-axis transmission mechanism 13,
X-ray axis 14, X-axis link block 15, the X-axis driving motor 12, X-axis transmission mechanism 13, X-ray axis 14 are all mounted on the first pedestal 11
On, X-axis link block 15 is slidably connected on X-ray axis 14, and the X-axis driving motor 12 passes through the X-axis transmission mechanism 13 and X-axis
Link block 15 is connected to drive X-axis link block 15 to slide on X-ray axis 14；
As the further refinement of the technical program, the X-axis transmission mechanism 13 includes 131, two X-axis of X-axis synchronous belt
Synchronizing wheel 132, the X-axis synchronous belt 131 are mounted in two X-axis synchronizing wheels 132, the output shaft of the X-axis driving motor 12
It is fixedly connected with one of 132 axle center of X-axis synchronizing wheel, the X-axis link block 15 is fixed on X-axis synchronous belt 131 to keep
It moves synchronously.
It is preferred that the X-ray axis 14, X-axis link block 15 have two groups altogether, two 14 parallel intervals of X-ray axis are arranged in institute
It states on the first pedestal 11,21 one end of Y-axis bottom plate is fixedly connected with one of X-axis link block 15,21 other end of Y-axis bottom plate and another
One X-axis link block 15 is fixedly connected.
The working principle of above-mentioned X-axis mobile mechanism 1 are as follows: X-ray axis is powered on by driving motor, drives X-axis synchronous belt
Movable between two X-axis synchronizing wheels, this is X-ray axis scope of activities.Two link blocks are connected on X-ray axis, pass through the shifting of Y-axis part
Motion block drives entire Y-axis part and mechanical gripper to move back and forth along the x axis on X-ray axis, and limit switches can on the right side of X-axis
Realize X-axis origin precise positioning, synchronous belt driving motor tail portion has coding disk, to can realize that X-axis is real in moving region
Existing precise positioning.
As shown in figure 3, the Y-axis moving mechanism 2 includes Y-axis bottom plate 21, Y-axis driving motor 22, Y-axis transmission mechanism 23, Y
Optical axis 24, Y-axis movable block 25, Y-axis panel 26, Y-axis panel 26 and the cooperation of Y-axis bottom plate 21 constitute cavity and are passed with accommodating the Y-axis
Motivation structure 23, Y optical axis 24, Y-axis movable block 25, the Y-axis bottom plate 21 are fixedly connected on the X-axis link block 15 to keep same
Step movement, the Y-axis driving motor 22, Y-axis transmission mechanism 23, Y optical axis 24 are all mounted on Y-axis bottom plate 21, and the Y-axis is mobile
Block 25 is slidably connected on Y optical axis 24, and the Y-axis driving motor 22 is connected by the Y-axis transmission mechanism 23 with Y-axis movable block 25
It connects to drive Y-axis movable block 25 to slide on Y optical axis 24, the mechanical gripper 3 is fixedly connected with Y-axis movable block 25.
As the further refinement of the technical program, the Y-axis transmission mechanism 23 includes the first screw rod 231, the first screw rod
Nut 232, first screw rod 231, which is mounted on Y-axis bottom plate 21 and fixes with the output shaft of the Y-axis driving motor 22, to be connected
It connects, the first screw rod 231 is parallel with the Y optical axis 24, and first feed screw nut 232 is mounted on spiral on the first screw rod 231 and passes
It moves and is fixedly connected with the Y-axis movable block 25.
Preferably, the Y optical axis 24 has two, and two Y optical axises 24 are arranged in parallel in 231 two sides of the first screw rod.
Y-axis movable block 25 is arranged on the first screw rod 231 in the present embodiment.
The working principle of above-mentioned Y-axis moving mechanism 2 are as follows: Y-axis driving motor is powered on, and drives first by shaft coupling
Bar 231 rotates, and the first feed screw nut 232 is connected and fixed with Y-axis movable block 25, and the rotation of Y-axis screw rod, the first feed screw nut 232 is not
Rotation drives Y-axis movable block 25 to be moved forward and backward along two Y optical axises.It is connected simultaneously because of Y-axis movable block 25 with two robot support plates
Fixation is connect, so mechanical gripper position is also moved forward and backward along Y optical axis with Y-axis movable block together simultaneously.
When X-axis and y-axis motor all work, X-axis and Y-axis and mechanical gripper can be parked at any time in region any one position
It sets, to realize fast quick access cup, splicing, connect coffee, Jia Shui, stirring, gland, go out entire flows, the Y-axis end such as cup and there is limit to open
It closes and Y-axis can be achieved in the precise positioning of origin, Y-axis driving motor is with coding disk, it can be achieved that Y-axis is accurate fixed in moving region
Position.
As shown in Figure 4-Figure 6, include the second pedestal 31 for the mechanical gripper 3 of the utility model, and be arranged in the second base
Handgrip driving motor 32, handgrip transmission mechanism and handgrip mechanism on seat 31, second pedestal 31 and Y-axis movable block 25 are fixed
Connection；Handgrip cover 33 is provided on second pedestal 31, the handgrip driving motor 32, handgrip transmission mechanism are all located at this and grab
To protect internal component in hand cover 33, handgrip driving motor 32 is installed on the second pedestal 31 by electric machine support 40 to guarantee motor
Stabilization.
As shown in fig. 6, the handgrip transmission mechanism of the technical program includes the second screw rod 341, the second feed screw nut 342, slides
Motion block 343, second screw rod 341 are fixedly connected with the output shaft of the handgrip driving motor 32, second feed screw nut
342 are mounted on worm drive on the second screw rod 341, and the sliding shoe 343 is fixedly connected with the second feed screw nut 342；Work as motor
When driving, the rotation of the second screw rod 341 is driven, the second screw rod 341 and the second feed screw nut 342, which are driven, is converted to second for rotation
The linear motion of stem nut 342 and sliding shoe 343.
On this basis, solid by shaft coupling 344 between the second screw rod 341 and the output shaft of the handgrip driving motor 32
Fixed connection, plays buffer function and overload protective function between motor and the second screw rod 341.
In order to enable sliding shoe 343 is more smooth when for linear motion, the handgrip transmission mechanism of the technical program further includes
Guide rail 345, the guide rail 345 are fixed on the second pedestal 31 and are slidably connected with the sliding shoe 343, second screw rod
341 are arranged in parallel with guide rail 345, to guarantee that the direction of motion is consistent.
As shown, the handgrip mechanism of the technical program includes left claw 35, right pawl 36, left connecting rod 37, right connecting rod 38, the left side
Pawl 35 and right pawl 36 are all arc claw-like structures and extend outside the second pedestal 31, and arc claw-like structures ensure left claw 35 and right pawl
Be adjacent to just with cup when 36 closure, and extend outside the second pedestal 31 be in order to cup slot milling to avoid the second pedestal
31 stop；
Above-mentioned left claw 35 is oppositely arranged on the elongated central line two sides of sliding shoe 343,35 tail end of left claw with right pawl 36
End and the second pedestal 31 with first connecting portion 351 and the first connecting portion 351 are pivotally connected, right 36 tail end of the pawl tool
There are the end of second connecting portion 361 and the second connecting portion 361 and the second pedestal 31 to be pivotally connected, the left connecting rod 37 is fixed to be connected
It connects between the front end of first connecting portion 351 and the left side of sliding shoe 343, the right connecting rod 38 is fixedly connected on second connecting portion
Between 361 front end and the right side of sliding shoe 343.
When aforementioned sliding shoe 343 is for linear motion, left claw 35 and opposite second base of right pawl 36 can be pushed by connecting rod
Seat 31 rotates, and realizes closure and expansion action.
As the preferred of the technical program specific embodiment, such as Fig. 7, the end and second of the first connecting portion 351
The end of interconnecting piece 361 is all lantern ring 356, which pivots with the rotary shaft 357 being fixedly connected on the second pedestal 31 connects
It connects.Certainly, the end of first connecting portion 351 and the end of second connecting portion 361 are also possible to rotary shaft 357, and are fixed on
Lantern ring 356 on second pedestal 31 cooperates, and rotates with right pawl 36 relative to the second pedestal 31 as long as being able to achieve left claw 35, herein
It does not limit uniquely.
It is as above-mentioned technical proposal to advanced optimize, there is top bar in the lantern ring 356 and get out of a predicament or an embarrassing situation, in top bar
It is provided with the first flange bearing 352 being set in rotary shaft 357, the first washer 353 from bottom to up, gets out of a predicament or an embarrassing situation and sets from bottom to up
It is equipped with the second packing ring 354 being set in rotary shaft 357, second flange bearing 355, so that rotation is more stable.
On the basis of above scheme, the preferred rotary shaft 357 of the present embodiment, which uses to match, plays screw, first washer 353,
Second packing ring 354 uses tetrafluoroethene washer, due to the lubrication property of tetrafluoroethene material, may make handgrip mechanism rotation more
Freely.
In addition, the handgrip mechanism side is provided with grating sensor 39 to detect the position of left claw 35 or right pawl 36.
Following several movements may be implemented by above structure in the technical program:
Connect cup movement: when automatic vending machine manipulator is closed, cup is fallen off from above, and can block handgrip edge, left claw 35
It is all closed with right pawl 36, falls in cup steadily on handgrip.
Hold cup movement: the cup being located on platform is surround by the left claw 35 of opening with when right 36 horizontal traveling of pawl, then sharp
Left claw 35 and right pawl 36 are closed with driving mechanism and handgrip transmission mechanism, thus cup of holding with a firm grip.
Put cup movement: when the left claw 35 of automatic vending machine manipulator and right pawl 36 are opened, because having pallet that can hold below
Bottom of cups.Cup can be steadily placed on pallet.
In addition, handgrip is equipped with limit point, when handgrip is closed into suitable position, handgrip encounters limit point, due to limit
The obstruction handgrip of point, which moves, to be stopped, and system detection to electric current increases at this time, so that Switching power, realizes the essence of handgrip closure angle
Certainly position.When handgrip is opened similarly.
As described above, left and right pawl 36 structure of the mechanical gripper of the utility model by simulation manpower design, cooperation second
341 drive mechanism of screw rod and link mechanism realize that left and right pawl 36 is relatively closed and expansion action, to solve in cup drink machine
The crawls problem such as cup is connect, cup is held, puts cup.
The foregoing is merely the preferred embodiments of the utility model, the utility model is not limited to above-mentioned embodiment party
Formula, if with essentially identical means realize the utility model aim technical solution belong to the protection scope of the utility model it
It is interior.
Claims (10)
1. a kind of automatic vending machine manipulator, it is characterised in that: including X-axis mobile mechanism, Y-axis moving mechanism, mechanical gripper；
The X-axis mobile mechanism includes the first pedestal, X-axis driving motor, X-axis transmission mechanism, X-ray axis, X-axis link block, the X
Axis driving motor, X-axis transmission mechanism, X-ray axis are all mounted on the first pedestal, and X-axis link block is slidably connected on X-ray axis, institute
It states X-axis driving motor and is connect by the X-axis transmission mechanism with X-axis link block to drive X-axis link block to slide on X-ray axis；
The Y-axis moving mechanism includes Y-axis bottom plate, Y-axis driving motor, Y-axis transmission mechanism, Y optical axis, Y-axis movable block, the Y
Axis bottom plate is fixedly connected on the X-axis link block to keep moving synchronously, the Y-axis driving motor, Y-axis transmission mechanism, Y light
Axis is all mounted on Y-axis bottom plate, and the Y-axis movable block is slidably connected on Y optical axis, and the Y-axis driving motor passes through the Y-axis
Transmission mechanism is connect to drive Y-axis movable block to slide on Y optical axis with Y-axis movable block, and the mechanical gripper and Y-axis movable block are solid
Fixed connection.
2. a kind of automatic vending machine manipulator according to claim 1, it is characterised in that: the X-axis transmission mechanism includes X
Axis synchronous belt, two X-axis synchronizing wheels, the X-axis synchronous belt are mounted in two X-axis synchronizing wheels, the X-axis driving motor it is defeated
Shaft is fixedly connected with one of X-axis synchronizing wheel axle center, and the X-axis link block is fixed on X-axis synchronous belt to keep synchronizing
Movement.
3. a kind of automatic vending machine manipulator according to claim 1 or 2, it is characterised in that: the Y-axis transmission mechanism packet
The first screw rod, the first feed screw nut are included, first screw rod is mounted on the output on Y-axis bottom plate and with the Y-axis driving motor
Axis is fixedly connected, and the first screw rod is parallel with the Y optical axis, and first feed screw nut is mounted on the first screw rod worm drive simultaneously
It is fixedly connected with the Y-axis movable block.
4. a kind of automatic vending machine manipulator according to claim 3, it is characterised in that: the Y optical axis is with two, two
Y optical axis described in root is arranged in parallel in the first screw rod two sides.
5. a kind of automatic vending machine manipulator according to claim 1 or 2, it is characterised in that: the X-ray axis, X-axis connection
Block has two groups altogether, and two X-ray axis parallel intervals are arranged on first pedestal, Y-axis bottom plate one end and one of X
Axis connection block is fixedly connected, and the Y-axis bottom plate other end is fixedly connected with another X-axis link block.
6. a kind of automatic vending machine manipulator according to claim 1, it is characterised in that: the mechanical gripper includes second
Pedestal, and the handgrip driving motor, handgrip transmission mechanism and the handgrip mechanism that are arranged on the second pedestal, second pedestal with
Y-axis movable block is fixedly connected；
The handgrip transmission mechanism includes the second screw rod, the second feed screw nut, sliding shoe, and second screw rod and the handgrip drive
The output shaft of dynamic motor is fixedly connected, and second feed screw nut is mounted on worm drive on the second screw rod, the sliding shoe with
Second feed screw nut is fixedly connected；
The handgrip mechanism includes left claw, right pawl, left connecting rod, right connecting rod, the left claw and right pawl be all arc claw-like structures simultaneously
Extend outside the second pedestal, and left claw and right pawl are oppositely arranged on the elongated central line two sides of sliding shoe, the left claw tail end tool
There is the end of first connecting portion and the first connecting portion to connect with the second base pivot, the right pawl tail end has second connecting portion
And the end of the second connecting portion is connect with the second base pivot, the left connecting rod be fixedly connected on the front end of first connecting portion with
Between the left side of sliding shoe, the right connecting rod is fixedly connected between the front end of second connecting portion and the right side of sliding shoe.
7. a kind of automatic vending machine manipulator according to claim 6, it is characterised in that: the handgrip transmission mechanism also wraps
Guide rail is included, the guide rail is fixed on the second pedestal and is slidably connected with the sliding shoe, and second screw rod is parallel with guide rail
Setting.
8. a kind of automatic vending machine manipulator according to claim 6 or 7, it is characterised in that: the first connecting portion
End and the end of second connecting portion are all lantern ring, which pivots with the rotary shaft being fixedly connected on the second pedestal connects
It connects.
9. a kind of automatic vending machine manipulator according to claim 8, it is characterised in that: have top bar in the lantern ring
With get out of a predicament or an embarrassing situation, first flange bearing, the first washer being arranged on the rotary shaft are provided in top bar from bottom to up, get out of a predicament or an embarrassing situation from
Under supreme be provided be arranged second packing ring on the rotary shaft, second flange bearing.
10. a kind of automatic vending machine manipulator according to claim 9, it is characterised in that: the rotary shaft is beaten using match
Screw, first washer, second packing ring use tetrafluoroethene washer.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821650951.3U CN209335621U (en) | 2018-10-11 | 2018-10-11 | A kind of automatic vending machine manipulator |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821650951.3U CN209335621U (en) | 2018-10-11 | 2018-10-11 | A kind of automatic vending machine manipulator |
Publications (1)
| Publication Number | Publication Date |
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| CN209335621U true CN209335621U (en) | 2019-09-03 |
Family
ID=67745455
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201821650951.3U Active CN209335621U (en) | 2018-10-11 | 2018-10-11 | A kind of automatic vending machine manipulator |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111724532A (en) * | 2020-07-30 | 2020-09-29 | 覃凤娇 | Vending machine gets goods pocket drive adjustment mechanism |
| CN111739226A (en) * | 2020-06-29 | 2020-10-02 | 北京鸿霁科技有限公司 | Cup clamping device |
-
2018
- 2018-10-11 CN CN201821650951.3U patent/CN209335621U/en active Active
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111739226A (en) * | 2020-06-29 | 2020-10-02 | 北京鸿霁科技有限公司 | Cup clamping device |
| CN111724532A (en) * | 2020-07-30 | 2020-09-29 | 覃凤娇 | Vending machine gets goods pocket drive adjustment mechanism |
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