CN211470014U - General type automatic object-taking mechanical arm - Google Patents
General type automatic object-taking mechanical arm Download PDFInfo
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- CN211470014U CN211470014U CN201922159999.5U CN201922159999U CN211470014U CN 211470014 U CN211470014 U CN 211470014U CN 201922159999 U CN201922159999 U CN 201922159999U CN 211470014 U CN211470014 U CN 211470014U
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- 230000007246 mechanism Effects 0.000 claims abstract description 60
- 235000014676 Phragmites communis Nutrition 0.000 claims description 22
- 238000000034 method Methods 0.000 abstract description 7
- 230000033001 locomotion Effects 0.000 abstract description 6
- 230000008569 process Effects 0.000 abstract description 5
- 238000013473 artificial intelligence Methods 0.000 abstract description 3
- 238000001514 detection method Methods 0.000 description 2
- 241001122767 Theaceae Species 0.000 description 1
- 230000009471 action Effects 0.000 description 1
- 235000013361 beverage Nutrition 0.000 description 1
- 230000002349 favourable effect Effects 0.000 description 1
- 239000008267 milk Substances 0.000 description 1
- 210000004080 milk Anatomy 0.000 description 1
- 235000013336 milk Nutrition 0.000 description 1
- 230000008054 signal transmission Effects 0.000 description 1
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Abstract
The utility model relates to an artificial intelligence retail technical field especially relates to a get cup device. Automatic thing manipulator of getting of general type, including the main support, be equipped with reciprocating motion, vacuum chuck mechanism on the main support, vacuum chuck mechanism is connected at the top of reciprocating motion's removal end, and vacuum chuck of vacuum chuck mechanism is equipped with the cup storehouse of cup towards the top. Due to the adoption of the technical scheme, the utility model discloses can realize the process of getting cup of cups such as different specification paper cups, plastic cup, have stronger commonality.
Description
Technical Field
The utility model relates to an artificial intelligence retail technical field especially relates to a get cup device.
Background
The artificial intelligence retail system is a machine capable of automatically paying goods according to input coins, such as a full-automatic coffee vending machine, a full-automatic milk tea vending machine, a full-automatic beverage vending machine and the like. The artificial intelligent retail system is commercial automation equipment, is not limited by time and place, can save manpower and is convenient for transaction. Is a brand new commercial retail form, also called a micro supermarket with 24-hour business.
However, in the retail system commonly used in the market at present, when the cup is taken, the cup is usually taken by using a mechanical finger, and the method has strict requirements on the size and the specification of the paper cup, and is not favorable for the universality of the cups with different specifications. In addition, the mechanical finger cup taking mode has the problems that the cup taking is not detected, and the cup taking cannot be carried out or is not in place.
SUMMERY OF THE UTILITY MODEL
An object of the utility model is to provide an automatic thing manipulator of getting of general type to solve above-mentioned technical problem.
The utility model provides a technical problem can adopt following technical scheme to realize:
general type gets thing manipulator automatically, includes a main support, be equipped with an upper and lower moving mechanism, vacuum chuck mechanism on the main support, the top of upper and lower moving mechanism's removal end is connected vacuum chuck mechanism, vacuum chuck of vacuum chuck mechanism is equipped with the cup storehouse of cup towards the top.
The utility model adopts the above structure to replace original mechanical type finger and get cup mechanism, when the cup is got to needs, the drive reciprocating mechanism, reciprocating mechanism's removal end upwards stretches out, drives vacuum chuck mechanism upward movement, and vacuum chuck mechanism work, when vacuum chuck mechanism's vacuum chuck contacted the bottom of the bottom cup in the cup storehouse, vacuum chuck held the cup. When the moving end of the up-and-down moving mechanism retracts downwards, the vacuum sucker mechanism is driven to move downwards, and then the cup is driven to move downwards, the vacuum sucker mechanism releases the cup, and the cup taking is completed.
The up-down moving mechanism adopts a vertically arranged cylinder, the cylinder is fixed on the main support, a piston rod of the cylinder extends out of the main support and then is connected with the vacuum chuck mechanism above the cylinder, and the piston rod of the cylinder drives the vacuum chuck mechanism to move up and down. The utility model discloses a pneumatic mode realizes the up-and-down motion of vacuum chuck mechanism.
Two reed pipe sensors for detecting the position of the piston rod are arranged on the outer wall of the air cylinder, the two reed pipe sensors are arranged up and down, and signal output ends of the two reed pipe sensors are respectively connected with the control end of the air cylinder and the control end of the vacuum chuck mechanism;
the piston rod is provided with a magnet. The utility model discloses a when upwards or the downstream is done to the piston rod, when magnet followed the piston rod and moved magnetic reed sensor department, the magnetic field that magnet produced was with the magnetic reed actuation in the magnetic reed sensor for the magnetic reed sensor switches on and then signals. The utility model discloses a length that the piston rod stretches out is confirmed to two magnetic reed pipe sensors, and then confirms vacuum chuck's position, finally controls the switching action of the vacuum pipe of vacuum chuck mechanism.
The vacuum chuck mechanism comprises a vacuum joint, an air suction port of the vacuum joint is connected with one end of a vacuum suction pipe, and the other end of the vacuum suction pipe is connected with an external vacuum pump;
the bottom of the vacuum joint is fixed with the moving end of the up-down moving mechanism, and the top of the vacuum joint is fixed with the vacuum chuck. The vacuum sucker is vacuumized by an external vacuum pump, so that the purpose that the vacuum sucker sucks the cup is achieved.
The other end of the vacuum suction pipe is connected with an external vacuum pump through an air source interface, and the air source interface is arranged below the air cylinder.
The main support is a U-shaped support, the main support comprises mounting supports on two sides and a cylinder support positioned between the two mounting supports, the mounting supports are vertically arranged, the cylinder support is horizontally arranged, the cylinder is fixed on the cylinder support, and the piston rod extends upwards out of the cylinder support and then is fixed with the vacuum joint;
the vacuum suction pipe is vertically arranged, and one end of the vacuum suction pipe penetrates through the air cylinder support and then is connected with an air suction port of the vacuum joint.
The infrared ray detection device also comprises a reflective infrared ray sensor and a reflecting plate, wherein an infrared ray transmitting end of the reflective infrared ray sensor faces the reflecting plate;
the reflective infrared sensor is positioned on one side edge above a sucker of the vacuum sucker mechanism, and the reflective plate is positioned on the other side edge above the sucker of the vacuum sucker mechanism;
and the signal output end of the reflective infrared sensor is connected with the control end of the air cylinder and the control end of the vacuum chuck mechanism. The utility model discloses a reflection infrared ray sensor and reflecting plate can set up in saucer top both sides for whether there is the cup on detecting the saucer. Since the infrared light is hardly reflected by the object such as the cup, if the reflected light is not received by the reflected infrared sensor, it is determined that the cup is present on the cup stand. If the infrared reflection sensor receives the infrared light reflected by the reflecting plate, it is determined that no cup is on the cup stand, the infrared reflection sensor transmits signals to the control end of the air cylinder and the control end of the vacuum chuck mechanism, and the cup taking process is executed again until the cup taking is successful.
Has the advantages that: due to the adoption of the technical scheme, the utility model discloses can realize the process of getting cup of cups such as different specification paper cups, plastic cup, have stronger commonality, and get the cup not in place or can get the cup once more when unable normally getting the cup and put in place.
Drawings
Fig. 1 is a perspective view of the present invention;
fig. 2 is a schematic view of the present invention.
Detailed Description
In order to make the technical means, creation features, achievement purposes and functions of the present invention easy to understand, the present invention will be further explained with reference to the specific drawings.
Referring to fig. 1 and 2, the general automatic fetching manipulator comprises a main support, wherein an up-down moving mechanism and a vacuum chuck mechanism are arranged on the main support. The main support adopts U style of calligraphy support, and the main support includes the installing support 11 of both sides, is located the cylinder support 12 between two installing support 11, the vertical setting of installing support 11, and cylinder support 12 level sets up.
The top of the moving end of the up-down moving mechanism is connected with a vacuum chuck mechanism, the up-down moving mechanism adopts a vertically arranged cylinder 2, the cylinder 2 is fixed on a cylinder support 12, a piston rod of the cylinder 2 extends out of the cylinder support 12 and then is connected with the vacuum chuck mechanism above the cylinder 2, and the piston rod of the cylinder 2 drives the vacuum chuck mechanism to move up and down.
A magnet is arranged on a piston rod of the cylinder 2, two reed pipe sensors 3 used for detecting the positions of the piston rod are arranged on the outer wall of the cylinder 2, the two reed pipe sensors 3 are arranged up and down, and the signal output ends of the two reed pipe sensors 3 are respectively connected with the control end of the cylinder and the control end of the vacuum chuck mechanism. When the magnetic reed pipe sensor 3 is fixed on the outer wall of the cylinder 2, an annular tightening device can be adopted for fixing.
The vacuum chuck mechanism comprises a vacuum connector 41, an air suction port of the vacuum connector 41 is connected with one end of a vacuum suction pipe 42, the other end of the vacuum suction pipe 42 is connected with an external vacuum pump through an air source interface 43, and the air source interface 43 is arranged below the cylinder 2. As shown in fig. 1, the vacuum suction pipe 42 is vertically disposed, and one end of the vacuum suction pipe 42 passes through the cylinder frame 12 and is connected to the suction port of the vacuum joint 41. The bottom of the vacuum joint 41 is fixed with the moving end of the up-down moving mechanism, and the piston rod of the cylinder 2 extends upwards out of the cylinder bracket 12 and then is fixed with the bottom of the vacuum joint 41. A vacuum chuck 44 is fixed to the top of the vacuum connector 41. The vacuum cup 44 is provided with a cup magazine 6 of cups 5 facing upwards.
The infrared ray detection device further comprises a reflective infrared ray sensor 7 and a reflecting plate 8, wherein an infrared ray emitting end of the reflective infrared ray sensor 7 faces the reflecting plate 8. The reflective infrared sensor 7 is located on one side of the upper side of the suction cup of the vacuum suction cup 44 mechanism, and the reflective plate 8 is located on the other side of the upper side of the suction cup of the vacuum suction cup 44 mechanism. The signal output end of the reflective infrared sensor 7 is connected with the control end of the cylinder 2 and the control end of the vacuum chuck 44 mechanism.
As shown in fig. 2, the utility model discloses when needing to get the cup, drive actuating cylinder 2 work, the piston rod of cylinder 2 upwards stretches out, magnet and vacuum chuck 44 upward movement on the drive piston rod, among the magnet upward movement process, be located the magnetic reed actuation in the magnetic reed pipe sensor 3 of top for the magnetic reed pipe sensor 3 of top switches on and then signals the control end for vacuum chuck mechanism, and when vacuum chuck 44 contacted the bottom of the bottom cup 5 in the cup storehouse 6, vacuum chuck 44 held cup 5. Magnetic reed pipe sensor 3 still gives the control end of cylinder 2 with signal transmission, cylinder 2 postpones to carry out the downstream, drive vacuum chuck 44 downstream, and then drive cup 5 downstream, magnet also follows downstream, the magnet downstream in-process, the magnetic reed actuation in the magnetic reed pipe sensor 3 that is located the below, make magnetic reed pipe sensor 3 of below switch on and then the control end of signals for vacuum chuck mechanism, vacuum chuck mechanism disconnection air supply, vacuum chuck 44 releases cup 5, it accomplishes to get the cup.
The utility model discloses a reflection infrared ray sensor 7 and reflecting plate 8 can set up in 9 top both sides of saucer for whether there is cup 5 on detecting saucer 9. The middle part of the cup stand 9 is provided with a through hole for the vacuum sucker 44 to pass through when moving up and down. Since the infrared light is hardly reflected by the object such as the cup 5, if the reflected infrared light is not received by the reflected infrared sensor 7, it is determined that the cup 5 is present on the cup holder 9. If the infrared reflection sensor 7 receives the infrared light reflected by the reflecting plate 8, it is determined that no cup 5 is on the cup holder 9, the infrared reflection sensor 7 transmits a signal to the control end of the air cylinder 2 and the control end of the vacuum chuck 44 mechanism, and the cup taking process is executed again until the cup taking is successful.
The basic principles and the main features of the invention and the advantages of the invention have been shown and described above. It will be understood by those skilled in the art that the present invention is not limited to the above embodiments, and that the foregoing embodiments and descriptions are provided only to illustrate the principles of the present invention without departing from the spirit and scope of the present invention. The scope of the invention is defined by the appended claims and equivalents thereof.
Claims (7)
1. General type gets automatic manipulator of thing, including a main support, its characterized in that, be equipped with an upper and lower moving mechanism, vacuum chuck mechanism on the main support, the top of upper and lower moving mechanism's removal end is connected vacuum chuck mechanism, vacuum chuck of vacuum chuck mechanism is equipped with the cup storehouse of cup towards the top.
2. The general type manipulator for automatically picking up objects as claimed in claim 1, wherein the up-down moving mechanism is a vertically arranged cylinder, the cylinder is fixed on the main bracket, a piston rod of the cylinder extends out of the main bracket and then is connected with the vacuum chuck mechanism above the cylinder, and the piston rod of the cylinder drives the vacuum chuck mechanism to move up and down.
3. The universal automatic object taking manipulator according to claim 2, wherein two reed pipe sensors for detecting the position of the piston rod are arranged on the outer wall of the cylinder, the two reed pipe sensors are arranged in an up-down manner, and signal output ends of the two reed pipe sensors are respectively connected with the control end of the cylinder and the control end of the vacuum chuck mechanism;
the piston rod is provided with a magnet.
4. The universal robot for picking objects as claimed in claim 2, wherein the vacuum chuck mechanism comprises a vacuum joint, the suction port of the vacuum joint is connected to one end of a vacuum suction pipe, and the other end of the vacuum suction pipe is connected to an external vacuum pump;
the bottom of the vacuum joint is fixed with the moving end of the up-down moving mechanism, and the top of the vacuum joint is fixed with the vacuum chuck.
5. The robot for universal automatic fetching of claim 4, wherein the other end of the vacuum suction pipe is connected with an external vacuum pump through an air source interface, and the air source interface is arranged below the cylinder.
6. The general type manipulator for automatically picking up objects as claimed in claim 4, wherein the main support is a U-shaped support, the main support comprises mounting supports at two sides and a cylinder support located between the two mounting supports, the mounting supports are vertically arranged, the cylinder support is horizontally arranged, the cylinder is fixed on the cylinder support, and the piston rod extends upwards out of the cylinder support and then is fixed with the vacuum joint;
the vacuum suction pipe is vertically arranged, and one end of the vacuum suction pipe penetrates through the air cylinder support and then is connected with an air suction port of the vacuum joint.
7. The universal robot for picking and placing objects according to claim 2, further comprising a reflective infrared sensor, a reflective plate, an infrared emitting end of the reflective infrared sensor facing the reflective plate;
the reflective infrared sensor is positioned on one side edge above a sucker of the vacuum sucker mechanism, and the reflective plate is positioned on the other side edge above the sucker of the vacuum sucker mechanism;
and the signal output end of the reflective infrared sensor is connected with the control end of the air cylinder and the control end of the vacuum chuck mechanism.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201922159999.5U CN211470014U (en) | 2019-12-05 | 2019-12-05 | General type automatic object-taking mechanical arm |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201922159999.5U CN211470014U (en) | 2019-12-05 | 2019-12-05 | General type automatic object-taking mechanical arm |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN211470014U true CN211470014U (en) | 2020-09-11 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201922159999.5U Expired - Fee Related CN211470014U (en) | 2019-12-05 | 2019-12-05 | General type automatic object-taking mechanical arm |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN211470014U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112959732A (en) * | 2021-04-01 | 2021-06-15 | 沪金(苏州)实业有限公司 | Double-station film laminating device for milk tea cup production |
-
2019
- 2019-12-05 CN CN201922159999.5U patent/CN211470014U/en not_active Expired - Fee Related
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112959732A (en) * | 2021-04-01 | 2021-06-15 | 沪金(苏州)实业有限公司 | Double-station film laminating device for milk tea cup production |
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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: 20200911 |
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| CF01 | Termination of patent right due to non-payment of annual fee |