CN214136109U

CN214136109U - Mechanical arm

Info

Publication number: CN214136109U
Application number: CN202022586645.1U
Authority: CN
Inventors: 韩晓虎; 钟宏斌; 邵佳林; 王志丹
Original assignee: Two Tigers Qinhuangdao Technology Co ltd
Current assignee: Two Tigers Qinhuangdao Technology Co ltd
Priority date: 2020-11-10
Filing date: 2020-11-10
Publication date: 2021-09-07
Anticipated expiration: 2030-11-10

Abstract

The utility model provides a mechanical arm relates to the automatic preparation technical field of cotton candy, has solved the complicated technical problem of used mechanical arm mechanism in the current cotton candy automated production. The mechanical arm comprises a transverse moving device, a deflection device, an angle adjusting device, a rotating device and a rod-taking head; the stick taking head is provided with a containing hole, and the containing hole is in interference fit with the cotton candy stick body; the rotating device controls the rod taking head to rotate at a constant speed; the angle adjusting device adjusts the rotating device to rotate compared with the deflection device, so as to adjust the relative angle between the rod-taking head and the deflection device; the deflection device is respectively connected with the transverse moving device and the rod taking head, and the longitudinal position and the height of the rod taking head are adjusted; the lateral movement device adjusts the lateral position of the deflection device. The utility model is used for cotton candy automated production.

Description

Mechanical arm

Technical Field

The utility model belongs to the technical field of the automatic preparation of cotton candy technique and specifically relates to a mechanical arm is related to.

Background

The cotton candy is a flavor leisure food, and early vendors push bicycles or tricycles carrying cotton candy makers to make the cotton candy as street at present: a spoon of white sugar is put into a simple electric machine which rotates rapidly, and then the white sugar twines small sticks layer by layer around the wall of the machine, so that a bunch of snow-white fluffy cotton candy is formed. The taste of the cotton candy is fragrant and sweet, and the cotton candy is sticky and is particularly popular with young people and children.

Modern science and technology is rapidly developed, the view of people is gradually faded out by the vehicle-mounted manually-operated cotton candy machine, however, the cotton candy is still favored by consumers due to unique taste and mouthfeel, and therefore, the high-automation cotton candy vending machine is suitable for transportation.

The applicant has found that the prior art has at least the following technical problems:

in the machine is sold to current cotton candy, the arm structure for getting rod, supplementary cotton candy production is complicated, and the cost is high, poor stability.

Disclosure of Invention

An object of the utility model is to provide a mechanical arm to solve the complicated technical problem of mechanical arm mechanism who uses in the current cotton candy automated production. The utility model provides a plurality of technical effects that preferred technical scheme among a great deal of technical scheme can produce see the explanation below in detail.

In order to achieve the above purpose, the utility model provides a following technical scheme:

the utility model provides a mechanical arm, which comprises a transverse moving device, a deflection device, an angle adjusting device, a rotating device and a rod-taking head; in the horizontal direction, the transverse moving device drives the rod taking head to perform linear motion, and the transverse position of the rod taking head is adjusted; in the vertical direction, the deflection device drives the rod taking head to perform deflection motion, and the longitudinal position and the height position of the rod taking head are adjusted; the stick taking head is provided with a containing hole, the central axis of the containing hole is superposed with the central axis of the stick taking head, and the containing hole is in interference fit with the cotton candy stick body; the angle adjusting device adjusts the spatial position of the rod taking head, so that the direction of the port of the accommodating hole is changed; the rotating device controls the rod taking head to rotate around the central axis of the rod taking head.

Preferably, the robotic arm further comprises a sensor and a controller; the sensor detects whether the cotton candy stick body in the containing hole is in a state or not, and the controller is respectively and electrically connected with the sensor, the transverse moving device, the deflection device and the angle adjusting device.

Preferably, the front end of the accommodating hole of the club head is provided with a guide groove with a large outside and a small inside.

Preferably, the lateral moving device comprises a base, a lateral adjusting mechanism and a moving platform, wherein the lateral adjusting mechanism is respectively and fixedly connected with the base and the moving platform, and adjusts the moving platform to move laterally compared with the base.

Preferably, the lateral moving mechanism comprises a driving motor, a screw, a nut and a guide rod; the two ends of the guide rod are horizontally arranged and fixedly connected with the base, the guide rod penetrates through the mobile station, and the mobile station freely slides in the length direction of the guide rod; the two ends of the screw rod are rotatably connected with the base and are parallel to the guide rod, the drive motor drives the screw rod to rotate, the nut is matched with the screw rod, and the nut is fixedly connected with the mobile platform.

Preferably, the deflection device is composed of at least two swing angle mechanisms, the swing angle mechanisms perform deflection motion in the vertical direction, and all the swing angle mechanisms are sequentially hinged end to end.

Preferably, the number of the swing angle mechanisms is two, and the deflection device comprises a first joint, a first arm rod, a second joint and a second arm rod; one end of the first arm rod is hinged with the transverse moving device through the first joint, the other end of the first arm rod is hinged with one end of the second arm rod through the second joint, and the rod taking head is arranged at one end, far away from the first arm rod, of the second arm rod.

Preferably, the bottom of the accommodating hole of the rod taking head is provided with a clamping adjusting device; when the cotton candy stick body enters the accommodating hole, the clamping adjusting device contracts in the radial direction to adjust and clamp the cotton candy stick body.

Preferably, the clamping adjusting device comprises at least two ejector blocks and an elastic mechanism, all the ejector blocks are uniformly arranged along the circumferential direction of the accommodating hole, and the elastic mechanism is arranged between the ejector blocks and the wall body of the rod-taking head, so that the ejector blocks have the tendency of inward contraction.

Preferably, one end of the top block close to the cotton candy stick body is provided with a power-assisted inclined plane.

The utility model provides an arm, which comprises a transverse moving device, a deflection device, an angle adjusting device, a rotating device and a rod-taking head; the stick taking head is provided with a containing hole, and the containing hole is in interference fit with the cotton candy stick body; the transverse moving device, the deflection device, the angle adjusting device and the rotating device are mutually combined to complete the whole-course driving of the rod-taking head. Wherein the picking rod head adopts an interference fit mode to complete the grabbing of the cotton candy rod body, and a consumer can directly pull out the cotton candy rod body after the cotton candy rod is manufactured; lateral shifting device, deflector, angle adjusting device, rotary device are single degree of freedom drive assembly, use simple structure, operation stability mutually supporting, and the arm in the little existing equipment compares the utility model relates to an arm structure is more simple and convenient.

Drawings

In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to these drawings without creative efforts.

Fig. 1 is a schematic structural view of a robot arm according to the present invention;

fig. 2 is a schematic plan view of the machine unit according to the present invention.

In the figure 1, a transverse adjusting device; 11. a base; 12. a mobile station; 2. a deflection device; 21. a first joint; 22. a first arm; 23. a second joint; 24. a second arm; 3. an angle adjusting device; 4. a rotating device; 5. and (4) taking the club head.

Detailed Description

In order to make the objects, technical solutions and advantages of the present invention clearer, the technical solutions of the present invention will be described in detail below. It is to be understood that the embodiments described are only some embodiments of the invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by a person skilled in the art without creative efforts belong to the protection scope of the present invention.

As shown in fig. 1 and 2, the present invention provides a mechanical arm, which includes a lateral moving device, a deflecting device 2, an angle adjusting device 3, a rotating device 4 and a stick-taking head 5; in the horizontal direction, the transverse moving device drives the rod taking head 5 to perform linear motion, and the transverse position of the rod taking head 5 is adjusted; in the vertical direction, the deflection device 2 drives the rod taking head 5 to perform deflection motion, and the longitudinal position and the height position of the rod taking head 5 are adjusted; the stick taking head 5 is provided with a containing hole, the central axis of the containing hole is superposed with the central axis of the stick taking head 5, and the containing hole and the cotton candy stick body are in interference fit; the angle adjusting device 3 adjusts the spatial position of the rod head 5, and further changes the direction of the port of the accommodating hole; the rotating device 4 controls the rod taking head 5 to rotate around the central axis of the rod taking head. Horizontal adjusting device 1, deflection arrangement 2, angle adjusting device 3, rotary device 4 are single degree of freedom drive assembly, use simple structure, operation stability mutually supporting, compare with the arm in the existing equipment the utility model relates to an arm structure is more simple and convenient.

As an optional implementation manner of the present invention, the mechanical arm further includes a sensor and a controller; the sensor detects whether the cotton candy stick body in the containing hole is in a state or not, and the controller is respectively and electrically connected with the sensor, the transverse moving device, the deflection device 2 and the angle adjusting device 3.

Specifically, the sensor adopts an infrared sensor, the sensor is arranged at the front end of a stick taking head 5 and used for detecting whether a cotton candy stick body exists in a containing hole, after a consumer purchases cotton candy, a controller receives a starting instruction, the stick taking head 5 is driven by a transverse adjusting device 1, a deflecting device 2 and an angle adjusting device 3 to grab the cotton candy stick body, the sensor detects that a grabbing claw grabs the cotton candy stick body and feeds back information to the controller, the cotton candy stick body is moved to a candy spraying opening through the coordinated operation of the transverse adjusting device 1, the deflecting device 2 and the angle adjusting device 3, then the controller starts a rotating device 4 to manufacture the cotton candy, (the rotating time of the rotating device 4 is different and is usually between 4 and 6 seconds according to different types of purchase of the consumer), after the cotton candy is manufactured, the rotating device stops rotating under the action of the controller, horizontal adjusting device 1, deflector 2, angle adjusting device 3 under the combined action with the cotton candy that the preparation was accomplished remove to get the goods mouth, the consumer pulls out the cotton candy from getting in the club head 5, the sensor detects the cotton candy rod body and breaks away from behind the snatching claw, to controller feedback signal, the arm resets under the controller is adjusted, waits for next consumer to purchase the cotton candy. (the controller adopts a conventional CPU processor, and the specific programming information is not in the protection scope of the utility model)

As an optional implementation manner of the present invention, the front end of the storage hole of the stick head 5 is provided with a guide groove with a large outside and a small inside, and the guide groove is in a horn shape, so that the cotton candy stick body can be inserted into the storage hole.

As an optional embodiment of the present invention, the lateral moving device includes a base 11, a lateral adjusting mechanism and a mobile station 12, the lateral adjusting mechanism is respectively fixedly connected to the base 11 and the mobile station 12, and the mobile station 12 is adjusted to be compared with the lateral moving of the base 11.

As an optional embodiment of the present invention, the lateral moving mechanism includes a driving motor, a screw, a nut, and a guide rod; the two ends of the guide rod are horizontally arranged and fixedly connected with the base 11, the guide rod penetrates through the mobile station 12, and the mobile station 12 freely slides in the length direction of the guide rod; the two ends of the screw are rotatably connected with the base 11 and are parallel to the guide rod, the drive motor drives the screw to rotate, the nut is matched with the screw, and the nut is fixedly connected with the mobile station 12. The mobile station 12 is provided with a limiting induction sheet, the base 11 is provided with two contrast induction sheets which are arranged in the length direction of the screw rod and respectively correspond to the position of the rod head 5 for taking the rod and the position of the rod head 5 for rotating and manufacturing the cotton candy, and the goods outlet is corresponding to the transverse cotton candy manufacturing position. (the contrast induction sheet sends out an excitation signal, the limit induction sheet receives the signal and transmits the signal to the controller)

As an alternative embodiment, the deflection device 2 is composed of at least two swing angle mechanisms, and the swing angle mechanism is the deflection motion in the vertical direction, and all swing angle mechanisms are articulated in proper order from beginning to end (every deflection mechanism possesses a deflection center, and the rotation center is located the one end of deflection mechanism, and wherein in each deflection mechanism, the one end that possesses the rotation center is called the head end for short, and the one end of keeping away from the rotation center is called the tail end for short).

As an optional embodiment of the present invention, the number of the swing angle mechanisms is two, and the deflection device 2 includes a first joint 21 (the first joint 21 includes a driving motor and a hinge shaft), a first arm 22, a second joint 23 (the second joint 23 includes a driving motor and a hinge shaft), and a second arm 24; one end of the first arm lever 22 is hinged with the transverse moving device through a first joint 21, the other end of the first arm lever 22 is hinged with one end of a second arm lever 24 through a second joint 23, and the stick taking head 5 is arranged at one end, far away from the first arm lever 22, of the second arm lever 24.

As an optional embodiment of the present invention, a clamping and adjusting device is disposed at the bottom of the receiving hole of the blade 5; when the cotton candy stick body enters the accommodating hole, the clamping adjusting device contracts in the radial direction to adjust and clamp the cotton candy stick body.

As an optional implementation manner of the utility model, press from both sides tight adjusting device and include kicking block and elastic mechanism, the quantity of kicking block has two at least, and all kicking blocks prolong the circumference direction align to grid who accomodates the hole, and elastic mechanism sets up between the kicking block and the wall body of getting club head 5 for the kicking block has the trend of inside shrink.

As an alternative embodiment of the present invention, the end of the top piece near the cotton candy stick body is provided with a power-assisted slope.

Specifically, the bottom of a claw taking hole of the rod taking head 5 is provided with a buffer device; when the cotton candy stick body enters the accommodating hole, the buffer device absorbs the impact kinetic energy of the cotton candy stick body; the damping device releases the absorbed kinetic energy when the marshmallow stick body is removed from the claw extraction opening. The buffer device adopts a pressure spring, the diameter of the pressure spring is smaller than that of the accommodating hole, and the central axis of the pressure spring is superposed with that of the accommodating hole; the accommodating hole is a blind hole, and one end of the pressure spring is fixedly connected with the bottom surface of the accommodating hole.

Specifically, for the convenience of inserting of the cotton candy stick body, extract and accomodate the hole, set up lug or sand grip on accomodating the hole medial wall body, the extending direction of lug or sand grip is the same with the extending direction who accomodates the hole, ensures the joint strength of cotton candy stick body, avoids taking out and accomodates the hole at the in-process stick body of preparation cotton candy, can avoid again the stick body and accomodate the bonding strength between the hole too big, and the consumer is difficult to extract the cotton candy stick body.

In the description of the present invention, it should be noted that unless otherwise noted, the term "transverse" refers to the direction of elongation of the base as shown in fig. 2, and "longitudinal" refers to the direction perpendicular to the transverse direction in the horizontal plane, and is only for convenience of description and simplicity of description, and does not indicate or imply that the device or element referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore should not be construed as limiting the present invention. Furthermore, the terms "first," "second," "third," and the like are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.

The above description is only for the specific embodiments of the present invention, but the protection scope of the present invention is not limited thereto, and any person skilled in the art can easily think of the changes or substitutions within the technical scope of the present invention, and all should be covered within the protection scope of the present invention. Therefore, the protection scope of the present invention shall be subject to the protection scope of the claims.

Claims

1. A mechanical arm is characterized by comprising a transverse moving device, a deflection device, an angle adjusting device, a rotating device and a rod-taking head;

in the horizontal direction, the transverse moving device drives the rod taking head to perform linear motion, and the transverse position of the rod taking head is adjusted; in the vertical direction, the deflection device drives the rod taking head to perform deflection motion, and the longitudinal position and the height position of the rod taking head are adjusted;

the stick taking head is provided with a containing hole, the central axis of the containing hole is superposed with the central axis of the stick taking head, and the containing hole is in interference fit with the cotton candy stick body;

the angle adjusting device adjusts the spatial position of the rod taking head, so that the direction of the port of the accommodating hole is changed;

the rotating device controls the rod taking head to rotate around the central axis of the rod taking head.

2. A robotic arm as claimed in claim 1, further comprising a sensor and a controller; the sensor detects whether the cotton candy stick body in the containing hole is in a state or not, and the controller is respectively and electrically connected with the sensor, the transverse moving device, the deflection device and the angle adjusting device.

3. The mechanical arm as claimed in claim 1, wherein the front end of the receiving hole of the blade is provided with a guide groove with a larger outside and a smaller inside.

4. The mechanical arm as claimed in claim 1, wherein the lateral moving device comprises a base, a lateral adjusting mechanism and a moving platform, the lateral adjusting mechanism is fixedly connected with the base and the moving platform respectively, and the moving platform is adjusted to move laterally compared with the base.

5. A robotic arm as claimed in claim 4, in which the lateral adjustment mechanism comprises a drive motor, a screw, a nut and a guide rod;

the two ends of the guide rod are horizontally arranged and fixedly connected with the base, the guide rod penetrates through the mobile station, and the mobile station freely slides in the length direction of the guide rod; the two ends of the screw rod are rotatably connected with the base and are parallel to the guide rod, the drive motor drives the screw rod to rotate, the nut is matched with the screw rod, and the nut is fixedly connected with the mobile platform.

6. A robotic arm as claimed in claim 1, in which the deflection means comprises of at least two tilt angle mechanisms, the tilt angle mechanisms being deflectable in a vertical direction, all of the tilt angle mechanisms being articulated end to end in sequence.

7. The mechanical arm as claimed in claim 6, wherein the number of the swing angle mechanisms is two, and the deflecting means comprises a first joint, a first arm lever, a second joint and a second arm lever; one end of the first arm rod is hinged with the transverse moving device through the first joint, the other end of the first arm rod is hinged with one end of the second arm rod through the second joint, and the rod taking head is arranged at one end, far away from the first arm rod, of the second arm rod.

8. The mechanical arm as claimed in claim 1, wherein the bottom of the receiving hole of the blade is provided with a clamping adjustment device;

when the cotton candy stick body enters the accommodating hole, the clamping adjusting device contracts in the radial direction to adjust and clamp the cotton candy stick body.

9. The mechanical arm as claimed in claim 8, wherein the clamping adjustment means comprises at least two ejector blocks, all of which are arranged uniformly along the circumferential direction of the receiving hole, and a resilient mechanism provided between the ejector blocks and the wall of the blade so that the ejector blocks have a tendency to contract inwardly.

10. The robotic arm of claim 9, wherein an end of the top piece adjacent to the cotton candy stick body is provided with a power-assisted bevel.