WO2011095048A1

WO2011095048A1 - Mechanical arm and outlet banknote recovery device manufactured using the same

Info

Publication number: WO2011095048A1
Application number: PCT/CN2011/000128
Authority: WO
Inventors: 吴宁; 郑光燕; 杨松日; 李文渊; 师蕾; 李克福
Original assignee: 广州御银科技股份有限公司
Priority date: 2010-02-08
Filing date: 2011-01-27
Publication date: 2011-08-11
Also published as: CN101814209B; CN101814209A

Abstract

A mechanical arm for conveying and recovering banknotes and an outlet banknote recovery device manufactured using the same. A base plate (11) in the mechanical arm device is arranged on a guile-way plate (1) and can rotate along a driving shaft (2); both ends of the base plate (11) are provided with side plates (28), between which a rotating shaft (16) is arranged, one end of the rotating shaft (16) is provided with a gear (14) and arranged at the outer side of the side plates (28), and the gear (14) is in engaged transmission with a motor gear (12) fixed on a motor rotating shaft; the tail part of a dewclaw (4) is provided with a bushing (3) sleeved on the rotating shaft (16) and can rotate along the rotating shaft (16), the upper half part of a rotating plate (8) is fixed on the rotating shaft (16) and the lower half part is provided with a hook (5) capable of leaning against the shaft sleeve (3); and the mechanical arm can convey banknotes to an outlet and match with the banknote recovery device for banknotes recovery operation.

Description

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a robot for a cash dispenser module of an automatic teller machine, and to a banknote recovery device manufactured by a robot.

BACKGROUND OF THE INVENTION An automatic teller machine (ATM) is a device that can conveniently provide financial services to customers. It consists of a banknote module, a banknote module, a banknote module, and a cash dispensing module. The working principle is that the banknote module firstly has a certain amount. The banknotes are taken out of the cash box and then sent to the banknote dispensing device by the banknote sending module. When the amount of the banknotes fed into the banknotes meets the customer's demand, the banknotes are sent to the banknote dispensing module, and then the banknotes are sent to the banknote dispensing port by the banknote sending module. Take it out by the customer. In these processes, the cash-sending module needs to meet certain requirements. For example, the banknotes required by the customer can be sent out in time to avoid waiting too long. If the cashier fails to withdraw money in time, the money will not be taken out. Return and put it in the recycling cassette, then wait for the next job. In general, most ATMs fail and are in the cash dispenser module, so ensuring the quality of the cash dispenser module is critical. Chinese patent ZL200520029397 discloses a core component manipulator of the cash dispensing module, the product of which is shown in Fig. 1. There are robot guide rails on the left and right sides, and the lower finger of the manipulator is fixedly attached to the mechanical body flipping body through the rotating shaft, and the mechanical hand board is fixedly connected The rotating shaft between the left and right sleeves rotates with the rotating shaft, and the driving motor can drive the rotating shaft through the transmission gear and drive the grasping and loosening of the plate fingers to complete the function of the robot in the cash dispensing module. The advantage is that the mechanical finger can be used to conveniently send and recycle banknotes, but the disadvantage is that the upper and lower plate fingers only rely on the rotation of the motor to grasp and relax, and often the situation of "catch not tight" or "catch too tight" The former will cause the banknotes to fall off between the fingers, and the latter will damage the banknotes, causing the ATM to malfunction and affecting the customer.

SUMMARY OF THE INVENTION The technical problem to be solved by the present invention is to provide a robot to ensure that the cash dispensing module can accurately send

1 Replacement page (Article 26) Outgoing and Recycling Banknotes: Another technical problem to be solved by the present invention is to provide a banknote recycling device which is built on the manipulator of the present invention and which can conveniently and accurately recover unremoved banknotes. operating. In the manipulator of the present invention, the base plate is mounted on the guide plate and can be rotated along the drive shaft; the base plate has side plates at both ends, and a rotating shaft is arranged between the side plates, and a gear is arranged at one end of the rotating shaft and is located outside the side plate, the gear The motor gear is fixedly coupled to the motor shaft; the tail of the upper jaw is sleeved on the rotating shaft and rotatable along the rotating shaft, the upper half of the rotating plate is fixed on the rotating shaft, and the lower half is fixed on the shaft. a hook on the sleeve; a compression device is provided on the shaft. In addition, the motor gear and the gear are driven by the intermediate transmission gear; the base plate is provided with a swinging shaft, one end of the spring is connected with the rail plate, and the other end is connected with the swinging shaft mounted on the base plate; the driving shaft can be rotated by the motor by a certain angle; The upper part of the rotating plate can be fixed on the rotating shaft by screws or welding; the base plate is provided with an induction device; under the base plate, there is a telescopic plate which can be closely attached to the base plate, and the end of the compression spring is terminated at the end of the compression spring, and the other end of the compression spring Fixed; the middle of the telescopic plate has a sliding slot, the rivet passes through the sliding slot and is fixed on the base plate, and the bottom of the base plate can also be a collar, the telescopic plate passes through the collar and can slide along the collar against the base plate; The other end of the spring is fixed on the base plate; the guide post is fixed under the base plate, and the compression spring sets the guide post and can be extended and contracted along the same. The banknote recycling device comprises a casing, a guide rail is arranged in the casing, and a banknote recovery port is arranged under the casing. The manipulator is mounted on the casing rail and movable along the guide rail. The banknote recovery port has a hook for pulling the manipulator swinging shaft. An inductor is mounted on the housing. According to the manipulator of the present invention, the pressing device presses the upper jaw against the telescopic plate by elastic force, so that the banknote can be firmly grasped. When the banknotes need to be sent out, the robot moves forward along the guide rails to the cash exit port until the telescopic plate contacts the cash dispenser opening, and the robot moves forward along the guide rails, and the telescopic plates are returned to the robots due to being blocked by the casing. After the operation is completed, the robot moves backward along the guide rail, and the elastic force of the compression spring drives the expansion plate to extend forward until the initial state is restored. When it is necessary to recycle the undrawn banknotes, the cash-out sensor issues a command, and the robot moves back along the guide rail. When retracting to the top of the cash-receiving banknote, the hook hooks the swinging shaft of the robot, or rotates the device. Rotating the drive shaft and rotating the base plate of the manipulator along the rotating shaft. At this time, the telescopic plate is inclined at a certain angle. At the same time, the motor runs and drives the rotating shaft gear to rotate through the intermediate transmission gear. When the rotating shaft rotates, the rotating plate fixed thereon is rotated and rotated. The lower hook of the lower part of the plate can resist the elastic force of the pressing device and drive the sleeve of the movable set on the rotating shaft. Since the sleeve is the tail of the upper claw, the upper claw also rotates at a certain angle and drives the upper claw and The lower jaws are separated, and the banknotes can slide along the inclined telescopic plates to the recovery bin due to the loss of pressure. When the banknote is recovered, the hook leaves the swinging shaft of the robot and the base plate returns to its original state, and the motor rotates in the opposite direction. The upper jaw re-presses the expansion plate under the action of the pressing device and waits for the next operation.

The manipulator of the present invention has the advantages that: the manipulator presses the upper jaw against the lower plate by the elastic force of the spring, and when the banknote needs to be stacked, the motor is started to drive the rotating shaft to rotate, and the rotating plate is used to push the sleeve of the upper claw to rotate and The position of the upper claw is away from the lower plate, so that the rotation of the motor does not need to consider the thickness of the banknote, and at the same time, it can overcome the disadvantage that the banknote is not tightly held due to the deviation of the rotation of the motor, thereby causing the slide to fall; the extension and retraction of the expansion plate are controlled by the spring, It is equivalent to increasing the length of the lower jaw, which can hold the paper money and transfer it to the cash withdrawal port while retaining the expansion plate in the casing instead of sticking out the banknote, making the machine more beautiful and ensuring the safety of the machine. The banknote recycling device uses the mechanical force to drive the shaft to rotate a certain angle to return the banknote to the banknote recycling bin, and the position of the hook is fixed, so that the robot can be accurately sent to the designated position to complete the operation of recycling the banknote.

BRIEF DESCRIPTION OF THE DRAWINGS FIG. 1 is a schematic structural view of a manipulator according to the present invention; FIG. 2 is a schematic structural view of a manipulator rotating at a certain angle; FIG. 3 is a schematic side view of the manipulator; Figure 5 is a partial enlarged view of the rotating shaft; Figure 6 is a schematic structural view of the banknote recovery device; Figure 7 is a schematic view of the banknote in a recovered state.

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS As shown in FIG. 1 and FIG. 2, a base plate 1 1 is mounted on a rail plate and can be rotated along a drive shaft 2; the drive shaft 2 can be rotated by a rotation device, and the rotation device can be a motor. Or solenoid valve. The base plate 1 1 has a side plate 28 at both ends, a rotating shaft 16 is arranged between the side plates 28, and a gear 14 is arranged at the end of the rotating shaft 16 and is located outside the side plate. The gear 14 and the motor gear fixed on the motor shaft] 2 Engagement drive, the tail of the upper jaw 4 has a sleeve 3 which is sleeved on the rotating shaft 16 and is rotatable along the rotating shaft. The upper half of the rotating plate 8 is fixed on the rotating shaft by means of screws 15, and the lower half is provided with abutable The return hook 5 on the sleeve 3; the rotating shaft 16 is provided with a pressing device 9, the pressing device can be a spring, and the rotating shaft 16 is set, which can also be a torsion spring, one end of the torsion spring is pressed on the upper claw 4, and the other end is Connect the base plate 1]. According to the manipulator of the present invention, the pressing device 9 presses the upper jaw against the telescopic plate by the elastic force. When the machine is required to perform the cash-carrying operation, the motor rotates and drives the rotating shaft gear that meshes with it, as shown in FIG. The rotating plate rotates, and the return hook of the rotating plate abuts against the sleeve, so that the elastic force of the pressing device 9 can be resisted and the sleeve abutting thereon can be rotated along the rotating shaft and the upper claw 4 can be driven to leave the elastic plate. After the placement is completed, the motor is rotated, and the upper jaw can restore the upper jaw 4 to the initial state of pressing on the telescopic plate under the elastic force of the pressing device 9.

As shown in FIG. 3, the telescopic device has a telescopic plate 7 which can be closely attached to the bottom of the base plate 1. The retractable plate 17 has a sliding slot 19 in the middle thereof, and the rivet 20 passes through the sliding slot 19 and is fixed on the base plate 11 The end of the compression spring 18 is terminated, and the other end of the compression spring 18 is fixed on the base plate: the expansion plate can also be slid by the collar 21 under the base plate, and the compression spring 4 can also be set with the guide post 5 and along It is telescopic, and its guide post 5 is fixed under the base plate. When the robot needs to send the captured banknotes, the robot moves forward along the guide rail to the withdrawal slot. When the telescopic plate reaches the cash dispenser opening, the robot moves forward. At this time, the telescopic plate moves along the chute relative to the robot. The spring is pressed back and the spring is pressed until the robot sends the banknote to the dispensing opening and stops moving; when the robot is retracted after the operation, the spring force drives the telescopic plate to move forward relative to the chute until the initial state is restored.

As shown in FIG. 5 and FIG. 6, the banknote recovery device is provided with a guide rail in the casing, and a banknote recovery port is arranged under the casing for recovering banknotes. The robot is mounted on the guide rail and can be moved along the guide rail. Pull the hook of the swinging shaft of the robot, and the sensor is installed next to the hook. Due to operation or other reasons, when the customer has not removed the banknote, it needs to be recycled. At this time, the cash-out sensor issues a command, and the robot retracts along the guide rail. When the ink is retracted to the top of the cash-out port, the hook hooks the robot. The swinging shaft rotates the entire gripping portion along the rotating shaft by a certain angle, and simultaneously controls the rotation of the motor, drives the upper claw to rotate a certain angle along the rotating shaft and leaves the lower plate, and the banknote slides along the elastic plate to the recycling box to complete the banknote recycling operation. .

Claims

Claim

1. A robot, characterized in that a base plate (11) is mounted on a rail plate (]) and is rotatable along a drive shaft (2): a base plate (11) has side plates (28) at both ends, and is mounted between the side plates There is a rotating shaft (16), and one end of the rotating shaft (16) is equipped with a gear (] 4) and is located outside the side plate, and the gear (14) is meshed with the motor gear (.12) fixed on the motor shaft; the upper claw (4) The tail sleeve (3) is sleeved on the rotating shaft (16) and can be rotated along the rotating shaft. The upper half of the rotating plate (8) is fixed on the rotating shaft (16), and the lower half is fixed against the sleeve (3). ) The return hook (5); The shaft (16) is equipped with a pressing device (9).

2. A robot according to claim 1, characterized in that the motor gear (12) and the gear (14) are driven by the intermediate transmission gear (13). 3. The manipulator according to claim 1, wherein the base plate (11) is provided with a swinging shaft (6), the end of the spring (7) is connected to the rail plate (1), and the other end is mounted on the base plate. (11) The upper swing shaft (6) is connected.

4. A robot according to claim 1, characterized in that the drive shaft (2) is rotatable by a rotation means. δ. The robot according to claim 1, wherein: the rotating device is a motor or a solenoid valve.

6. The manipulator according to claim 1, wherein: the pressing device (9) is a spring and is provided with a rotating shaft (16), and an end of the spring is in contact with the base plate (U).

The manipulator according to claim 1, characterized in that: the pressing device (9) is a torsion spring, one end of which is pressed against the upper claw (4) and the other end of which is in contact with the base plate (11).

8. A manipulator according to claim 1, characterized in that the upper half of the rotating plate (8) is fixed to the rotating shaft Π6) by screws (15) or welding.

9. The robot according to claim 1, wherein: the base plate (11) is provided with an inductive device

(10).

10. The robot according to claim 1, wherein: the base plate (11) has a bottom portion that can be closely attached thereto The sliding telescopic plate (17) and the telescopic plate (Π) are terminated with a compression spring (18) at the end, and the other end of the compression spring (18) is fixed.

11. The manipulator according to claim 10, characterized in that the telescopic plate (17) has a sliding groove (19) in the middle thereof, and the rivet (20) passes through the sliding groove (19) and is fixed on the base plate (11). . 12. The manipulator according to claim 10, characterized in that: a collar (21) is arranged under the base plate (11), and the telescopic plate (7) passes through the collar (21) and can be closely attached to the base along the collar Plate (U) slides.

13. A manipulator according to claim 10, 11 or 12, characterized in that the other end of the compression spring (] 8) is fixed to the base plate (Π).

14. The manipulator according to claim 0, 11 or 12, wherein: the guide post (22) is fixed under the base plate (Π), the compression spring (18) is set with the guide post (22) and can be extended and contracted along the same .

A banknote reclaiming device manufactured by a robot, comprising a casing (23), a casing (23) having a rail (24), and a casing (23) having a banknote recovery port (25) The utility model is characterized in that: the robot is mounted on the guide rail of the casing and can move along the guide rail, and the hook (26) of the banknote recovery port (25) can pull the swing shaft of the robot. 16. The banknote withdrawal device according to claim 15, wherein: the housing (23) is provided with an inductor (27).