WO2018210291A1 - 机械手 - Google Patents

机械手 Download PDF

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Publication number
WO2018210291A1
WO2018210291A1 PCT/CN2018/087236 CN2018087236W WO2018210291A1 WO 2018210291 A1 WO2018210291 A1 WO 2018210291A1 CN 2018087236 W CN2018087236 W CN 2018087236W WO 2018210291 A1 WO2018210291 A1 WO 2018210291A1
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WO
WIPO (PCT)
Prior art keywords
axis
motor
slide rail
rotating
platform
Prior art date
Application number
PCT/CN2018/087236
Other languages
English (en)
French (fr)
Inventor
邓来明
Original Assignee
北京华沁智联科技有限公司
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Filing date
Publication date
Application filed by 北京华沁智联科技有限公司 filed Critical 北京华沁智联科技有限公司
Publication of WO2018210291A1 publication Critical patent/WO2018210291A1/zh

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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
    • B65G47/74—Feeding, transfer, or discharging devices of particular kinds or types
    • B65G47/90—Devices for picking-up and depositing articles or materials
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
    • B65G47/74—Feeding, transfer, or discharging devices of particular kinds or types
    • B65G47/90—Devices for picking-up and depositing articles or materials
    • B65G47/91—Devices for picking-up and depositing articles or materials incorporating pneumatic, e.g. suction, grippers

Definitions

  • the utility model relates to the field of machinery, in particular to a manipulator.
  • the common vending machine controls the sale of items.
  • the device is usually a baffle in front of the item.
  • the front bezel moves or the bezel is lowered, and the item can be removed from the item.
  • the storage shelves are dropped and fall out of the shipping port.
  • the robot can take the items to make the items more concealed, instead of blocking the items and the users through the transparent window.
  • the items can be placed anywhere inside the vending machine. More secure.
  • the inventors of the present invention found that there is a problem in the prior art that articles are directly dropped from the vending machine.
  • the present invention provides a robot for taking items in a vending machine and/or a warehouse.
  • the embodiment of the present invention provides a robot, comprising:
  • a connecting rod having a through hole at one end for passing the top end of the screw
  • a support platform perpendicular to the slide rail, fixedly connected to the bottom of the slide rail, and perpendicular to the connecting rod direction;
  • a lifting motor fixedly mounted on an upper portion of the connecting rod, the rotating shaft being fixedly docked with the screw rod passing through the connecting rod through hole;
  • Rotating assembly sliding connection with the support table along the Z axis
  • the base is slidably transferred along the X axis with the rotating component.
  • the suction cup After moving the suction cup along the X-axis, the Y-axis and the Z-axis, and moving to the position of the corresponding article, the suction cup picks up the article, and then puts the sucked article into the delivery port, thereby achieving the purpose of picking up the suction cup, because the suction tray takes goods.
  • the rotating component includes:
  • a superior platform assembly slidably coupled to the support table along the Z axis;
  • the upper platform assembly and the lower platform are rotationally coupled by the rotating wheel.
  • the rotating component is installed in the robot, and the upper platform component and the lower platform are rotated by the rotating wheel, so that the upper platform component can be rotated to expand the drawing range of the suction cup, thereby increasing the space for storing the article, thereby increasing the type of the stored article. And quantity.
  • the rotating motor drives the rotating wheel to rotate by a belt.
  • An X-axis motor mounted below the base;
  • X-axis moving screw one end is connected with the rotating shaft of the X-axis motor
  • An encoder fixedly connected to the other end of the X-axis moving screw
  • the X-axis moving block is fixedly connected to the lower platform and has a through hole therein for rotating the X-axis moving screw;
  • the X-axis slide rail comprises: an X-axis slide rail and an X-axis guide rail mounted on the base, wherein the X guide rail is fixedly mounted on the base, and the X slide rail is fixedly mounted under the lower platform
  • the X-axis slide is slidably coupled to the X-axis guide rail.
  • the X-axis moving block moves the screw along the X-axis through the X-axis motor, the X-axis moving screw and the X-axis slide, and the X-axis moving block is fixed to the lower stage, so the X-axis moving block moves the wire along the X-axis.
  • the lower stage platform is moved to drive the suction cup to move along the X axis, and the encoder can determine the displacement of the X-axis slide movement, thereby moving the suction cup to a designated position, so that the suction cup can be sucked at the designated position. article.
  • the superior platform component includes:
  • the Z-axis slide rail comprises: a Z-axis slide rail and a Z-axis guide rail, which are mounted on the two sides of the upper platform along the Z-axis, wherein the two Z-axis guide rails are fixedly mounted on two sides of the upper platform, two a Z-axis slide is fixedly connected to the support table, and the Z-axis slide is slidably connected to the Z-axis guide rail;
  • Two rubber wheels are respectively installed at the center positions of the upper stages of the upper platform along the X axis;
  • the conveyor belt bypasses the two rubber wheels and is in contact with the two rubber wheels.
  • the support table slides along the Z axis on the upper platform through the Z-axis slide rail, so that the suction cup can slide along the Z-axis, and the two rubber wheels and the conveyor belt can drive the items sucked by the suction tray to the upper platform to move the object.
  • the purpose is also to facilitate the movement of the suction cup with the animal in the Z-axis direction.
  • the support table is in the shape of a "door", and the two Z-axis slides are fixedly mounted on the inner sides of the two vertical sides of the "door" of the support table.
  • the Z-axis slide is fixedly mounted on the inner side of the two vertical sides of the support door, so that the slide on the support table can cooperate with the guide rails on both sides of the upper platform, so that the support platform slides on the upper platform and is installed on the inner side of the support platform. It also improves the robustness between the support table and the upper platform.
  • the Z-axis motor is mounted beside the upper stage platform, and the rotating shaft of the Z motor is respectively connected to the Z-axis slide rail and one of the rubber wheels.
  • the Z-axis motor is respectively connected with the Z-axis slide rail and a rubber wheel, so that the Z-axis pulley and the rubber wheel drive the belt at the same speed, so that the suction disc and the article move at the same speed on the upper platform, and the article is moved to the upper platform.
  • the booster is of an "n" shape, one side of the “n” shape is mounted on the upper portion of the slide rail, and the other side of the "n” shape is mounted on the side of the rotary assembly.
  • the force to restore the original shape is generated, thereby driving the sliding rail back to the original position, thereby further facilitating the movement of the suction cup with the animal product on the upper platform.
  • the motor slide rail comprises: a motor slide rail and a motor guide rail mounted on the support table, parallel to the suction cup direction, wherein the motor slide rail is slidably connected to the motor guide rail;
  • the rotating needle is fixedly connected to the rotating shaft of the pickup motor, and is in the same direction as the head of the suction cup.
  • the moving motor is mounted beside the motor slide rail, and the rotating shaft is connected to the motor slide rail, and the motor slide rail is driven to move along the motor rail when the rotating shaft rotates.
  • the pickup motor can cooperate with other components on the vending machine to move the inner item to the suction cup position, and the moving motor can drive the pickup motor to move along the motor slide to move the pickup motor to the designated position, so that the suction cup can pick up the item.
  • Setting two pickup motors can make the pickup motor cooperate with the mechanism for storing the goods before and after, so that the suction cup can suck the articles from both sides.
  • FIG. 1 is a structural view of a manipulator provided by an embodiment of the present invention.
  • FIG. 2a is a structural view of a manipulator provided by an embodiment of the present invention.
  • FIG. 2b is a structural view of a manipulator provided by an embodiment of the present invention.
  • 2c is a structural view of a manipulator provided by an embodiment of the present invention.
  • an embodiment of the present invention provides a robot, including:
  • connecting rod 104 having a through hole at one end for passing the tip end of the screw rod 103;
  • the slide rail 105 is fixedly connected to the other end of the connecting rod 104, parallel to the screw rod 103, and slidably connected to the sliding table 102;
  • the support table 106 is perpendicular to the slide rail 105, fixedly connected to the bottom of the slide rail 105, and perpendicular to the direction of the connecting rod 104;
  • the lifting motor 106 is fixedly mounted on the upper part of the connecting rod 104, and the rotating shaft is fixedly connected to the screw rod passing through the connecting rod through hole;
  • Rotating assembly 107 sliding connection with support table 106 along the Z axis;
  • the base 108 is slidably coupled to the rotating assembly 107 along the X axis.
  • the embodiment of the present invention provides a manipulator. After moving the suction cup along the X axis, the Y axis and the Z axis, and moving to the position of the corresponding article, the suction cup sucks the article, and then the sucked article is put into the delivery port, thereby realizing The purpose of picking up the goods through the suction cup.
  • rotating the assembly includes:
  • the upper platform component is slidably connected to the support table along the Z axis;
  • the upper platform component and the lower platform are connected by a rotating wheel.
  • the rotating component is installed in the robot, and the upper platform component and the lower platform are rotated and connected by the rotating wheel, so that the upper platform component can be rotated to expand the drawing range of the suction cup, thereby increasing the space for storing the article, thereby You can increase the type and quantity of items stored.
  • the method further includes:
  • the belt is connected to the rotating motor and the rotating wheel respectively;
  • the rotating motor drives the wheel to rotate through the belt.
  • the rotating motor and the belt drive the rotating wheel to rotate, thereby realizing the purpose of rotating the suction cup by rotating the motor, thereby increasing the space for storing the articles, thereby increasing the type and quantity of the stored articles.
  • the method includes:
  • X-axis moving screw one end is connected with the rotating shaft of the X-axis motor
  • An encoder fixedly connected to the other end of the X-axis moving screw
  • the X-axis moving block is fixedly connected with the lower platform and has a through hole therein for rotating the X-axis moving screw;
  • the X-axis slide rail comprises: an X-axis slide rail and an X-axis guide rail, which are mounted on the base, wherein the X guide rail is fixedly mounted on the base, the X slide rail is fixedly mounted under the lower platform, and the X-axis slide rail slides with the X-axis guide rail. connection.
  • the X-axis moving block moves the screw along the X-axis by the X-axis motor, the X-axis moving screw and the X-axis slide, and the X-axis moving block is fixed to the lower stage, so the X-axis moving block
  • the lower stage platform is moved to drive the suction cup to move along the X axis, and the encoder can determine the displacement of the X-axis sliding movement, thereby moving the suction cup to a designated position, which is convenient.
  • the suction cup picks up the item at the specified position.
  • the superior platform component includes:
  • the Z-axis slide rail comprises: a Z-axis slide rail and a Z-axis guide rail, which are installed on two sides of the upper platform along the Z-axis, wherein the two Z-axis guide rails are fixedly mounted on both sides of the upper platform, two The Z-axis slide is fixedly connected with the support table, and the Z-axis slide is slidably connected with the Z-axis guide;
  • Two rubber wheels are respectively installed at the center positions of the upper platforms along the X-axis;
  • the conveyor belt bypasses the two rubber wheels and is in contact with the two rubber wheels.
  • the support table slides along the Z axis on the upper platform through the Z-axis slide rail, so that the suction cup can slide along the Z-axis, and the two rubber wheels and the conveyor belt can drive the items sucked by the suction tray to the upper platform.
  • the suction cups are also moved along the Z-axis.
  • the support table is in the form of a "door”
  • the two Z-axis slides are fixedly mounted on the inner sides of the two vertical sides of the "door” of the support table.
  • the Z-axis slide is fixedly mounted on the inner side of the two vertical sides of the support door, so that the slide on the support platform can cooperate with the guide rails on both sides of the upper platform, so that the support platform slides on the upper platform. Mounting on the inside of the support table also improves the robustness between the support table and the upper platform.
  • the method further includes:
  • Z-axis motor is installed next to the upper platform.
  • the shaft of the Z motor is connected to the Z-axis slide rail and a rubber wheel.
  • the Z-axis motor is respectively connected with the Z-axis slide rail and a rubber wheel, so that the Z-axis pulley and the rubber wheel drive the belt at the same speed, so that the suction disc and the article move at the same speed on the upper platform, and the article is convenient. Move to the superior platform.
  • the method further includes:
  • the power assisting member has an "n" shape, one side of the “n” shape is mounted on the upper portion of the slide rail, and the other side of the "n” shape is mounted on the side of the rotating assembly.
  • the method further includes:
  • the motor slide rail comprises: a motor slide rail and a motor guide rail, which is installed beside the support table and is parallel to the suction cup direction, wherein the motor slide rail is slidably connected with the motor guide rail;
  • the needle is fixedly connected to the rotating shaft of the taking motor, and is in the same direction as the head of the sucker.
  • the moving motor is installed beside the motor slide rail, and the rotating shaft is connected with the motor slide rail, and the motor slide rail is driven to move along the motor guide rail when the rotating shaft rotates.
  • the pickup motor cooperates with other components on the vending machine to move the inner item to the suction cup position, and the moving motor can drive the pickup motor to move along the motor slide to move the take-up motor to the designated position. It is convenient for suction cups to pick up items.
  • the method includes:
  • two pickup motors are provided to cooperate with the mechanism for storing the goods before and after, so that the suction cup can suck the articles from both sides.
  • an embodiment of the present invention provides a robot, including:
  • a slide table 202 connected to the tail of the suction cup 201;
  • a connecting rod 204 having a through hole at one end for passing the top end of the screw 203;
  • the slide rail 205 is fixedly connected to the other end of the connecting rod 204, parallel to the screw rod, and slidably connected to the sliding table;
  • the support table 206 is perpendicular to the slide rail 205, and is fixedly connected to the bottom of the slide rail 205 and perpendicular to the connecting rod 204;
  • the lifting motor 207 is fixedly mounted on the upper portion of the connecting rod 204, and the rotating shaft is fixedly docked with the screw rod 203 passing through the through hole of the connecting rod 204;
  • Rotating assembly 208 slidingly coupled with support table 206 along the Z axis;
  • the base 209 is slidably coupled to the rotating assembly 208 along the X axis;
  • the rotating component 208 includes:
  • the upper platform component 2081 is slidably coupled to the support table 206 along the Z axis;
  • the upper platform component 2081 includes: a superior platform 20811 that is in contact with the support table 206;
  • the Z-axis slide rail 20812 includes: a Z-axis slide rail and a Z-axis guide rail, which are installed on two sides of the upper platform 20811 along the Z-axis, wherein the two Z-axis guide rails are fixedly mounted on two sides of the upper platform, and two Z-axis slides Fixed connection with the support table, and the Z-axis slide is slidably connected with the Z-axis guide;
  • Two rubber wheels 20813 are respectively installed at the center positions of the upper stages of the upper stage platform 20811 along the X axis;
  • the conveyor belt 20814 bypasses the two rubber wheels 20813 and is in contact with the two rubber wheels 20813;
  • the support table 206 is in the shape of a "door", and the two Z-axis slides are fixedly mounted on the inner side of the two vertical sides of the "door” of the support table 206;
  • the Z-axis motor 20815 is installed beside the upper platform, and the rotating shaft of the Z motor is respectively connected with the Z-axis slide rail and a rubber wheel;
  • the lower stage platform 2082 is slidably coupled to the base 209 along the X axis;
  • a runner 2083 connecting the upper platform component 2081 and the lower platform 2082;
  • the upper platform component 2081 and the lower platform 2082 are rotatably connected by the reel 2083;
  • a belt 211 is respectively connected to the rotating motor 210 and the rotating wheel 2083;
  • the rotating motor 210 drives the rotating wheel 2083 to rotate through the belt 211;
  • the X-axis motor 212 is mounted below the base 209;
  • the X-axis moves the screw 213 and one end is connected to the rotating shaft of the X-axis motor 212;
  • the encoder 214 is fixedly connected to the other end of the X-axis moving screw 213;
  • the X-axis moving block 215 is fixedly connected to the lower stage platform 2082, and has a through hole therein for rotating the X-axis moving screw 213;
  • the X-axis slide rail 216 includes: an X-axis slide rail and an X-axis guide rail, and is mounted on the base 209.
  • the X guide rail is fixedly mounted on the base, and the X slide rail is fixedly mounted under the lower platform, the X-axis slide and the X-axis. Rail sliding connection;
  • the auxiliary member 217 has an "n" shape, one side of the “n” shape is mounted on the upper portion of the slide rail 205, and the other side of the "n” shape is mounted on the side of the rotating assembly 208;
  • the motor slide rail 218 includes: a motor slide rail and a motor guide rail, which is installed beside the support base 208, and is parallel to the direction of the suction cup 201, wherein the motor slide rail is slidably connected with the motor guide rail;
  • the take-up motor 219 is parallel to the suction cup 201 and fixedly mounted on the motor slide 216;
  • the rotary needle 220 is fixedly connected to the rotating shaft of the pickup motor 217, and is in the same direction as the head of the suction cup 201;
  • the moving motor 221 is mounted beside the motor slide rail 218, and the rotating shaft is connected with the motor slide rail, and the motor slide rail is driven to move along the motor guide rail when the rotating shaft rotates;
  • Two pickup motors 219 are fixed to the motor slide 218 in a back direction.
  • the embodiment of the present invention provides a manipulator. After moving the suction cup along the X axis, the Y axis and the Z axis, and moving to the position of the corresponding article, the suction cup sucks the article, and then the sucked article is put into the delivery port, thereby realizing The purpose of picking up the goods through the suction cup.

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Manipulator (AREA)
  • De-Stacking Of Articles (AREA)

Abstract

一种机械手，用于自动售货机和/或仓库中拿取物品。包括：吸盘，用于吸住物品；滑台，与所述吸盘的尾部连接；丝杆，贯穿所述滑台中心设置的带有螺纹的通孔；连接杆，一端开有通孔，用于使所述丝杆的顶端穿过；滑轨，与连接杆的另一端固定连接，与所述丝杆平行，并且与滑台滑动连接；支撑台，与所述滑轨垂直，与所述滑轨的底部固定连接，并且与所述连接杆方向垂直；升降电机，固定安装于所述连接杆的上部，转轴与通过所述连接杆通孔的所述丝杆固定对接；转动组件，与所述支撑台沿Z轴滑动连接；底座，与所述转动组件沿X轴滑动转接。

Description

机械手 技术领域
本实用新型涉及机械领域，尤其涉及机械手。
背景技术
目前，随着自动化技术的发展，机械设备可以代替人工进行生产及工作，如机械手可以代替人工进行生产及工作，精度更强，力度更大。在自动售货领域，常见的自动售货机中控制物品售出的装置一般为挡在物品前的挡板，当用户购买物品后，该物品前的挡板移动或挡板放下，物品就可从储货架上掉落并从出货口落出。
而目前并没有一款自动售货机从用机械手拿取物品，机械手拿取物品可以将物品放置更隐蔽，而不在是通过透明窗阻隔物品与用户，物品可以放在自动售货机内部任何位置，物品的安全性更强。
本实用新型的发明人发现现有技术中存在如下问题：物品直接从自动售货机中掉落。
实用新型内容
为克服相关技术中存在的问题，本实用新型提供一种机械手，用于自动售货机和/或仓库中拿取物品。
本实用新型实施例提供了一种机械手，包括：
吸盘，用于吸住物品；
滑台，与所述吸盘的尾部连接；
丝杆，贯穿所述滑台中心设置的带有螺纹的通孔；
连接杆，一端开有通孔，用于使所述丝杆的顶端穿过；
滑轨，与连接杆的另一端固定连接，与所述丝杆平行，并且与滑台滑动连接；
支撑台，与所述滑轨垂直，与所述滑轨的底部固定连接，并且与所述连接杆方向垂直；
升降电机，固定安装于所述连接杆的上部，转轴与通过所述连接杆通孔的所述丝杆固定对接；
转动组件，与所述支撑台沿Z轴滑动连接；
底座，与所述转动组件沿X轴滑动转接。
通过使吸盘沿X轴、Y轴及Z轴移动，移动到相应物品的位置后，吸盘吸取物品，然后将吸取的物品放入出货口，实现了通过吸盘取货的目的，由于通过吸盘取货。
进一步地，所述转动组件，包括：
上级平台组件，与所述支撑台沿Z轴滑动连接；
下级平台，与所述底座沿X轴滑动连接；
转轮，连接所述上级平台组件及下级平台；
所述上级平台组件与下级平台通过所述转轮转动连接。
在机械手中安装转动组件，并通过转轮转动连接上级平台组件与下级平台，使上级平台组件可以转动从而扩大了吸盘的取物范围，从而可以增加存储物品的空间，从而可以增加存储物品的种类及数量。
进一步地，还包括：
转动电机，安装于所述底座下方；
皮带，分别与所述转动电机及所述转轮连接；
所述转动电机通过皮带带动所述转轮转动。
通过转动电机及皮带带动转轮转动，从而实现了通过转动电机带动吸盘转动的目的，从而可以增加存储物品的空间，从而可以增加存储物品的种类及数量。
进一步地，包括：
X轴电机，安装于所述底座下方；
X轴移动丝杆，一端与所述X轴电机的转轴连接；
编码器，与所述X轴移动丝杆的另一端固定连接；
X轴移动块，与所述下级平台下方固定连接，内部开有通孔，供所述X轴移动丝杆旋转穿过；
X轴滑轨，包括：X轴滑道及X轴导轨，安装于所述底座上，其中，所述X导轨固定安装于所述底座上方，所述X滑道固定安装于所述下级平台下方，所述X轴滑道与X轴导轨滑动连接。
通过X轴电机、X轴移动丝杆及X轴滑轨使X轴移动块沿X轴移动丝杆移动，而X轴移动块与下级平台固定，所以在X轴移动块在沿X轴移动丝杆移动时，带动下级平台移动，从而带动吸盘沿X轴移动丝杆移动，而编码器可以确定X轴滑块移动的位移，从而实现了将吸盘移动到指定位置，方便吸盘在指定位置处吸取物品。
进一步地，所述上级平台组件，包括：
上级平台，与所述支撑台接触；
Z轴滑轨，包括：Z轴滑道及Z轴导轨，安装于所述上级平台沿Z轴的两侧，其中，两个所述Z轴导轨固定安装于所述上级平台两侧，两个Z轴滑道与所述支撑台固定连接，所述Z轴滑道与Z轴导轨滑动连接；
两个胶轮，分别安装于所述上级平台沿X轴的两端的中心位置；
传送带，绕过所述两个胶轮，并与两个胶轮接触连接。
支撑台通过Z轴滑轨在上级平台上沿Z轴滑动，从而使吸盘可以沿Z轴滑动，而两个胶轮与传送带可以带动被吸盘拉上上级平台的物品移动，从而实现拿取物品的目的，也方便吸盘带动物品沿Z轴方向移动。
进一步地，所述支撑台为“门”形，所述两个Z轴滑道固定安装于所述支撑台“门”两竖边的内侧。
在支撑台“门”两竖边的内侧固定安装Z轴滑道，使支撑台上的滑道可以与上级平台 两侧的导轨配合，方便支撑台在上级平台上滑动，而安装于支撑台内侧也提高了支撑台与上级平台之间的牢固性。
进一步地，还包括：
Z轴电机，安装于所述上级平台旁，所述Z电机的转轴与分别与所述Z轴滑轨及一个所述胶轮连接。
Z轴电机分别与Z轴滑轨及一个胶轮连接，使Z轴滑轮与胶轮带动皮带的速度相同，从而使吸盘与物品在上级平台上的移动速度相同，方便物品移动到上级平台上。
进一步地，还包括：
助力件，为“n”形，“n”形的一条边安装于所述滑轨的上部分，“n”形的另一条边安装于所述转动组件侧面。
助力件发生形变后产生恢复原状的力，从而带动滑轨回到原位，从而进一步方便吸盘带动物品在上级平台上移动。
进一步地，还包括：
电机滑轨，包括：电机滑道及电机导轨，安装于所述支撑台旁，与所述吸盘方向平行，其中，所述电机滑道与所述电机导轨滑动连接；
取物电机，与所述吸盘平行，并固定安装于所述电机滑道上；
转针，与所述取物电机的转轴固定连接，与所述吸盘头部的方向一致。
移动电机，安装于所述电机滑轨旁，转轴与所述电机滑道连接，转轴转动时带动电机滑道沿所述电机导轨移动。
取物电机与自动售货机上其他组件配合可以将靠内侧的物品移动到吸盘位置处，而移动电机可以带动取物电机沿电机滑轨移动将取物电机移动到指定位置，方便吸盘吸取物品。
进一步地，包括：
两个取物电机，背向固定于电机滑轨上。
设置两个取物电机可以使取物电机与前后存储货物的机构配合，方便吸盘从两侧的吸取物品。
应当理解的是，以上的一般描述和后文的细节描述仅是示例性和解释性的，并不能限制本实用新型。
附图说明
此处的附图被并入说明书中并构成本说明书的一部分，示出了符合本实用新型的实施例，并与说明书一起用于解释本实用新型的原理。
图1是本实用新型实施例提供的一种机械手的结构图。
图2a是本实用新型实施例提供的一种机械手的结构图。
图2b是本实用新型实施例提供的一种机械手的结构图。
图2c是本实用新型实施例提供的一种机械手的结构图。
具体实施方式
这里将详细地对示例性实施例进行说明，其示例表示在附图中。下面的描述涉及附图时，除非另有表示，不同附图中的相同数字表示相同或相似的要素。以下示例性实施例中所描述的实施方式并不代表与本实用新型相一致的所有实施方式。相反，它们仅是与如所附权利要求书中所详述的、本实用新型的一些方面相一致的装置和方法的例子。
如图1所示，本实用新型实施例提供了一种机械手，包括：
吸盘101，用于吸住物品；
滑台102，与吸盘101的尾部连接；
丝杆103，贯穿滑台102中心设置的带有螺纹的通孔；
连接杆104，一端开有通孔，用于使丝杆103的顶端穿过；
滑轨105，与连接杆104的另一端固定连接，与丝杆103平行，并且与滑台102滑动连 接；
支撑台106，与滑轨105垂直，与滑轨105的底部固定连接，并且与连接杆104方向垂直；
升降电机106，固定安装于连接杆104的上部，转轴与通过连接杆通孔的丝杆固定对接；
转动组件107，与支撑台106沿Z轴滑动连接；
底座108，与转动组件107沿X轴滑动转接。
本实用新型实施例提供了一种机械手，通过使吸盘沿X轴、Y轴及Z轴移动，移动到相应物品的位置后，吸盘吸取物品，然后将吸取的物品放入出货口，实现了通过吸盘取货的目的。
在一个实施例中，转动组件，包括：
上级平台组件，与支撑台沿Z轴滑动连接；
下级平台，与底座沿X轴滑动连接；
转轮，连接上级平台组件及下级平台；
上级平台组件与下级平台通过转轮转动连接。
在本实施例中，在机械手中安装转动组件，并通过转轮转动连接上级平台组件与下级平台，使上级平台组件可以转动从而扩大了吸盘的取物范围，从而可以增加存储物品的空间，从而可以增加存储物品的种类及数量。
在一个实施例中，还包括：
转动电机，安装于底座下方；
皮带，分别与转动电机及转轮连接；
转动电机通过皮带带动转轮转动。
在本实施例中，通过转动电机及皮带带动转轮转动，从而实现了通过转动电机带动吸盘转动的目的，从而可以增加存储物品的空间，从而可以增加存储物品的种类及数量。
在一个实施例中，包括：
X轴电机，安装于底座下方；
X轴移动丝杆，一端与X轴电机的转轴连接；
编码器，与X轴移动丝杆的另一端固定连接；
X轴移动块，与下级平台下方固定连接，内部开有通孔，供X轴移动丝杆旋转穿过；
X轴滑轨，包括：X轴滑道及X轴导轨，安装于底座上，其中，X导轨固定安装于底座上方，X滑道固定安装于下级平台下方，X轴滑道与X轴导轨滑动连接。
在本实施例中，通过X轴电机、X轴移动丝杆及X轴滑轨使X轴移动块沿X轴移动丝杆移动，而X轴移动块与下级平台固定，所以在X轴移动块在沿X轴移动丝杆移动时，带动下级平台移动，从而带动吸盘沿X轴移动丝杆移动，而编码器可以确定X轴滑块移动的位移，从而实现了将吸盘移动到指定位置，方便吸盘在指定位置处吸取物品。
在一个实施例中，上级平台组件，包括：
上级平台，与支撑台接触；
在本实施例中，Z轴滑轨，包括：Z轴滑道及Z轴导轨，安装于上级平台沿Z轴的两侧，其中，两个Z轴导轨固定安装于上级平台两侧，两个Z轴滑道与支撑台固定连接，Z轴滑道与Z轴导轨滑动连接；
两个胶轮，分别安装于上级平台沿X轴的两端的中心位置；
传送带，绕过两个胶轮，并与两个胶轮接触连接。
在本实施例中，支撑台通过Z轴滑轨在上级平台上沿Z轴滑动，从而使吸盘可以沿Z轴滑动，而两个胶轮与传送带可以带动被吸盘拉上上级平台的物品移动，从而实现拿取物品的目的，也方便吸盘带动物品沿Z轴方向移动。
在一个实施例中，支撑台为“门”形，两个Z轴滑道固定安装于支撑台“门”两竖边的内侧。
在本实施例中，在支撑台“门”两竖边的内侧固定安装Z轴滑道，使支撑台上的滑道可以与上级平台两侧的导轨配合，方便支撑台在上级平台上滑动，而安装于支撑台内侧也提高了支撑台与上级平台之间的牢固性。
在一个实施例中，还包括：
Z轴电机，安装于上级平台旁，Z电机的转轴与分别与Z轴滑轨及一个胶轮连接。
在本实施例中，Z轴电机分别与Z轴滑轨及一个胶轮连接，使Z轴滑轮与胶轮带动皮带的速度相同，从而使吸盘与物品在上级平台上的移动速度相同，方便物品移动到上级平台上。
在一个实施例中，还包括：
助力件，为“n”形，“n”形的一条边安装于滑轨的上部分，“n”形的另一条边安装于转动组件侧面。
在本实施例中，助力件发生形变后产生恢复原状的力，从而带动滑轨回到原位，从而进一步方便吸盘带动物品在上级平台上移动。
在一个实施例中，还包括：
电机滑轨，包括：电机滑道及电机导轨，安装于支撑台旁，与吸盘方向平行，其中，电机滑道与电机导轨滑动连接；
取物电机，与吸盘平行，并固定安装于电机滑道上；
转针，与取物电机的转轴固定连接，与吸盘头部的方向一致。
移动电机，安装于电机滑轨旁，转轴与电机滑道连接，转轴转动时带动电机滑道沿电机导轨移动。
在本实施例中，取物电机与自动售货机上其他组件配合可以将靠内侧的物品移动到吸盘位置处，而移动电机可以带动取物电机沿电机滑轨移动将取物电机移动到指定位置，方便吸盘吸取物品。
在一个实施例中，包括：
两个取物电机，背向固定于电机滑轨上。
在本实施例中，设置两个取物电机可以使取物电机与前后存储货物的机构配合，方便吸盘从两侧的吸取物品。
上面实施例介绍了本实施例提供的一种机械手，下面通过具体实施例详细解释机械手的结构。
如图2所示，本实用新型实施例提供了一种机械手，包括：
吸盘201，用于吸住物品；
滑台202，与吸盘201的尾部连接；
丝杆203，贯穿滑台202中心设置的带有螺纹的通孔；
连接杆204，一端开有通孔，用于使丝杆203的顶端穿过；
滑轨205，与连接杆204的另一端固定连接，与丝杆平行，并且与滑台滑动连接；
支撑台206，与滑轨205垂直，与滑轨205的底部固定连接，并且与连接杆204方向垂直；
升降电机207，固定安装于连接杆204的上部，转轴与通过连接杆204通孔的丝杆203固定对接；
转动组件208，与支撑台206沿Z轴滑动连接；
底座209，与转动组件208沿X轴滑动转接；
转动组件208，包括：
上级平台组件2081，与支撑台206沿Z轴滑动连接；
上级平台组件2081，包括：上级平台20811，与支撑台206接触；
Z轴滑轨20812，包括：Z轴滑道及Z轴导轨，安装于上级平台20811沿Z轴的两侧，其中，两个Z轴导轨固定安装于上级平台两侧，两个Z轴滑道与支撑台固定连接，Z轴滑道 与Z轴导轨滑动连接；
两个胶轮20813，分别安装于上级平台20811沿X轴的两端的中心位置；
传送带20814，绕过两个胶轮20813，并与两个胶轮20813接触连接；
支撑台206为“门”形，两个Z轴滑道固定安装于支撑台206“门”两竖边的内侧；
Z轴电机20815，安装于上级平台旁，Z电机的转轴与分别与Z轴滑轨及一个胶轮连接；
下级平台2082，与底座209沿X轴滑动连接；
转轮2083，连接上级平台组件2081及下级平台2082；
上级平台组件2081与下级平台2082通过转轮2083转动连接；
转动电机210，安装于底座209下方；
皮带211，分别与转动电机210及转轮2083连接；
转动电机210通过皮带211带动转轮2083转动；
X轴电机212，安装于底座209下方；
X轴移动丝杆213，一端与X轴电机212的转轴连接；
编码器214，与X轴移动丝杆213的另一端固定连接；
X轴移动块215，与下级平台2082下方固定连接，内部开有通孔，供X轴移动丝杆213旋转穿过；
X轴滑轨216，包括：X轴滑道及X轴导轨，安装于底座209上，其中，X导轨固定安装于底座上方，X滑道固定安装于下级平台下方，X轴滑道与X轴导轨滑动连接；
助力件217，为“n”形，“n”形的一条边安装于滑轨205的上部分，“n”形的另一条边安装于转动组件208侧面；
电机滑轨218，包括：电机滑道及电机导轨，安装于支撑台208旁，与吸盘201方向平行，其中，电机滑道与电机导轨滑动连接；
取物电机219，与吸盘201平行，并固定安装于电机滑道216上；
转针220，与取物电机217的转轴固定连接，与吸盘201头部的方向一致；
移动电机221，安装于电机滑轨218旁，转轴与电机滑道连接，转轴转动时带动电机滑道沿电机导轨移动；
两个取物电机219，背向固定于电机滑轨218上。
本实用新型实施例提供了一种机械手，通过使吸盘沿X轴、Y轴及Z轴移动，移动到相应物品的位置后，吸盘吸取物品，然后将吸取的物品放入出货口，实现了通过吸盘取货的目的。
本领域技术人员在考虑说明书及实践这里公开的实用新型后，将容易想到本实用新型的其它实施方案。本申请旨在涵盖本实用新型的任何变型、用途或者适应性变化，这些变型、用途或者适应性变化遵循本实用新型的一般性原理并包括本实用新型未公开的本技术领域中的公知常识或惯用技术手段。说明书和实施例仅被视为示例性的，本实用新型的真正范围和精神由下面的权利要求指出。
应当理解的是，本实用新型并不局限于上面已经描述并在附图中示出的精确结构，并且可以在不脱离其范围进行各种修改和改变。本实用新型的范围仅由所附的权利要求来限制。

Claims (10)

  1. 一种机械手，其特征在于，包括：
    吸盘，用于吸住物品；
    滑台，与所述吸盘的尾部连接；
    丝杆，贯穿所述滑台中心设置的带有螺纹的通孔；
    连接杆，一端开有通孔，用于使所述丝杆的顶端穿过；
    滑轨，与连接杆的另一端固定连接，与所述丝杆平行，并且与滑台滑动连接；
    支撑台，与所述滑轨垂直，与所述滑轨的底部固定连接，并且与所述连接杆方向垂直；
    升降电机，固定安装于所述连接杆的上部，转轴与通过所述连接杆通孔的所述丝杆固定对接；
    转动组件，与所述支撑台沿Z轴滑动连接；
    底座，与所述转动组件沿X轴滑动转接。
  2. 如权利要求1所述的机械手，其特征在于，所述转动组件，包括：
    上级平台组件，与所述支撑台沿Z轴滑动连接；
    下级平台，与所述底座沿X轴滑动连接；
    转轮，连接所述上级平台组件及下级平台；
    所述上级平台组件与下级平台通过所述转轮转动连接。
  3. 如权利要求2所述的机械手，其特征在于，还包括：
    转动电机，安装于所述底座下方；
    皮带，分别与所述转动电机及所述转轮连接；
    所述转动电机通过皮带带动所述转轮转动。
  4. 如权利要求2所述的机械手，其特征在于，包括：
    X轴电机，安装于所述底座下方；
    X轴移动丝杆，一端与所述X轴电机的转轴连接；
    编码器，与所述X轴移动丝杆的另一端固定连接；
    X轴移动块，与所述下级平台下方固定连接，内部开有通孔，供所述X轴移动丝杆旋转穿过；
    X轴滑轨，包括：X轴滑道及X轴导轨，安装于所述底座上，其中，所述X导轨固定安装于所述底座上方，所述X滑道固定安装于所述下级平台下方，所述X轴滑道与X轴导轨滑动连接。
  5. 如权利要求2所述的机械手，其特征在于，所述上级平台组件，包括：
    上级平台，与所述支撑台接触；
    Z轴滑轨，包括：Z轴滑道及Z轴导轨，安装于所述上级平台沿Z轴的两侧，其中，两个所述Z轴导轨固定安装于所述上级平台两侧，两个Z轴滑道与所述支撑台固定连接，所述Z轴滑道与Z轴导轨滑动连接；
    两个胶轮，分别安装于所述上级平台沿X轴的两端的中心位置；
    传送带，绕过所述两个胶轮，并与两个胶轮接触连接。
  6. 如权利要求5所述的机械手，其特征在于，所述支撑台为“门”形，所述两个Z轴滑道固定安装于所述支撑台“门”两竖边的内侧。
  7. 如权利要求5所述的机械手，其特征在于，还包括：
    Z轴电机，安装于所述上级平台旁，所述Z电机的转轴与分别与所述Z轴滑轨及一个所述胶轮连接。
  8. 如权利要求1所述的机械手，其特征在于，还包括：
    助力件，为“n”形，“n”形的一条边安装于所述滑轨的上部分，“n”形的另一条边安装于所述转动组件侧面。
  9. 如权利要求1所述的机械手，其特征在于，还包括：
    电机滑轨，包括：电机滑道及电机导轨，安装于所述支撑台旁，与所述吸盘方向平行，其中，所述电机滑道与所述电机导轨滑动连接；
    取物电机，与所述吸盘平行，并固定安装于所述电机滑道上；
    转针，与所述取物电机的转轴固定连接，与所述吸盘头部的方向一致。
    移动电机，安装于所述电机滑轨旁，转轴与所述电机滑道连接，转轴转动时带动电机滑道沿所述电机导轨移动。
  10. 如权利要求9所述的机械手，其特征在于，包括：
    两个取物电机，背向固定于电机滑轨上。
PCT/CN2018/087236 2017-05-18 2018-05-17 机械手 WO2018210291A1 (zh)

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