Material grabbing manipulator and beverage vending machine

Abstract

The utility model provides a grabbing manipulator and a beverage vending machine, and belongs to the technical field of beverage vending machines. The grabbing manipulator comprises an adjusting structure and a clamping structure, the adjusting structure comprises an adjusting assembly and a first electric push rod, the adjusting assembly is arranged in the beverage vending machine, the first electric push rod is connected with the adjusting assembly, and the clamping structure comprises a clamping assembly, a first clamping plate, a second electric push rod and a second clamping plate. The clamping assembly is connected with the movable end of the first electric push rod, the first clamping plate is connected with the clamping assembly, the second electric push rod is installed in the first clamping plate, and the second clamping plate is connected with the movable end of the second electric push rod. According to the material grabbing mechanical arm and the beverage vending machine, the beverage cups of different shapes can be conveniently clamped, the clamping effect is improved, and loosening is avoided.

Description

Technical Field

[0001] The present application relates to the field of beverage vending machines, and in particular to a material grabbing robot and a beverage vending machine. Background Art

[0002] The multi-variety beverage vending machine is an intelligent device that automatically sells beverages by the buyer inserting coins or swiping IC cards. It can support the production and sale of more than ten kinds of beverages.

[0003] At present, a multi-variety beverage vending machine unloads beverages through a grabbing robot during use. Since beverage cups used for different beverages have different shapes and the shape of the grabbing robot is fixed, when different beverage cups need to be grabbed, the grabbing robot is not easy to fit, which affects the grabbing effect and causes looseness, thereby reducing the practicality of the device. Utility Model Content

[0004] In order to make up for the above shortcomings, the present application provides a material grabbing robot and a beverage vending machine, aiming to improve the problem that when different beverage cups need to be grabbed, the material grabbing robot is not easy to fit, thereby affecting the grabbing effect and causing looseness.

[0005] In the first aspect, an embodiment of the present application provides a grabbing robot, including an adjustment structure and a clamping structure, the adjustment structure including an adjustment component and a first electric push rod, the adjustment component is arranged in a beverage vending machine, the first electric push rod is connected to the adjustment component, the clamping structure includes a clamping component, a first clamping plate, a second electric push rod and a second clamping plate, the clamping component is connected to the movable end of the first electric push rod, the first clamping plate is connected to the clamping component, the second electric push rod is installed in the first clamping plate, and the second clamping plate is connected to the movable end of the second electric push rod.

[0006] In a specific embodiment, the adjustment assembly includes a first rectangular shell, a first servo motor, a ball screw pair and a first screw nut pair, the first rectangular shell is arranged in a beverage vending machine, the first servo motor is installed on one side of the first rectangular shell, the ball screw pair is connected to the first servo motor, the ball screw pair is rotatably connected to the first rectangular shell, the first screw nut pair is connected to the ball screw pair, and the first electric push rod is installed on one side of the first screw nut pair.

[0007] In the above implementation process, the robot arm can be conveniently driven to translate by the arrangement of the first rectangular housing, the first servo motor, the ball screw pair and the first screw nut pair.

[0008] In a specific implementation manner, a first sliding block is provided on one side of the first screw nut pair, a first sliding groove is provided on the inner wall of the first rectangular shell, and the first sliding block is slidably connected to the first sliding groove.

[0009] In the above implementation process, the movement of the first screw nut pair can be conveniently limited by the sliding connection between the first sliding block and the first sliding groove.

[0010] In a specific implementation, bearings are embedded on both sides of the first rectangular shell, and the ball screw pair is interference fit with the inner ring of the bearing.

[0011] In the above implementation process, the loss caused by the rotation of the ball screw pair can be easily reduced through the interference fit between the ball screw pair and the inner ring of the bearing.

[0012] In a specific embodiment, the clamping assembly includes a second rectangular shell, a second servo motor, a bidirectional lead screw and a second lead screw nut pair, the second rectangular shell is connected to the movable end of the first electric push rod, the second servo motor is installed on one side of the second rectangular shell, the bidirectional lead screw is connected to the second servo motor, the bidirectional lead screw is rotatably connected to the second rectangular shell, the second lead screw nut pair is connected to the bidirectional lead screw, and the first clamping plate is connected to the second lead screw nut pair.

[0013] In the above implementation process, the second rectangular housing, the second servo motor, the bidirectional lead screw and the second lead screw nut pair are arranged to facilitate the first clamping plates to move closer to and away from each other.

[0014] In a specific implementation manner, a second sliding block is provided on one side of the second screw nut pair, a second sliding groove is provided on the inner wall of the second rectangular shell, and the second sliding block is slidably connected to the second sliding groove.

[0015] In the above implementation process, the second slider is slidably connected to the second sliding groove, so that the movement of the second screw nut pair can be conveniently limited.

[0016] In a specific embodiment, the first clamping plate is configured to be arc-shaped.

[0017] In the above implementation process, by setting the first clamping plate to be arc-shaped, it is possible to clamp the cylindrical beverage cup more conveniently and more stably.

[0018] In a second aspect, the utility model further provides a beverage vending machine, comprising the above-mentioned material grabbing robot.

[0019] Compared with the prior art, the beneficial effects of the present application are as follows: through the setting of the adjustment component, the manipulator can be easily driven to move horizontally; through the setting of the clamping component, the first clamping plates can be easily driven to move closer to and away from each other, thereby facilitating the clamping of beverage cups; through the setting of the first clamping plate, the second electric push rod and the second clamping plate, beverage cups of different shapes can be conveniently clamped, thereby improving the clamping effect and avoiding loosening. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] In order to more clearly illustrate the technical solutions of the implementation methods of the present application, the drawings required for use in the implementation methods will be briefly introduced below. It should be understood that the following drawings only show certain embodiments of the present application and therefore should not be regarded as limiting the scope. For ordinary technicians in this field, other related drawings can be obtained based on these drawings without paying creative work.

[0021] Figure 1 This is a schematic diagram of the structure of a material grabbing manipulator and a beverage vending machine provided in an embodiment of the present application;

[0022] Figure 2 A schematic diagram of the side view structure of a material grabbing manipulator and a beverage vending machine provided in an embodiment of the present application;

[0023] Figure 3 A schematic diagram of a top-view cross-sectional structure of a material grabbing manipulator and a beverage vending machine provided in an embodiment of the present application;

[0024] Figure 4 This is a schematic diagram of the cross-sectional structure of the clamping structure provided in the implementation manner of the present application.

[0025] In the figure: 10-adjusting structure; 110-adjusting assembly; 111-first rectangular shell; 112-first servo motor; 113-ball screw pair; 114-first screw nut pair; 120-first electric push rod; 130-first slider; 20-clamping structure; 210-clamping assembly; 211-second rectangular shell; 212-second servo motor; 213-bidirectional screw; 214-second screw nut pair; 220-first clamping plate; 230-second electric push rod; 240-second clamping plate; 250-second slider. DETAILED DESCRIPTION

[0026] The technical solutions in the embodiments of the present application will be described below in conjunction with the drawings in the embodiments of the present application.

[0027] In order to make the purpose, technical solutions and advantages of the implementation methods of this application clearer, the technical solutions in the implementation methods of this application will be clearly and completely described below in conjunction with the drawings in the implementation methods of this application. Obviously, the described implementation methods are part of the implementation methods of this application, not all of the implementation methods. Based on the implementation methods in this application, all other implementation methods obtained by ordinary technicians in this field without creative work are within the scope of protection of this application.

[0028] Example

[0029] See also Figure 1 The present application provides a material grabbing robot, comprising an adjusting structure 10 and a clamping structure 20.

[0030] Specifically, the adjustment structure 10 facilitates the translation of the manipulator, and the clamping structure 20 facilitates the clamping of beverage cups of different shapes, thereby improving the clamping effect and preventing loosening.

[0031] See also Figure 1 , Figure 2 and Figure 3 The adjustment structure 10 includes an adjustment component 110 and a first electric push rod 120 . The adjustment component 110 is disposed in a beverage vending machine. The first electric push rod 120 is connected to the adjustment component 110 .

[0032] In the specific setting, the adjustment component 110 includes a first rectangular shell 111, a first servo motor 112, a ball screw pair 113 and a first screw nut pair 114, the first rectangular shell 111 is set in the beverage vending machine, the first servo motor 112 is installed on one side of the first rectangular shell 111, the ball screw pair 113 is connected to the first servo motor 112, the ball screw pair 113 is rotationally connected to the first rectangular shell 111, the first screw nut pair 114 is connected to the ball screw pair 113, and the first electric push rod 120 is installed on one side of the first screw nut pair 114, wherein, through the setting of the first rectangular shell 111, the first servo motor 112, the ball screw pair 113 and the first screw nut pair 114, the manipulator can be conveniently driven to translate.

[0033] In the specific setting, a first slider 130 is provided on one side of the first screw nut pair 114, and a first sliding groove is opened on the inner wall of the first rectangular shell 111. The first slider 130 is slidably connected to the first sliding groove, wherein the first slider 130 is slidably connected to the first sliding groove, and the movement of the first screw nut pair 114 can be conveniently limited.

[0034] In the specific configuration, bearings are embedded on both sides of the first rectangular shell 111, and the ball screw pair 113 is interference fit with the inner ring of the bearing. The interference fit between the ball screw pair 113 and the inner ring of the bearing can conveniently reduce the loss caused by the rotation of the ball screw pair 113.

[0035] See also Figure 1 , Figure 2 , Figure 3 and Figure 4 The clamping structure 20 includes a clamping assembly 210, a first clamping plate 220, a second electric push rod 230 and a second clamping plate 240. The clamping assembly 210 is connected to the movable end of the first electric push rod 120, the first clamping plate 220 is connected to the clamping assembly 210, the second electric push rod 230 is installed in the first clamping plate 220, and the second clamping plate 240 is connected to the movable end of the second electric push rod 230.

[0036] In the specific setting, the clamping assembly 210 includes a second rectangular shell 211, a second servo motor 212, a bidirectional lead screw 213 and a second lead screw nut pair 214, the second rectangular shell 211 is connected to the movable end of the first electric push rod 120, the second servo motor 212 is installed on one side of the second rectangular shell 211, the bidirectional lead screw 213 is connected to the second servo motor 212, the bidirectional lead screw 213 is rotatably connected to the second rectangular shell 211, the second lead screw nut pair 214 is connected to the bidirectional lead screw 213, and the first clamping plate 220 is connected to the second lead screw nut pair 214, wherein, through the setting of the second rectangular shell 211, the second servo motor 212, the bidirectional lead screw 213 and the second lead screw nut pair 214, the first clamping plate 220 can be easily driven to move closer to and away from each other.

[0037] In the specific setting, a second slider 250 is provided on one side of the second screw nut pair 214, and a second sliding groove is opened on the inner wall of the second rectangular shell 211. The second slider 250 is slidably connected to the second sliding groove, wherein the second slider 250 is slidably connected to the second sliding groove, and the movement of the second screw nut pair 214 can be conveniently limited.

[0038] In a specific configuration, the first clamping plate 220 is configured to be arc-shaped. By configuring the first clamping plate 220 to be arc-shaped, it is possible to conveniently clamp a cylindrical beverage cup and provide greater stability.

[0039] The utility model further provides a beverage vending machine, comprising the material grabbing manipulator.

[0040] The working principle of the material grabbing robot and the beverage vending machine is as follows: when using the material grabbing robot and the beverage vending machine, the two-way lead screw 213 is driven to rotate by turning on the second servo motor 212, so that the two second lead screw nut pairs 214 and the first clamping plate 220 are close to each other to clamp the beverage cup, the first servo motor 112 is driven to rotate by turning on the ball screw pair 113 to move the first lead screw nut pair 114, the first electric push rod 120 is turned on to drive the second rectangular shell 211 to move, which is convenient for driving the robot to translate, and the second electric push rod 230 is turned on to drive the second clamping plate 240 to move, which is convenient for clamping beverage cups of different shapes, thereby improving the clamping effect and avoiding loosening.

[0041] It should be noted that the specific models and specifications of the first servo motor 112, the first electric push rod 120, the second servo motor 212 and the second electric push rod 230 need to be selected and determined according to the actual specifications of the device, etc. The specific selection calculation method adopts the existing technology in the field, so it will not be described in detail.

[0042] The power supply and principle of the first servo motor 112 , the first electric push rod 120 , the second servo motor 212 and the second electric push rod 230 are clear to those skilled in the art and will not be described in detail herein.

[0043] The above is only a specific implementation of the present application, but the protection scope of the present application is not limited thereto. Any technician familiar with the technical field can easily think of changes or substitutions within the technical scope disclosed in the present application, which should be included in the protection scope of the present application. Therefore, the protection scope of the present application should be based on the protection scope of the claims.

Claims

1. A material grabbing manipulator, characterized in that: include An adjustment structure (10), the adjustment structure (10) comprising an adjustment component (110) and a first electric push rod (120), the adjustment component (110) being arranged in a beverage vending machine, and the first electric push rod (120) being connected to the adjustment component (110); A clamping structure (20), the clamping structure (20) comprising a clamping assembly (210), a first clamping plate (220), a second electric push rod (230) and a second clamping plate (240), the clamping assembly (210) being connected to the movable end of the first electric push rod (120), the first clamping plate (220) being connected to the clamping assembly (210), the second electric push rod (230) being installed in the first clamping plate (220), and the second clamping plate (240) being connected to the movable end of the second electric push rod (230).

2. A material grabbing manipulator according to claim 1, characterized in that: The adjustment assembly (110) comprises a first rectangular housing (111), a first servo motor (112), a ball screw pair (113) and a first screw nut pair (114); the first rectangular housing (111) is arranged in a beverage vending machine; the first servo motor (112) is installed on one side of the first rectangular housing (111); the ball screw pair (113) is connected to the first servo motor (112); the ball screw pair (113) is rotatably connected to the first rectangular housing (111); the first screw nut pair (114) is connected to the ball screw pair (113); and the first electric push rod (120) is installed on one side of the first screw nut pair (114).

3. A material grabbing manipulator according to claim 2, characterized in that: A first sliding block (130) is provided on one side of the first screw nut pair (114), a first sliding groove is provided on the inner wall of the first rectangular shell (111), and the first sliding block (130) is slidably connected to the first sliding groove.

4. A material grabbing manipulator according to claim 2, characterized in that: Bearings are embedded on both sides of the first rectangular housing (111), and the ball screw pair (113) is interference fit with the inner ring of the bearing.

5. The material grabbing manipulator according to claim 1, characterized in that: The clamping assembly (210) comprises a second rectangular shell (211), a second servo motor (212), a bidirectional lead screw (213) and a second lead screw nut pair (214); the second rectangular shell (211) is connected to the movable end of the first electric push rod (120); the second servo motor (212) is installed on one side of the second rectangular shell (211); the bidirectional lead screw (213) is connected to the second servo motor (212); the bidirectional lead screw (213) is rotatably connected to the second rectangular shell (211); the second lead screw nut pair (214) is connected to the bidirectional lead screw (213); and the first clamping plate (220) is connected to the second lead screw nut pair (214).

6. A material grabbing manipulator according to claim 5, characterized in that: A second sliding block (250) is provided on one side of the second screw nut pair (214), a second sliding groove is provided on the inner wall of the second rectangular shell (211), and the second sliding block (250) is slidably connected to the second sliding groove.

7. The material gripping manipulator according to claim 1, characterized in that: The first clamping plate (220) is configured to be arc-shaped.

8. A beverage vending machine, characterized in that: It comprises the material grabbing robot as described in any one of claims 1 to 7.

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