Flexible grabbing and placing device and card processing equipment

Abstract

The utility model provides a flexible grabbing and placing device and card processing equipment. The flexible grabbing and placing device and the card processing equipment comprise a space moving mechanism and a grabbing device. According to the flexible grabbing and placing device and the card processing equipment provided by the utility model, the spatial moving mechanism is arranged, the connecting position is arranged on the spatial moving mechanism, the connecting position can move in a three-dimensional space through the spatial moving mechanism, and the grabbing device for grabbing and placing the card is arranged on the connecting position; cards can be grabbed from a placing position and placed on a bearing object, and conveying of the cards is completed. In the operation process, the card is driven to move in a card grabbing mode, so that friction and shifting of the card can be reduced, damage to the card is reduced, and the service life of the card is effectively prolonged.

Description

Technical Field

[0001] The utility model belongs to the technical field of card conveying, and in particular relates to a flexible grabbing and placing device and a card processing device. Background Art

[0002] Highways usually involve highway composite toll cards (referred to as cards), such as CPC cards. The cards can identify vehicle entry and exit information at toll stations, accurately record the actual driving path of the vehicle, and provide an important basis for inter-provincial toll billing and settlement.

[0003] In the prior art, a self-service card issuing machine and a self-service card collecting and payment machine are usually set up at a highway toll station. Among them, a card pulling component is set in the self-service card issuing machine, and the card pulling component pulls out the card in the card storage box through the card outlet under the drive of the first stepper motor (see a self-service card issuing machine for highways; application number: CN201720767606.7). The card falls from the card inlet of the payment machine to the receiving component (which can be a conveyor belt, etc.). In the process of the card falling to the receiving component, the card may be broken or damaged to a certain extent. And when the card is pulled out of the card storage box by the card pulling component, the card will rub against the adjacent cards, and will also be affected by friction when passing through the card issuing machine head. Because the card is recycled, the surface of the card will be worn over time, affecting the service life and poor practicality. Utility Model Content

[0004] The embodiment of the utility model provides a flexible grabbing and placing device and a card processing device, aiming to solve the problem in the prior art that cards are easily worn and damaged during transportation, thereby reducing the service life of the cards.

[0005] In order to achieve the above-mentioned purpose, the technical solution adopted by the utility model is: to provide a flexible grasping and placing device and a card processing device, including:

[0006] A space moving mechanism, the space moving mechanism comprising a connection position capable of free movement in space;

[0007] A grabbing device is installed at the connection position, and is used to grab the card after three-dimensional movement driven by the spatial moving mechanism, and transfer and place the card on the receiving object. The position where the grabbing device grabs and places the card driven by the spatial moving mechanism is a fixed position or a flexible position adapted to various irregular positions;

[0008] The controller is electrically connected to the space moving mechanism and the grasping device, and is used to control the working state of the space moving mechanism to adjust the position of the connection position and the working state of the grasping device.

[0009] In a possible implementation, the space movement mechanism includes:

[0010] A horizontal adjustment unit, used for driving the grabbing device to move in a horizontal direction;

[0011] The vertical adjustment unit is used to drive the grabbing device to move in the vertical direction.

[0012] In a possible implementation, the level adjustment unit includes:

[0013] A first movable member, the position of which has a degree of freedom that can be adjusted along a first horizontal direction;

[0014] The second moving member is mounted on the first moving member, and the position of the second moving member on the first moving member has a degree of freedom that can be adjusted along a horizontal second direction, and the horizontal first direction is set at an angle to the horizontal second direction.

[0015] In a possible implementation, the horizontal adjustment unit further includes a first driving component for adjusting the position of the first moving member, and the first driving component includes:

[0016] There are two transmission wheels, which are spaced apart along a first direction;

[0017] A conveyor belt is installed between the two transmission wheels and is in transmission connection with the two transmission wheels, and the first moving member is installed on the conveyor belt;

[0018] A driving member, wherein a driving end of the driving member is in driving connection with one of the transmission wheels, and is used for driving the transmission wheel to rotate.

[0019] In a possible implementation, the vertical adjustment unit includes:

[0020] A mounting member, wherein the position of the mounting member has a degree of freedom of adjustment in a vertical direction;

[0021] A pushing component, wherein a driving end of the pushing component is connected to the mounting member and is used for driving the mounting member to move in a vertical direction.

[0022] In a possible implementation manner, the mounting member is connected to the horizontal adjustment unit, and the horizontal adjustment unit is used to drive the mounting member to move in a horizontal direction.

[0023] In a possible implementation, the pushing component includes:

[0024] A moving rod mounted on the mounting member;

[0025] A cam is rotatably disposed below the moving rod, and the moving rod is disposed in contact with an outer side wall of the cam;

[0026] A rotating member, a driving end of which is transmission-connected to the rotating shaft of the cam, and is used to drive the cam to rotate.

[0027] In a possible implementation, the grabbing device includes a connecting frame and a grabbing member, the connecting frame is installed on the connecting position, and the grabbing member is used to grab and place the card.

[0028] Compared with the prior art, the solution shown in the embodiment of the present application is provided with a space moving mechanism, a connection position is provided on the space moving mechanism, the connection position can be moved in three-dimensional space by the space moving mechanism, and a grabbing device for grabbing and placing a card is installed on the connection position, which can grab the card from the placement position and place it on the receiving object to complete the card transportation. During the operation, the card is driven to move by grabbing the card, which can reduce the friction and movement of the card, reduce the damage to the card, and effectively increase the service life of the card.

[0029] In a second aspect, an embodiment of the utility model further provides a card processing device, comprising the above-mentioned flexible grasping and placing device.

[0030] Compared with the prior art, the scheme shown in the embodiment of the present application can complete the operation of dropping the card to the receiving component by grabbing the card, thereby avoiding damage to the card caused by card removal and card wear caused by friction between cards during the card issuance process, and effectively improving the service life of the card. BRIEF DESCRIPTION OF THE DRAWINGS

[0031] Figure 1 A schematic diagram of the structure of a flexible grabbing and placing device provided in an embodiment of the utility model;

[0032] Figure 2 A schematic diagram of the structure of a first drive assembly provided in an embodiment of the utility model;

[0033] Figure 3 A schematic structural diagram of a pushing assembly provided in an embodiment of the utility model.

[0034] Description of reference numerals:

[0035] 1. Spatial moving mechanism; 11. Horizontal adjustment unit; 111. First moving member; 112. Second moving member; 12. Vertical adjustment unit; 121. Mounting member; 13. Pushing assembly; 131. Moving rod; 132. Cam; 133. Rotating member; 2. Grabbing device; 21. Connecting frame; 22. Grabbing member; 3. First driving assembly; 31. Transmission wheel; 32. Conveyor belt; 33. Driving member. DETAILED DESCRIPTION

[0036] In order to make the technical problems, technical solutions and beneficial effects to be solved by the present invention more clearly understood, the present invention is further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present invention and are not used to limit the present invention.

[0037] Please also read Figures 1 to 3 , the flexible grabbing and placing device provided by the utility model is now described. The flexible grabbing and placing device includes a space moving mechanism 1, a grabbing device 2 and a controller. The space moving mechanism 1 includes a connection position that can move freely along the space; the grabbing device 2 is installed on the connection position, and is used to grab the card after three-dimensional movement driven by the space moving mechanism 1, and transfer and place the card on the receiving object. The grabbing device 2 grabs and places the card at a fixed position or flexibly adapts to a variety of irregular positions under the drive of the space moving mechanism 1; the controller is electrically connected to the space moving mechanism 1 and the grabbing device 2, and is used to control the working state of the space moving mechanism 1 to adjust the position of the connection position and the working state of the grabbing device 2.

[0038] Compared with the prior art, the flexible grabbing and placing device provided in this embodiment is provided with a space moving mechanism 1, a connection position is provided on the space moving mechanism 1, the connection position can be moved in three-dimensional space through the space moving mechanism 1, and a grabbing device 2 for grabbing and placing cards is installed on the connection position, which can grab the card from the placement position and move it to the receiving object to complete the card transportation. During the operation, the space moving mechanism 1 and the grabbing device 2 are controlled by the controller, and the card is driven to move by grabbing the card, which can reduce the friction and movement of the card, reduce the damage to the card, and effectively increase the service life of the card.

[0039] Specifically, in this embodiment, the spatial moving mechanism 1 is used to drive the grabbing device 2 to grab the card from the placement position and move it up to the top of the receiving object, and then drive the grabbing device 2 to move downward to place the card on the receiving object, thereby completing the card issuing operation.

[0040] Specifically, in this embodiment, flexible adaptation to a variety of irregular positions means that the combination of the grasping device 2 and the space moving mechanism 1 can be adapted to different occasions and functions according to different on-site environmental requirements through simple adjustments. For example, in the scene of the payment machine, the scattered cards can be sorted and packed into boxes; in the scene of the card issuing machine, the cards in the box can be taken out and issued to the driver; further, it can be effectively applied in the occasions where the scattered card pieces need to be sorted into orderly cards, or orderly cards need to be transported. This makes the flexible grasping and placing device in this application more widely applicable.

[0041] In some embodiments, the above-mentioned space moving mechanism 1 can be used as follows Figure 1 See the structure shown. Figure 1 The spatial moving mechanism 1 includes a horizontal adjustment unit 11 and a vertical adjustment unit 12. The horizontal adjustment unit 11 is used to drive the grabbing device 2 to move in the horizontal direction; the vertical adjustment unit 12 is used to drive the grabbing device 2 to move in the vertical direction. The horizontal adjustment unit 11 is used to drive the grabbing device 2 to move in the horizontal direction. When in use, the grabbing device 2 can be driven to move above the card and the receiving object according to the position of the card placed and the position of the receiving object, and the card can be grabbed and placed in combination with the vertical adjustment unit 12.

[0042] Specifically, in this embodiment, the horizontal adjustment unit 11 drives the grabbing device 2 to move above the card placement position, and drives the grabbing device 2 downward through the vertical adjustment unit 12 to grab the card, and then drives the grabbing device 2 upward through the vertical adjustment unit 12, and then drives the grabbing device 2 to move above the receiving object through the horizontal adjustment unit 11, and finally the vertical adjustment unit 12 drives the grabbing device 2 downward to place the card on the receiving object.

[0043] Optionally, in this embodiment, the receiving object is a conveyor belt for conveying cards to the card removal port.

[0044] In some embodiments, the horizontal adjustment unit 11 may be implemented as follows: Figure 2 See the structure shown. Figure 2 , the horizontal adjustment unit 11 includes a first moving member 111 and a second moving member 112. The position of the first moving member 111 has a degree of freedom that can be adjusted along a first horizontal direction; the second moving member 112 is installed on the first moving member 111, and the position of the second moving member 112 on the first moving member 111 has a degree of freedom that can be adjusted along a second horizontal direction, and the first horizontal direction and the second horizontal direction are set at an angle. The positions of the first moving member 111 and the second moving member 112 both have a degree of freedom that can be adjusted along the horizontal direction, and the connection position is located on the second moving member 112. The first moving member 111 can drive the second moving member 112 to move along the first direction, and the second moving member 112 can drive the connection position to move along the second direction, thereby satisfying the adjustment at any position in the horizontal direction.

[0045] Specifically, in this embodiment, a mounting frame is provided, on which a first guide post arranged along a first direction is installed, and a first moving member 111 is slidably arranged on the first guide post along the length direction of the first guide post. A second guide post arranged along a second direction is installed on the first moving member 111, and a second moving member 112 is slidably arranged on the second guide post along the length direction of the second guide post.

[0046] Preferably, in this embodiment, the first direction and the second direction are arranged perpendicular to each other, and the position of the first moving member 111 and the second moving member 112 can be adjusted to meet the adjustment of any position of the grasping device 2 in the horizontal direction.

[0047] In some embodiments, the horizontal adjustment unit 11 may be implemented as follows: Figure 2 See the structure shown. Figure 2 The horizontal adjustment unit 11 also includes a first driving assembly 3 for adjusting the position of the first movable member 111, and the first driving assembly 3 includes a transmission wheel 31, a conveyor belt 32 and a driving member 33. There are two transmission wheels 31, and the two transmission wheels 31 are arranged at intervals along the first direction; the conveyor belt 32 is installed between the two transmission wheels 31 and is transmission-connected with the two transmission wheels 31, and the first movable member 111 is installed on the conveyor belt 32; the driving end of the driving member 33 is transmission-connected with one of the transmission wheels 31, and is used to drive the transmission wheel 31 to rotate. The driving member 33 is transmission-connected with one of the two transmission wheels 31. When the transmission wheel 31 rotates, it will synchronously drive the conveyor belt 32 to move. The first movable member 111 is fixedly installed on the conveyor belt 32 and is fixedly connected with the conveyor belt 32, thereby realizing the movement of the first movable member 111.

[0048] Optionally, in this embodiment, the first driving assembly 3 can adopt the transmission direction of a lead screw and a threaded sleeve, by installing a threaded sleeve on the first moving member 111, and driving the first moving member 111 to move by rotating the lead screw.

[0049] Preferably, in this embodiment, first teeth are evenly arranged on the outer side of the transmission wheel 31, and second teeth meshing with the teeth are arranged on the conveyor belt 32, so as to ensure an effective transmission ratio between the transmission wheel 31 and the conveyor belt 32.

[0050] Preferably, in this embodiment, a second driving component is also arranged between the first moving member 111 and the second moving member 112, the second driving component has the same structure as the first driving component 3, the two transmission wheels 31 in the second driving member 33 are arranged along the second direction, and the second moving member 112 is fixedly mounted on the conveyor belt 32 in the second driving member 33.

[0051] In some embodiments, the vertical adjustment unit 12 may be configured as follows: Figure 3 See the structure shown. Figure 3 The vertical adjustment unit 12 includes a mounting member 121 and a pushing assembly 13. The position of the mounting member 121 has the degree of freedom to be adjusted in the vertical direction; the driving end of the pushing assembly 13 is connected to the mounting member 121, and is used to drive the mounting member 121 to move in the vertical direction. The mounting member 121 has the degree of freedom to be adjusted in the vertical direction on the mounting frame, and the height of the mounting member 121 is adjusted by the pushing assembly 13 to achieve the capture and storage of the card.

[0052] Optionally, in this embodiment, the horizontal adjustment unit 11 can be entirely mounted on the mounting member 121 , and in this case, the gripping device 2 is mounted on the second moving member 112 on the horizontal adjustment unit 11 .

[0053] Optionally, in this embodiment, the mounting member 121 is mounted on the second moving member 112 on the horizontal adjustment unit 11 , and the gripping device 2 is mounted on the mounting member 121 .

[0054] In some embodiments, the mounting member 121 may be configured as follows: Figure 2 , Figure 3 See also Figure 2 , Figure 3 The mounting member 121 is connected to the horizontal adjustment unit 11, and the horizontal adjustment unit 11 is used to drive the mounting member 121 to move in the horizontal direction. The mounting member 121 is installed on the second moving member 112, and is slidably arranged on the second moving member 112 in the vertical direction. A slider is installed on the second moving member 112, and a slide groove arranged in the vertical direction is arranged on the slider. A guide rail corresponding to the slideway is arranged on the mounting member 121, and the mounting member 121 is driven to move by the pushing component 13 to adjust the position of the mounting member 121 in the vertical direction.

[0055] In some embodiments, the pushing component 13 may be configured as follows: Figure 3 See the structure shown. Figure 3 The pushing assembly 13 includes a moving rod 131, a cam 132 and a rotating member 133. The moving rod 131 is fixedly or rotatably mounted on the mounting member 121; the cam 132 is rotatably mounted below the moving rod 131, and the moving rod 131 is arranged close to the outer side wall of the cam 132; the driving end of the rotating member 133 is transmission-connected with the rotating shaft of the cam 132, and is used to drive the cam 132 to rotate. The axes of the cam 132 and the moving rod 131 are arranged parallel to each other. The moving rod 131 is mounted on a side of the mounting member 121 close to the second moving member 112, and the cam 132 and the rotating member 133 are both mounted on the second moving member 112. The cam 132 is rotatably mounted on the second moving member 112, and when the rotating member 133 drives the cam 132 to rotate, the cam 132 will drive the moving rod 131 to move up and down. Thereby driving the mounting member 121 to move up and down.

[0056] In some embodiments, the grabbing device 2 may be used as follows: Figure 1 , Figure 3 See also Figure 1 , Figure 3The grabbing device 2 includes a connecting frame 21 and a grabbing member 22. The connecting frame 21 is installed on the connecting position, and the grabbing member 22 is used to grab and place the card. The connecting frame 21 is fixedly installed on the mounting member 121 by bolts. The grabbing member 22 can be a mechanical claw or a suction cup, and the state of the grabbing member 22 can be used to realize the grabbing, taking and placing of the card.

[0057] Preferably, in this embodiment, the controller is installed at the connection position and is electrically connected to the control end of the driving member 33, the rotating member 133 and the grabbing member 22 to control the working state of the driving member 33 and the rotating member 133 and the working state of the grabbing member 22. In addition, at least one communication interface is provided on the controller to receive input signals and process the input signals according to a preset control algorithm to generate corresponding control signals to control the working state of the driving member 33 and the rotating member 133 and the working state of the grabbing member 22. Automatic grasping and placing of cards is realized.

[0058] Based on the same inventive concept, an embodiment of the present application further provides a card processing device, including the above flexible grasping and placing device.

[0059] Compared with the prior art, the scheme shown in the embodiment of the present application can complete the operation of dropping the card to the receiving component by grabbing the card, thereby avoiding damage to the card caused by card removal and card wear caused by friction between cards during the card issuance process, and effectively improving the service life of the card.

[0060] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the present invention should be included in the protection scope of the present invention.

Claims

1. A flexible grasping and placing device, characterized in that: include: A space moving mechanism (1), the space moving mechanism (1) comprising a connection position capable of free movement in space; A grabbing device (2) is installed at the connection position and is used to grab the card after three-dimensional movement driven by the spatial moving mechanism (1), and transfer and place the card on a receiving object. The position where the grabbing device (2) grabs and places the card driven by the spatial moving mechanism (1) is a fixed position or a flexible position that can adapt to a variety of irregular positions; A controller is electrically connected to the space moving mechanism (1) and the grasping device, and is used to control the working state of the space moving mechanism (1) to adjust the position of the connection position and the working state of the grasping device (2).

2. The flexible grasping and placing device according to claim 1, characterized in that: The spatial movement mechanism (1) comprises: A horizontal adjustment unit (11) used for driving the grasping device (2) to move in a horizontal direction; The vertical adjustment unit (12) is used to drive the grasping device (2) to move in a vertical direction.

3. The flexible grasping and placing device according to claim 2, characterized in that: The level adjustment unit (11) comprises: A first movable member (111), the position of which has a degree of freedom that can be adjusted along a first horizontal direction; The second moving member (112) is mounted on the first moving member (111), and the position of the second moving member (112) on the first moving member (111) has a degree of freedom that can be adjusted along a horizontal second direction, and the horizontal first direction is set at an angle to the horizontal second direction.

4. The flexible grasping and placing device according to claim 3, characterized in that: The horizontal adjustment unit (11) further comprises a first driving component (3) for adjusting the position of the first moving member (111), wherein the first driving component (3) comprises: There are two transmission wheels (31), and the two transmission wheels (31) are arranged at intervals along a first direction; A conveyor belt (32) is installed between the two transmission wheels (31) and is in transmission connection with the two transmission wheels (31), and the first moving member (111) is installed on the conveyor belt (32); A driving member (33), wherein a driving end of the driving member (33) is drivingly connected to one of the transmission wheels (31) and is used to drive the transmission wheel (31) to rotate.

5. The flexible grasping and placing device according to claim 2, characterized in that: The vertical adjustment unit (12) comprises: A mounting member (121), wherein the position of the mounting member (121) has a degree of freedom of adjustment in a vertical direction; A pushing component (13), wherein a driving end of the pushing component (13) is connected to the mounting member (121) and is used to drive the mounting member (121) to move in a vertical direction.

6. The flexible grasping and placing device according to claim 5, characterized in that: The mounting member (121) is connected to the horizontal adjustment unit (11), and the horizontal adjustment unit (11) is used to drive the mounting member (121) to move in a horizontal direction.

7. The flexible grasping and placing device according to claim 5 or 6, characterized in that: The pushing component (13) comprises: A moving rod (131) mounted on the mounting member (121); A cam (132) is rotatably disposed below the moving rod (131), and the moving rod (131) is disposed in contact with an outer side wall of the cam (132); A rotating member (133), wherein a driving end of the rotating member (133) is drivingly connected to a rotating shaft of the cam (132) and is used to drive the cam (132) to rotate.

8. The flexible grasping and placing device according to claim 1, characterized in that: The grabbing device (2) comprises a connecting frame (21) and a grabbing member (22); the connecting frame (21) is installed on the connecting position; and the grabbing member (22) is used to grab and place the card.

9. A card processing device, characterized in that: It comprises a flexible grasping and placing device as described in any one of claims 1-8.

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