Grabbing device of vending machine

Abstract

The utility model provides a grabbing device of an unmanned vending machine, which comprises a horizontal guide rail and a mechanical grabbing part, and the mechanical grabbing part comprises a mechanical claw, a mechanical claw driving cylinder, a longitudinal pushing cylinder, a vertical pushing cylinder and a horizontal guide rail sliding block; the horizontal guide rail is provided with an air outlet hole, a position sensor, a traction device and a compressed air device, the mechanical claw part achieves the grabbing action of a mechanical claw, and the horizontal guide rail enables the mechanical claw part to move horizontally and controls the mechanical claw part to operate at the corresponding position. Movement of the horizontal guide rail and the mechanical claw part is driven by high-pressure air, the mechanical arm has the advantages of being fast in response and moving, the defects that an original electric mechanical arm is slow in response, multiple in control element and the like are overcome, and the mechanical arm has wide applicability.

Description

Technical Field

[0001] The utility model relates to the field of unmanned vending machines, in particular to a grabbing device for an unmanned vending machine. Background Art

[0002] The current unmanned vending machines are usually beverage machines or commodity vending machines, which need to grab the cups of goods or beverages, so they need to be equipped with mechanical grabbing devices. The current mechanical grabbing devices are mainly based on electric conduction. Because they involve multiple detailed transmissions and rotations, they need to set up complex programs, have slow control speeds, and have low grabbing efficiency. Utility Model Content

[0003] The purpose of the utility model is to develop a grabbing device based on pneumatic propulsion, which can respond quickly and control the corresponding position to achieve the grabbing action. The required action is simple and the control is convenient, which is beneficial to industrial production.

[0004] The utility model provides a grabbing device for an unmanned vending machine, which includes a mechanical claw part and a horizontal pneumatic guide rail;

[0005] The mechanical claw part includes a mechanical claw, a mechanical claw driving cylinder, a longitudinal push cylinder, a rotating cylinder, a vertical push cylinder, and a horizontal guide rail slider;

[0006] The horizontal pneumatic guide rail includes a pneumatic guide rail, a position sensor, a traction device, and a compressed air device;

[0007] The mechanical claw is fixedly connected to the mechanical claw driving cylinder; the mechanical claw driving cylinder is fixedly connected to the longitudinal pushing cylinder; the longitudinal pushing cylinder is connected to the rotating cylinder; the rotating cylinder is fixedly connected to the vertical pushing cylinder, and the vertical pushing cylinder is fixedly connected to the horizontal guide rail slider;

[0008] The horizontal guide rail slider matches the pneumatic guide rail, the surface of the pneumatic guide rail is provided with an air outlet, and the air outlet is connected to the compressed air device; a position sensor is provided on the side of the pneumatic guide rail; and the traction device is connected to the horizontal guide rail slider.

[0009] Furthermore, in the grabbing device of the unmanned vending machine, the longitudinal pushing cylinder and the rotating cylinder are provided with connecting plates, which are conducive to fixing the longitudinal pushing cylinder and the rotating cylinder up and down.

[0010] Furthermore, in the grabbing device of the unmanned vending machine, the rotating cylinder and the vertical pushing cylinder are directly provided with a connecting piece, which is advantageous for supporting the upper mechanical claw structure and connecting the vertical pushing cylinder.

[0011] Furthermore, in the grabbing device of the above-mentioned unmanned vending machine, the mechanical claw driving cylinder and the longitudinal pushing cylinder are connected by screws.

[0012] Furthermore, in the grabbing device of the above-mentioned unmanned vending machine, the position sensor is an infrared photoelectric detection slot, a detection piece is set on the horizontal guide rail slider, and the detection piece and the infrared photoelectric detection slot are matched for sensing.

[0013] Furthermore, in the grabbing device of the unmanned vending machine, the traction device includes a traction belt, a pulley, and a stepper motor, the stepper motor is connected to the pulley, the pulley is set on the pneumatic guide rails on both sides of the horizontal guide rail slider, and the traction belt is connected to the pulley and the horizontal guide rail slider respectively. The pulley is driven by the power of the stepper motor to rotate, and the traction belt pulls the horizontal guide rail slider to slide left and right.

[0014] Beneficial effects:

[0015] The utility model controls the three-dimensional movement and opening and closing of the mechanical claw through the input of high-pressure air to complete the corresponding grasping activity, and reduces the friction between the slider and the guide rail through the air outlet holes on the pneumatic horizontal guide rail, thereby increasing the movement speed of the slider on the guide rail. The slider is controlled by a position sensor and can stop at the corresponding position of the horizontal guide rail, thereby facilitating the grasping of the target and completing the rapid grasping of the unmanned vending machine. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] The preferred embodiments of the present utility model will be described in detail below with reference to the accompanying drawings.

[0017] Figure 1 It is a schematic diagram of the structure of the mechanical claw part;

[0018] Figure 2 is a schematic diagram of the pneumatic guide structure;

[0019] Figure 3 This is the structure diagram of the mechanical claw and cylinder drive;

[0020] Figure 4 This is a schematic diagram of the combination of the pneumatic guide rail and the mechanical claw;

[0021] Figure 5 This is a front view of the pneumatic guide rail and mechanical claw structure.

[0022] Reference numerals:

[0023] 1—Mechanical claw 2—Mechanical claw driving cylinder 3—Longitudinal push cylinder 4—Connecting plate 5—Rotary cylinder 6—Horizontal guide slider 7—Vertical push cylinder 8—Pneumatic guide 9—Infrared photoelectric detection element 10—Pulley 11—Stepping motor and compressed air pipe box 12—Air outlet 13—Positioning metal sheet 14—Screw hole DETAILED DESCRIPTION

[0024] The utility model will be further described below in conjunction with the accompanying drawings.

[0025] See Figure 1 The mechanical claw part includes a mechanical claw 1, a mechanical claw driving cylinder 2, a longitudinal pushing cylinder 3, a connecting piece 4, a rotating cylinder 5, a horizontal guide slider 6, and a vertical pushing cylinder 7;

[0026] The mechanical claw 1 is fixedly connected to the mechanical claw driving cylinder 2 to drive the opening and closing of the mechanical claw 1; the mechanical claw driving cylinder 2 is fixedly connected to the longitudinal pushing cylinder 3, for example, fixedly connected up and down by screws, and the longitudinal pushing cylinder 3 drives the movement of the mechanical claw driving cylinder 2 by moving the longitudinal cylinder head; the longitudinal pushing cylinder 3 and the rotating cylinder 5 are fixedly connected, for example, fixedly connected by a connecting plate 4, and the connecting plate 4 drives the rotation of various components on the upper part of the connecting plate (including the mechanical claw 1, the mechanical claw driving cylinder 2 and the longitudinal pushing cylinder 3) as the rotating cylinder 5 rotates, and the vertical pushing cylinder 7 carries the mechanical claw 1, the mechanical claw driving cylinder 2, the longitudinal pushing cylinder 3, the connecting plate 4 and the rotating cylinder 5 through a connecting plate, and pushes the connecting plate to move upward by inputting compressed gas, so that the structure it carries moves upward as a whole, and vice versa. Move downward.

[0027] The horizontal guide slider 6 is fixedly connected to the vertical push cylinder 7, and has a slide groove matching the shape of the pneumatic slide rail 8 at the lower part. A positioning metal sheet 13 (i.e., a detection sheet) is fixed on the slider. Figure 2-5 The pneumatic guide rail 8 has an air outlet 12 on its upper surface, and pulleys 10, traction belts, stepper motors and compressed air pipe boxes 11 are provided at both ends. The horizontal guide rail slider 6 has screw holes 14 at both ends, which are respectively connected to the traction belts, and the traction belts are fixed to the pulleys 10 of the connecting section. The stepper motor and compressed air pipe box 11 provide compressed air for the guide rail, and the air is discharged from the air outlet 12. When the slider moves on the guide rail, the resistance it encounters will be reduced. There is a stepper motor drive and compressed air input pipe under the pulley on one side, which drives the guide rail to move while inputting compressed air to the guide rail. At the same time, there is an infrared detection slot (infrared photoelectric detection element 9) at a certain distance on the guide rail. When the positioning metal sheet 13 on the horizontal guide rail slider 6 slides through the infrared detection slot, the slider position is positioned.

[0028] There is an infrared photoelectric detection element 9 at a certain interval on the rail, which is installed on the side of the rail to detect its position when the horizontal rail slider passes by.

[0029] The stepper motor is arranged in the square box to drive the traction belt and drive the horizontal guide rail slider 6 to move on the guide rail. Simultaneously, the square box also has a compressed gas input pipe connected to the guide rail, and the compressed gas is input into the pneumatic guide rail through this.

[0030] Take the example of the equipment completing the preparation of a cup of beverage, see Figure 3 .

[0031] When the device starts to work, high-pressure gas is filled into the pneumatic guide rail 8 by the stepper motor and the air pipe in the compressed air pipe box 11, and the compressed gas inside the guide rail is blown out through the air outlet on the surface of the pneumatic guide rail 12, forming an air cushion between the horizontal guide rail slider 6 and the pneumatic guide rail 8. Further, the stepper motor in the stepper motor and compressed air pipe box 11 starts to work after receiving the electrical signal, and the drive pulley 10 rotates to pull the horizontal guide rail slider 6 to move. When the metal sheet 13 on the horizontal guide rail slider 6 reaches the infrared photoelectric detection element 9 at the cup-taking position, the stepper motor stops working and stops the slider 6 at this position. Then the compressed gas is input into the vertical push cylinder 7 to raise the structure on the vertical push cylinder 7, which includes the mechanical claw 1, the mechanical claw driving cylinder 2, the longitudinal push cylinder 3, the connecting piece 4 and the rotating cylinder 5. After reaching the preset height of the cylinder, compressed gas is input into one of the input ports of the rotating cylinder 5, so that the rotating cylinder 5 rotates 180 degrees and then stops inputting compressed gas. At the same time, compressed gas is input into the longitudinal push cylinder 3, so that the mechanical claw 1 structure and the mechanical claw driving cylinder 2 move forward, and then the upper cup dropper releases an empty cup and falls into the mechanical claw 1. At the same time, the compressed gas stops inputting compressed gas into the longitudinal push cylinder 3, so that the mechanical claw 1 structure and the empty cup caught therein and the mechanical claw driving cylinder 2 move backward and return to their positions. Then, compressed gas is input into another input port of the rotating cylinder 5, so that the mechanical claw 1, the mechanical claw driving cylinder 2, and the longitudinal push cylinder 3 rotate 180 degrees in the opposite direction and return to their positions. Further, the compressed air input into the vertical push cylinder 7 is stopped, so that the upper structure descends. Further, the stepping motor drives the traction belt to drive the horizontal guide rail slider 6 to move forward. When the metal sheet 13 and the metal sheet that locates the position of the slider when sliding on the guide rail through the infrared sensor reach the infrared photoelectric detection element 9 in the beverage and milk cap, syrup and capping area, the horizontal guide rail slider 6 stops respectively. Other equipment adds various liquid and solid raw materials to the cup in the mechanical claw 1 structure and seals it. When it reaches the exit, compressed gas is input into the vertical push cylinder 7, and then compressed gas is input into the longitudinal push cylinder 3. After the mechanical claw 1 structure, the mechanical claw driving cylinder 2 and the finished beverage are handed out of the machine, compressed gas is further input into the mechanical claw driving cylinder 2 to open the mechanical claw 1 structure and release the cup. Further stop inputting compressed gas into the mechanical claw driving cylinder 2 and the longitudinal push cylinder 3, so that the mechanical claw 1 closes and retracts to the initial position. Further stop inputting compressed gas into the vertical push cylinder 7, so that the structure it carries drops back to the initial position. Further, stop inputting compressed gas into the pneumatic guide rail 8 through the stepper motor and the compressed air pipe box 11. The device completes the stop action of making a whole cup of beverage.

[0032] Function of each component:

[0033] 1. Mechanical claw structure, with an opening and closing mechanical claw structure.

[0034] 2. The mechanical claw driving cylinder is connected to the driving cylinder of the mechanical claw structure. The mechanical claw is opened by inputting compressed air and the mechanical claw is closed by extracting compressed air.

[0035] 3. Push the cylinder longitudinally, push the cylinder head forward by inputting compressed air, extract the compressed air to make the cylinder head move backward, and push the mechanical claw to drive the cylinder to move.

[0036] 4. Connecting piece, a disc-shaped connecting device, connects the cylinder body of the longitudinal pushing cylinder and the rotor of the rotating cylinder.

[0037] 5. Rotating cylinder, there is a rotatable circular rotor in the center of the cylinder, with two air inlets. When compressed air is input from the left air inlet, the circular rotor is blown by the compressed air to rotate clockwise. Conversely, when compressed air is input from the right air inlet, the circular rotor is blown by the compressed air to rotate counterclockwise.

[0038] 6. Horizontal guide rail slider. The front end of the horizontal guide rail slider and the guide rail in the vertical direction is connected to the vertical push cylinder. It drives the vertical push cylinder and its load to move horizontally on the pneumatic guide rail. The slider has a mounting hole for connecting with the traction belt in both the left and right directions along the starting guide rail. After the connection, the traction belt can drag the slider to move with low resistance on the pneumatic guide rail. At the same time, there is also a metal sheet at the rear of the horizontal guide rail slider, which is used to locate the position of the slider when it slides on the guide rail past the infrared sensor.

[0039] 7. Vertical push cylinder, the vertical push cylinder carries the mechanical claw structure through a connecting piece, the mechanical claw drives the cylinder, the longitudinal push cylinder, the connecting device and the rotating cylinder. By inputting compressed gas, the connecting piece is pushed upward, so that the structure it carries moves upward as a whole, and vice versa. Pneumatic guide rail, a section of guide rail with small holes on the surface, by inputting compressed air into the guide rail and blowing compressed gas out of the small holes, when the slider moves on the guide rail, the resistance will be reduced. There are two pulleys at both ends of the guide rail, which are used to tension the traction belt, so as to pull the horizontal guide rail slider to move on the guide rail. There is a stepper motor drive and compressed gas input pipe under the pulley on one side. The guide rail is driven to move while inputting compressed gas into the guide rail. At the same time, there is an infrared detection slot at a certain distance on the guide rail. When the metal sheet on the horizontal guide rail slider slides through the infrared detection slot, the slider position is located.

[0040] 8. Pneumatic guide rails, installed on the side of the guide rails, detect their position when the horizontal guide rail slider passes by.

[0041] 9. Infrared photoelectric detection element, infrared detection slot, installed on the side of the guide rail, detects its position when the horizontal guide rail slider passes by.

[0042] 10. Pulley, used to tension the traction belt.

[0043] 11. Stepper motor and compressed air pipe box, the stepper motor is located in the square box to drive the traction belt and drive the horizontal guide rail slider to move on the guide rail. At the same time, there is a compressed air input pipe connected to the guide rail in the square box, and the compressed air is input into the pneumatic guide rail through it.

[0044] 12. Air outlet, located on the pneumatic guide rail (used to blow up the slider when it moves to reduce movement resistance)

[0045] 13. Positioning metal sheet, which is used to position the slider when it slides on the guide rail past the infrared sensor

[0046] 14. Screw holes, screw holes for fixing the slider and the traction belt.

[0047] The control of the compressed air valve on the cylinder device, the sensing of the infrared photoelectric detection element and the control of the stepper motor are all conventional technologies in the art.

[0048] The above is only a preferred embodiment of the utility model, but the protection scope of the utility model is not limited thereto. Any person skilled in the art can easily make changes or modifications within the technical scope disclosed in the utility model, and such changes or modifications should be included in the protection scope of the utility model. Therefore, the protection scope of the utility model shall be based on the protection scope of the claims.

Claims

1. A grabbing device for an unmanned vending machine, characterized in that: It includes a mechanical claw part and a horizontal pneumatic guide rail; The mechanical claw part includes a mechanical claw, a mechanical claw driving cylinder, a longitudinal push cylinder, a rotating cylinder, a vertical push cylinder, and a horizontal guide rail slider; The horizontal pneumatic guide rail includes a pneumatic guide rail, a position sensor, a traction device, and a compressed air device; The mechanical claw is fixedly connected to the mechanical claw driving cylinder; the mechanical claw driving cylinder is fixedly connected to the longitudinal pushing cylinder; the longitudinal pushing cylinder is fixedly connected to the rotating cylinder; the rotating cylinder is fixedly connected to the vertical pushing cylinder, and the vertical pushing cylinder is fixedly connected to the horizontal guide rail slider; The horizontal guide rail slider matches the pneumatic guide rail, the surface of the pneumatic guide rail is provided with an air outlet, and the air outlet is connected to the compressed air device; a position sensor is provided on the side of the pneumatic guide rail; and the traction device is connected to the horizontal guide rail slider.

2. The grabbing device of the unmanned vending machine according to claim 1, characterized in that: The longitudinal pushing cylinder and the rotating cylinder are provided with connecting pieces.

3. The grabbing device of the unmanned vending machine according to claim 1, characterized in that: The rotating cylinder and the vertical pushing cylinder are directly provided with a connecting piece.

4. The grabbing device of the unmanned vending machine according to claim 1, characterized in that: The mechanical claw driving cylinder is connected to the longitudinal pushing cylinder by screws.

5. The grabbing device of the unmanned vending machine according to claim 1, characterized in that: The position sensor is an infrared photoelectric detection slot, and a detection sheet is set on the horizontal guide rail slider, and the detection sheet and the infrared photoelectric detection slot are matched for induction.

6. The grabbing device of the unmanned vending machine according to claim 1, characterized in that: The traction device includes a traction belt, a pulley, and a stepper motor. The stepper motor is connected to the pulley. The pulley is set on the pneumatic guide rails on both sides of the horizontal guide rail slider. The traction belt is connected to the pulley and the horizontal guide rail slider respectively.

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