Three-axis mechanical arm for unmanned sausage selling machine

Abstract

The utility model belongs to the technical field of unmanned selling equipment, and particularly relates to a three-axis mechanical arm for an unmanned selling sausage roasting machine, which comprises a mounting frame mounted at the top end in the sausage roasting machine, an X-axis moving mechanism is arranged at the bottom of the mounting frame, the X-axis moving mechanism accurately moves in the X-axis direction through a guide rail and a sliding table, and a Y-axis moving mechanism is fixed at the bottom of the sliding table. A Y-axis moving mechanism is arranged at the bottom of the first moving seat and accurately moves in the Y-axis direction through a first beam frame and a first threaded rod, a Z-axis moving mechanism is arranged at the bottom of the first moving seat and accurately moves in the Z-axis direction through a second beam frame and a second threaded rod, and an electric clamping jaw is connected to the back of the second moving seat. Claw heads used for clamping sausages are oppositely arranged at the output ends of the electric clamping claws, a monitor used for monitoring the positions of the sausages is arranged at the top between the claw heads, and the whole three-axis mechanical arm flexibly moves in a three-dimensional space.

Description

Technical Field

[0001] The utility model belongs to the technical field of unmanned vending equipment, and in particular relates to a three-axis mechanical arm for an unmanned sausage vending machine. Background Art

[0002] With the rapid development of society and the accelerated pace of people's lives, unmanned vending machines have become more and more popular in the retail industry. These devices not only save labor costs, but also provide services 24 hours a day, which greatly facilitates consumers. At present, there are many unmanned vending machines on the market, but there are relatively few unmanned vending sausage machines, especially in the food production process, there are still some technical difficulties in the automated processing and precise clamping of sausages.

[0003] In the prior art, single or dual-axis robotic arms are usually used to move and clamp items. However, these robotic arms are often unable to achieve high-precision movement and operation when faced with complex three-dimensional spatial movements, resulting in low efficiency and unstable operation of the equipment during the automatic vending process. In addition, the existing sausage vending equipment is mostly operated manually, which is not only labor-intensive, but also difficult to ensure sanitary conditions, affecting user experience and food safety. Utility Model Content

[0004] In view of the problems existing in the prior art, the purpose of the utility model is to provide a three-axis robotic arm for an unmanned sausage vending machine, which can realize the precise positioning and clamping operations of the sausages through the three-dimensional moving mechanism of the X-axis, Y-axis and Z-axis, thereby improving the automation degree and operation efficiency of the equipment.

[0005] In order to achieve the above purpose, the utility model provides the following technical solutions:

[0006] A three-axis mechanical arm for an unmanned sausage vending machine comprises a mounting frame mounted on the top of the sausage vending machine, and an X-axis moving mechanism is mounted on the bottom of the mounting frame;

[0007] The X-axis moving mechanism comprises a guide rail, a slide table is slidably connected to the guide rail, and a Y-axis moving mechanism is arranged at the bottom of the slide table;

[0008] The Y-axis moving mechanism comprises a first beam frame fixedly connected to the bottom of the slide, a second driving motor is arranged at one end of the first beam frame, an output end of the second driving motor is connected to a first moving seat, and the first beam frame is slidably connected to the first moving seat;

[0009] A Z-axis moving mechanism is arranged at the bottom of the first moving seat, and the Z-axis moving mechanism includes a second beam frame connected to the bottom of the first moving seat, and a second moving seat is slidably connected to the second beam frame; a clamping mechanism is connected to the back of the second moving seat, and the clamping mechanism includes an electric clamp, and a claw head for clamping sausages is arranged opposite to the output end of the electric clamp, and a monitor for monitoring the position of the sausage is arranged on the top between the oppositely arranged claw heads.

[0010] Furthermore, wheel grooves are provided on both sides of the guide rail;

[0011] The inner side of the slide is symmetrically provided with a locking wheel which is locked in the wheel groove.

[0012] Furthermore, a first connecting plate is provided at one end of the guide rail, and a second connecting plate is provided at the other end of the guide rail;

[0013] A first driving motor is disposed at the bottom of the first connecting plate;

[0014] The output end of the first driving motor is connected to a driving wheel, the upper end surface of the first connecting plate is symmetrically provided with a first guide wheel, and the upper end surface of the second connecting plate is symmetrically provided with a second guide wheel;

[0015] The driving wheel, the first guide wheel and the second guide wheel are sleeved with belts;

[0016] A belt fixing plate is fixedly connected to the inner bottom of the slide, and a clamping groove is penetrated through the side surface of the belt fixing plate, and the two ends of the belt are fixedly clamped in the clamping grooves respectively.

[0017] Furthermore, the output end of the second driving motor is connected to a first threaded rod, and the first threaded rod is threadably matched with the first moving seat.

[0018] Furthermore, one end of the second beam is connected to a third drive motor, and an output end of the third drive motor is connected to a second threaded rod.

[0019] Furthermore, connecting plates are arranged opposite to each other on both sides of the electric clamp, the shape of the connecting plate is arranged to be L-shaped, and the other end of the connecting plate is connected to the second movable seat by screws.

[0020] Furthermore, the mounting frame includes a lamp tube rod and a chain rod, and both ends of the lamp tube rod and the chain rod are connected with connecting angle pieces, and the connecting angle pieces are fixed to the inner top of the sausage grill by screws.

[0021] Compared with the prior art, the beneficial effects of the utility model are:

[0022] The utility model provides a three-axis robot arm for an unmanned sausage vending machine, which realizes high-precision positioning and clamping operations of sausages through the three-dimensional moving mechanism of the X-axis, Y-axis and Z-axis. This design effectively solves the problem of insufficient positioning accuracy of single-axis or dual-axis robot arms in the prior art. The X-axis moving mechanism drives the driving wheel through the first driving motor, driving the belt and the slide to slide on the guide rail, thereby realizing precise movement in the X-axis direction. The Y-axis moving mechanism drives the first threaded rod to rotate through the second driving motor, driving the first moving seat to slide on the first beam, thereby realizing precise movement in the Y-axis direction. The Z-axis moving mechanism drives the second threaded rod to rotate through the third driving motor, driving the second moving seat to slide on the second beam, thereby realizing precise movement in the Z-axis direction. The design of this three-axis structure ensures the high-precision movement of the robot arm in three-dimensional space, greatly improving the automation level and operational reliability of the equipment.

[0023] In addition, the three-axis mechanical arm of the utility model can flexibly move inside the sausage roasting machine and accurately clamp the sausage. Through the cooperation of the electric clamp and the monitor, the accurate monitoring and clamping operation of the sausage position is realized. This design effectively solves the problem of unstable operation in the prior art. The electric clamp is connected to the second moving seat through a connecting plate, and can move flexibly in the internal space of the oven with the cooperation of the three-axis moving mechanism. When the monitor determines the position of the sausage to be clamped, the electric clamp drives the claw head to accurately clamp the sausage, ensuring the stability and accuracy of the clamping operation and improving the sales efficiency.

[0024] The three-axis mechanical arm for the unmanned sausage vending machine of the utility model realizes the automated processing and precise clamping of sausages through the cooperation of the high-precision three-axis moving mechanism and the electric clamp, which not only improves the automation level and operation efficiency of the equipment, but also effectively ensures the sanitary conditions of food. This design avoids the health hazards caused by manual operation, improves user experience and food safety. The reasonable configuration of the mounting frame, guide rails, slides and various drive motors makes the entire mechanical arm compact in structure, stable in operation and easy to maintain, thus providing reliable technical support for the unmanned sausage vending machine. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] Figure 1 It is a structural schematic diagram of the utility model;

[0026] Figure 2 This is a schematic diagram of the structure of the mounting frame of the utility model;

[0027] Figure 3 This is a schematic diagram of the structure of the X-axis moving mechanism of the utility model;

[0028] Figure 4 for Figure 3 The enlarged schematic diagram of point A in the middle;

[0029] Figure 5 This is a schematic diagram of the structure of the Y-axis moving mechanism of the utility model;

[0030] Figure 6 It is a structural schematic diagram of the Z-axis moving mechanism of the utility model.

[0031] In the accompanying drawings, the components represented by the reference numerals are listed as follows:

[0032] 1. Mounting frame;

[0033] 11. Lamp tube rod; 12. Chain rod; 13. Connecting angle piece;

[0034] 2. X-axis moving mechanism;

[0035] 21. Guide rail; 211. Wheel groove; 22. First connecting plate; 221. First guide wheel; 23. First driving motor; 231. Driving wheel; 24. Second connecting plate; 241. Second guide wheel; 25. Slide; 251. Positioning wheel; 26. Wheel belt fixing plate; 261. Positioning groove; 27. Belt;

[0036] 3. Y-axis moving mechanism; 31. first beam; 32. second driving motor; 321. first threaded rod; 33. first moving seat;

[0037] 4. Z-axis moving mechanism; 41. second beam frame; 42. third driving motor; 421. second threaded rod; 43. second moving seat;

[0038] 5. Clamping mechanism;

[0039] 51. Electric gripper; 52. Connecting plate; 53. Claw head; 54. Monitor. DETAILED DESCRIPTION

[0040] In order to make the purpose and advantages of the utility model more clear, the utility model is specifically described in combination with the following embodiments. It should be understood that the following text is only used to describe one or several specific implementations of the utility model, and does not strictly limit the protection scope of the specific request of the utility model.

[0041] See also Figure 1-6A three-axis robot arm for an unmanned sausage vending machine includes a mounting frame 1 installed at the top of the sausage vending machine, an X-axis moving mechanism 2 is installed at the bottom of the mounting frame 1; the X-axis moving mechanism 2 includes a guide rail 21, a slide 25 is slidably connected to the guide rail 21, and a Y-axis moving mechanism 3 is arranged at the bottom of the slide 25; the Y-axis moving mechanism 3 includes a first beam frame 31 fixedly connected to the bottom of the slide 25, a second drive motor 32 is arranged at one end of the first beam frame 31, and a first threaded rod 321 is connected to the output end of the second drive motor 32, the first threaded rod 321 is threadedly matched with a first moving seat 33, and as the first threaded rod 321 rotates, the first moving seat 33 is driven to slide on the first beam frame 31; a Z-axis moving mechanism 4 is arranged at the bottom of the first moving seat 33, and the Z-axis moving mechanism 4 includes a first beam frame 31 connected to the first moving seat 33 A second beam frame 41 at the bottom, a second movable seat 43 is slidably connected to the second beam frame 41, a clamping mechanism 5 is connected to the back of the second movable seat 43, the clamping mechanism 5 includes an electric clamping jaw 51, and a claw head 53 for clamping sausages is relatively arranged at the output end of the electric clamping jaw 51, and a monitor 54 for monitoring the position of the sausage is arranged at the top between the claw heads 53 arranged relatively; the electric clamping jaw 51 is connected to the second movable seat 43 through a connecting plate 52, so that the electric clamping jaw 51 can be flexibly moved in the space inside the oven under the mutual cooperation of the X-axis moving mechanism 2, the Y-axis moving mechanism 3 and the Z-axis moving mechanism 4, and in the process of moving, the position of the sausage to be clamped is determined by the monitor 54, and when the position of the sausage is determined, the electric clamping jaw 51 drives the claw head 53 to accurately clamp the sausage;

[0042] The monitor 54 used is a high-precision infrared position sensor, model IR-XYZ123. The monitor 54 determines the position of the sausage by emitting an infrared beam and receiving its reflected signal. The specific working principle is as follows: when the infrared beam is emitted from the sensor transmitting end, it will be reflected back to the sensor receiving end when it encounters the surface of the sausage, and the signal processing unit inside the sensor will calculate the position of the sausage based on the time difference and intensity change of the reflected beam. The sensor has the characteristics of high precision, fast response and strong anti-interference ability. It can accurately locate the position of the sausage in the complex internal environment of the oven, thereby providing reliable data support for the precise clamping of the electric gripper, ensuring the accuracy and stability of the entire automated operation process.

[0043] See also Figure 3-4, wheel grooves 211 are provided on both sides of the guide rail 21; a locking wheel 251 which is inserted into the wheel groove 211 is symmetrically provided on the inner side of the slide 25; the guide rail 21 is fixed to the mounting frame 1 through the first connecting plate 22 and the second connecting plate 24; a first driving motor 23 is provided at the bottom of the first connecting plate 22, and a driving wheel 231 is connected to the output end of the first driving motor 23; a belt 27 is provided on the driving wheel 231, the first guide wheel 221 and the second guide wheel 241; when the first driving motor 23 is running, the driving wheel 2 31 rotates, thereby driving the belt 27 mounted on the driving wheel 231 to rotate. Since both ends of the belt 27 are fixed in the clamping grooves 261 on the belt fixing plate 26, and the belt fixing plate 26 is fixed on the slide 25, when the driving wheel 231 rotates, it will drive the slide 25 to slide on the guide rail 21; the inner bottom of the slide 25 is fixedly connected with the belt fixing plate 26, and the side of the belt fixing plate 26 is penetrated by a clamping groove 261, and the two ends of the belt 27 are fixedly clamped in the clamping grooves 261 respectively.

[0044] See also Figure 1-4 A first connecting plate 22 is provided at one end of the guide rail 21, and a second connecting plate 24 is provided at the other end of the guide rail 21; a first driving motor 23 is provided at the bottom of the first connecting plate 22; a driving wheel 231 is connected to the output end of the first driving motor 23, a first guide wheel 221 is symmetrically provided on the upper end surface of the first connecting plate 22, and a second guide wheel 241 is symmetrically provided on the upper end surface of the second connecting plate 24; a belt 27 is sleeved on the driving wheel 231, the first guide wheel 221 and the second guide wheel 241; a belt fixing plate 26 is fixedly connected to the inner bottom of the slide 25, and a clamping groove 261 is penetrated through the side surface of the belt fixing plate 26, and the two ends of the belt 27 are respectively fixedly clamped in the clamping groove 261.

[0045] See also Figure 5 The output end of the second driving motor 32 is connected to the first threaded rod 321, and the first threaded rod 321 is threadedly matched with the first movable seat 33. As the first threaded rod 321 rotates, the first movable seat 33 slides on the first beam 31, thereby realizing movement in the Y-axis direction.

[0046] See also Figure 5 One end of the second beam 41 is connected to the third drive motor 42, and the output end of the third drive motor 42 is connected to the second threaded rod 421. The second threaded rod 421 is threadedly matched with the second movable seat 43. As the second threaded rod 421 rotates, the second movable seat 43 slides on the second beam 41, thereby realizing movement in the Z-axis direction.

[0047] See also Figure 6, connecting plates 52 are relatively arranged on both sides of the electric clamp 51, the shape of the connecting plate 52 is set to be L-shaped, and the other end of the connecting plate 52 is connected to the second movable seat 43 by screws; claws 53 for clamping sausages are relatively arranged at the output end of the electric clamp 51, and a monitor 54 for monitoring the position of the sausage is arranged on the top between the claws 53; the electric clamp 51 is connected to the second movable seat 43 through the connecting plate 52, so that the electric clamp 51 can be flexibly moved in the space inside the oven under the mutual cooperation of the X-axis moving mechanism 2, the Y-axis moving mechanism 3 and the Z-axis moving mechanism 4, and in the process of moving, the position of the sausage to be clamped is determined by the monitor 54. When the position of the sausage is determined, the electric clamp 51 drives the claw 53 to accurately clamp the sausage.

[0048] See also Figure 2 The mounting frame 1 includes a lamp tube rod 11 and a chain rod 12, and the two ends of the lamp tube rod 11 and the chain rod 12 are connected with a connecting angle piece 13, and the connecting angle piece 13 is fixed to the inner top of the sausage grill by screws; an X-axis moving mechanism 2 is installed at the bottom of the mounting frame 1, and the X-axis moving mechanism 2 includes a guide rail 21, and a slide 25 is slidably connected to the guide rail 21, and a Y-axis moving mechanism 3 is arranged at the bottom of the slide 25; the Y-axis moving mechanism 3 includes a first beam frame 31 fixedly connected to the bottom of the slide 25, and a second drive is arranged at one end of the first beam frame 31. The output end of the second driving motor 32 is connected to the first threaded rod 321, and the first threaded rod 321 is threadedly matched with the first moving seat 33. As the first threaded rod 321 rotates, the first moving seat 33 is driven to slide on the first beam 31; a Z-axis moving mechanism 4 is arranged at the bottom of the first moving seat 33, and the Z-axis moving mechanism 4 includes a second beam 41 connected to the bottom of the first moving seat 33, and a second moving seat 43 is slidably connected to the second beam 41, and a clamping mechanism 5 is connected to the back of the second moving seat 43.

[0049] The working principle of the utility model is:

[0050] When the X-axis moving mechanism 2 is in operation, the first driving motor 23 drives the driving wheel 231 to rotate, thereby driving the belt 27 sleeved on the driving wheel 231 to rotate. Since both ends of the belt 27 are fixed in the clamping grooves 261 provided on the belt fixing plate 26, and the belt fixing plate 26 is fixed on the slide 25, when the driving wheel 231 rotates, it drives the slide 25 to slide on the guide rail 21.

[0051] When the Y-axis moving mechanism 3 is in operation, the second driving motor 32 drives the first threaded rod 321 to rotate, and the first threaded rod 321 is threadedly matched with the first moving seat 33. As the first threaded rod 321 rotates, the first moving seat 33 is driven to slide on the first beam 31.

[0052] When the Z-axis moving mechanism 4 is in operation, the third driving motor 42 drives the second threaded rod 421 to rotate, and the second threaded rod 421 is threadedly matched with the second moving seat 43. As the second threaded rod 421 rotates, the second moving seat 43 is driven to slide on the second beam 41;

[0053] The electric clamp 51 is connected to the second movable seat 43 through the connecting plate 52, so that the electric clamp 51 can flexibly move in the space inside the oven under the cooperation of the X-axis moving mechanism 2, the Y-axis moving mechanism 3 and the Z-axis moving mechanism 4, and in the process of movement, the position of the sausage to be clamped is determined through the monitor 54. When the position of the sausage is determined, the electric clamp 51 drives the claw head 53 to accurately clamp the sausage.

[0054] The above is only a preferred embodiment of the present invention. It should be noted that, for ordinary technicians in the technical field, several improvements and modifications can be made without departing from the principle of the present invention, and these improvements and modifications should also be regarded as the protection scope of the present invention. The structures, devices and operating methods not specifically described and explained in the present invention shall be implemented according to the conventional means in the field unless otherwise specified and limited.

Claims

1. A three-axis robotic arm for an unmanned sausage vending machine, characterized in that: It comprises a mounting frame (1) mounted on the top of the sausage roasting machine, and an X-axis moving mechanism (2) is mounted on the bottom of the mounting frame (1); The X-axis moving mechanism (2) comprises a guide rail (21), a slide table (25) is slidably connected to the guide rail (21), and a Y-axis moving mechanism (3) is arranged at the bottom of the slide table (25); The Y-axis moving mechanism (3) comprises a first beam (31) fixedly connected to the bottom of the slide (25); a second drive motor (32) is provided at one end of the first beam (31); an output end of the second drive motor (32) is connected to a first moving seat (33); and the first beam (31) is slidably connected to the first moving seat (33); A Z-axis moving mechanism (4) is arranged at the bottom of the first moving seat (33), and the Z-axis moving mechanism (4) comprises a second beam frame (41) connected to the bottom of the first moving seat (33), and a second moving seat (43) is slidably connected to the second beam frame (41); a clamping mechanism (5) is connected to the back of the second moving seat (43), and the clamping mechanism (5) comprises an electric clamping jaw (51), and a claw head (53) for clamping sausages is arranged opposite to the output end of the electric clamping jaw (51), and a monitor (54) for monitoring the position of the sausage is arranged at the top between the claw heads (53) arranged opposite to each other.

2. The three-axis robotic arm for an unmanned sausage vending machine according to claim 1, characterized in that: Wheel grooves (211) are provided on both sides of the guide rail (21); A locking wheel (251) that is locked into the wheel groove (211) is symmetrically arranged on the inner side of the slide (25).

3. The three-axis robotic arm for an unmanned sausage vending machine according to claim 2, characterized in that: A first connecting plate (22) is provided at one end of the guide rail (21), and a second connecting plate (24) is provided at the other end of the guide rail (21); A first driving motor (23) is provided at the bottom of the first connecting plate (22); The output end of the first driving motor (23) is connected to a driving wheel (231); the upper end surface of the first connecting plate (22) is symmetrically provided with a first guide wheel (221); and the upper end surface of the second connecting plate (24) is symmetrically provided with a second guide wheel (241); The driving wheel (231), the first guide wheel (221) and the second guide wheel (241) are sleeved with a belt (27); A belt fixing plate (26) is fixedly connected to the inner bottom of the slide (25), and a clamping groove (261) is provided through the side of the belt fixing plate (26), and the two ends of the belt (27) are respectively fixedly clamped in the clamping groove (261).

4. The three-axis robotic arm for an unmanned sausage vending machine according to claim 1, characterized in that: The output end of the second driving motor (32) is connected to a first threaded rod (321), and the first threaded rod (321) is threadably matched with the first moving seat (33).

5. The three-axis robotic arm for an unmanned sausage vending machine according to claim 1, characterized in that: One end of the second beam (41) is connected to a third drive motor (42), and an output end of the third drive motor (42) is connected to a second threaded rod (421).

6. The three-axis robotic arm for an unmanned sausage vending machine according to claim 1, characterized in that: Connecting plates (52) are arranged opposite to each other on both sides of the electric clamp (51); the connecting plate (52) is arranged in an L-shape, and the other end of the connecting plate (52) is connected to the second movable seat (43) by means of screws.

7. The three-axis robotic arm for an unmanned sausage vending machine according to claim 1, characterized in that: The mounting frame (1) comprises a lamp tube rod (11) and a chain rod (12), and both ends of the lamp tube rod (11) and the chain rod (12) are connected with connecting angle pieces (13), and the connecting angle pieces (13) are fixed to the inner top of the sausage roasting machine by means of screws.

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