Multi-degree-of-freedom popcorn subpackaging cup transferring mechanism

Abstract

The utility model provides a multi-degree-of-freedom popcorn subpackaging cup transfer mechanism which comprises a horizontal moving module, a lifting module and a rotating module, a horizontal sliding block is in threaded transmission connection with a horizontal lead screw, a first motor drives the horizontal sliding block to horizontally slide along a horizontal guide rail, and the lifting module is vertically connected with the horizontal moving module. The vertical sliding block is in threaded transmission connection with the vertical lead screw, the second motor drives the vertical sliding block to vertically ascend and descend along the vertical guide rail, one side of the vertical sliding block is connected with the cup holder, the rotating module is arranged between the horizontal moving module and the lifting module, and the third motor drives the lifting module to rotate through the rotating block. The three modules cooperate to achieve three-dimensional space positioning and transferring of the split charging cups. The problems that a popcorn split charging cup transferring mechanism is insufficient in three-dimensional space positioning precision, poor in mechanism stability and difficult to maintain are solved.

Description

TECHNICAL FIELD

[0001] The utility model relates to the popcorn vending equipment field especially is related to a multi -freedom degree popcorn sub -packaging cup transfer mechanism. BACKGROUND

[0002] With the popularization of automatic vending equipment in the food retail field, the popcorn automatic vending machine gradually becomes the typical application of efficient sub -packaging and delivery in the commercial scene.

[0003] In the prior art, the transfer of the popcorn sub -packaging cup usually relies on single -shaft linear module or simple mechanical arm to realize positioning, for example, adopts horizontal push rod to cooperate with lifting cylinder to complete the grabbing and releasing of the cup body. Although this kind of structure can realize the basic transfer function, there are problems of limited movement freedom and insufficient positioning accuracy when multiple stations cooperate. Especially in the aspects of cup receiving, material receiving and handover to customers, the sub -packaging cup needs to complete the composite action of horizontal displacement, vertical lifting and angle adjustment in three -dimensional space, and the traditional single -motor driven single -shaft mechanism is difficult to meet the complex trajectory planning demand. In addition, the existing transfer device adopts split type design, and the horizontal and lifting modules are stacked through series structure, which leads to poor overall rigidity, insufficient running stability, and transmission error caused by load eccentricity during rotary positioning. In addition, popcorn crumbs are easy to invade the thread gap in the screw transmission, and long -term use will cause movement jam, and the existing technology lacks self -cleaning design, frequent shutdown maintenance is needed, which affects the continuous operation capacity of the equipment.

[0004] The popcorn automatic vending machine is developing towards high throughput and high flexibility, and requires the transfer mechanism to quickly complete multi -station switching in limited space. For example, in high -traffic scenes such as cinemas, the equipment needs to complete the whole process from empty cup grabbing, accurate material receiving to customer handover in a short time, which puts forward higher requirements on the movement speed, trajectory smoothness and end effector stability of the mechanism. The market urgently needs a transfer scheme integrated with multi -freedom degree movement, modular collaborative control and self -maintenance characteristics. UTILITY MODEL CONTENTS

[0005] The main purpose of the utility model is to provide a multi -freedom degree popcorn sub -packaging cup transfer mechanism, which solves the problems of insufficient three -dimensional space positioning accuracy, poor mechanism stability and difficult maintenance of the popcorn sub -packaging cup transfer mechanism.

[0006] To solve the above-mentioned technical problems, the technical solution adopted by this utility model is: a multi-degree-of-freedom popcorn dispensing cup transfer mechanism, including a horizontal movement module, a lifting module, and a rotation module. The horizontal slider is connected to the horizontal lead screw via thread transmission. A first motor drives the horizontal slider to slide horizontally along the horizontal guide rail. The lifting module is vertically connected to the horizontal movement module. The vertical slider is connected to the vertical lead screw via thread transmission. A second motor drives the vertical slider to lift vertically along the vertical guide rail. One side of the vertical slider is connected to the cup holder. A rotation module is provided between the horizontal movement module and the lifting module. A third motor drives the lifting module to rotate through a rotating block. The three modules work together to realize the three-dimensional spatial positioning and transfer of the dispensing cup.

[0007] In the preferred embodiment, the structure of the horizontal movement module is as follows: the horizontal lead screw and the horizontal guide rail are arranged parallel to each other in the horizontal direction, the horizontal slider is connected to the horizontal lead screw threadedly through the first lead screw nut in the middle, and the lower end is slidably connected to the horizontal guide rail, forming a bidirectional constrained linear guide mechanism, and the output end of the first motor is connected to a section of the horizontal lead screw through a coupling, driving the horizontal slider to move linearly in the horizontal direction.

[0008] In the preferred embodiment, a first bearing limit seat is provided at the end of the stroke of the horizontal lead screw and the horizontal guide rail, and the horizontal moving module is set on the dispensing cup transfer path through the first bearing limit seats at both ends.

[0009] In the preferred embodiment, the first lead screw nut part includes a fixed part and two free parts. The fixed part is fixedly connected to the horizontal slider and is used to convert the rotational motion of the horizontal lead screw into the linear movement of the horizontal slider along the axis of the horizontal lead screw.

[0010] The free part is rotatably connected to both sides of the horizontal slider via a rotating bearing, and is used to generate synchronous rotation under the thread drive of the horizontal screw when the horizontal slider moves along the horizontal screw.

[0011] In the preferred embodiment, brushes are provided on the outer end faces of the two free parts. The brushes extend obliquely toward the axis of the horizontal lead screw, and their ends extend into the root of the thread of the horizontal lead screw. The diameter of the brushes is smaller than the thread pitch of the horizontal lead screw.

[0012] In the preferred embodiment, the lifting module has the following structure: the vertical guide rail and the vertical lead screw are parallel to each other, the vertical slider is connected to the vertical lead screw threadedly through the second lead screw nut in its middle part, one side is slidably connected to the vertical guide rail to form a bidirectional constrained linear guide mechanism, and the other side is connected to the cup holder through a support rod. The lifting module as a whole is perpendicular to the horizontal moving module. The output shaft of the second motor is connected to one end of the vertical lead screw to drive the vertical slider to move linearly in the vertical direction.

[0013] In the preferred scheme, the structure of the rotating module is that the upper end of the horizontal sliding block is connected with the rotating platform, the third motor is connected with the lower surface of the rotating platform through a motor base, the output shaft of the third motor penetrates the rotating platform and is connected with one side of the rotating block, the other side of the rotating block is connected with the lower end of the lifting module, and the third motor drives the lifting module to rotate around the vertical axis of the output shaft.

[0014] A support rib is further arranged between the horizontal sliding block and the rotating platform.

[0015] In the preferred scheme, the length of the supporting rod is equal to the distance from the maximum stroke endpoint of the cup holder to the horizontal projection of the output shaft of the third motor.

[0016] In the preferred scheme, the vertical guide rail and the vertical lead screw are respectively provided with second bearing limiting seats at both ends of the stroke terminal, the second motor is arranged on the upper end of the lifting module through the second bearing limiting seat at the upper end, and the lifting module is connected with the rotating block through the second bearing limiting seat at the lower end.

[0017] In the preferred scheme, the upper surface of the rotating platform is provided with a first arc groove, the lower surface of the rotating block is provided with a second arc groove, the first arc groove and the second arc groove are symmetrically arranged along the relative rotation plane of the rotating platform and the rotating block, the central angle corresponding to the arc length of the first arc groove and the second arc groove is adapted to the angle required by the cup holder to rotate, and the first arc groove and the second arc groove are provided with balls to form a rolling friction guide structure.

[0018] The utility model provides a kind of multi-degree-of-freedom popcorn subpackaging cup transfer mechanism, its beneficial effects are that: high-precision three-dimensional positioning, through the collaborative control of horizontal moving module, lifting module and rotating module, the composite motion of subpackaging cup in three-dimensional space is realized, the problem of insufficient freedom of traditional single-axis mechanism is solved, positioning accuracy is significantly improved, and complex trajectory planning demand is met.

[0019] The structure rigidity and stability are enhanced, the linear guide mechanism using screw rod guide rail bidirectional constraint is adopted, the screw rod and the guide rail are arranged in parallel, the double constraint mechanism effectively inhibits the overturning moment and vibration in the movement process, avoids the transmission error caused by load eccentricity, and the overall mechanism is rigid and runs smoothly.

[0020] The self-cleaning function reduces maintenance cost, the free end of horizontal screw rod nut part is provided with inclined brush, and the gap between screw threads is swept synchronously with the movement of sliding block, popcorn crumbs are effectively removed, to prevent jamming and wear, reduce downtime maintenance frequency, and improve continuous operation capacity of equipment.

[0021] The mechanism layout is reasonable and stable, the three-brother module is highly integrated, the space layout is compact, the redundant occupation of the split structure is avoided, meanwhile, through the supporting ribs and the symmetrically dispersed motor arrangement, the mutual interference of the driving units is ensured, the space utilization and the motion efficiency are improved, the rolling friction guiding structure (ball embedded in the arc groove) is adopted in the rotating module, the sliding friction is converted into the rolling friction, the rotating contact surface wear is significantly reduced, the service life of the key components is prolonged, and the long-term stable operation is ensured.

[0022] In conclusion, the popcorn sub-packaging efficiency and precision are improved, the maintenance cost and the failure rate are reduced, and reliable technical support is provided for the intelligentization and high-throughput development of the vending equipment. BRIEF DESCRIPTION OF DRAWINGS

[0023] The utility model will be further described in connection with the drawings and embodiments:

[0024] Figure 1 It is the overall appearance side view structure diagram of the utility model;

[0025] Figure 2 It is the overall appearance front view structure diagram of the utility model;

[0026] Figure 3 It is the horizontal movement module side view structure diagram of the utility model;

[0027] Figure 4 It is the lifting module side view structure diagram of the utility model;

[0028] Figure 5 It is the horizontal sliding block sectional view structure diagram of the utility model;

[0029] Figure 6 It is the rotating module side view structure diagram of the utility model;

[0030] Figure 7 It is the rotating module partial sectional view of the utility model;

[0031] Figure 8 It is the rolling friction guiding structure disassembly schematic diagram of the utility model.

[0032] In the drawing: horizontal movement module 1, horizontal sliding block 101, horizontal lead screw 102, first motor 103, horizontal guide rail 104, coupling 105, first bearing limiting seat 106, first lead screw nut part 107, fixed part 1071, free part 1072, lifting module 2, vertical sliding block 201, second lead screw nut part 2011, vertical lead screw 202, second motor 203, vertical guide rail 204, second bearing limiting seat 205, rotating module 3, third motor 301, rotating block 302, second arc groove 3021, rotating platform 303, first arc groove 3031, supporting rib 304, cup holder 4, support rod 5, brush 6, ball 7. Detailed Implementation

[0033] Example 1

[0034] like Figures 1-8 As shown, a multi-degree-of-freedom popcorn dispensing cup transfer mechanism includes a horizontal movement module 1, a lifting module 2, and a rotation module 3. A horizontal slider 101 is threadedly connected to a horizontal lead screw 102. A first motor 103 drives the horizontal slider 101 to slide horizontally along a horizontal guide rail 104. The lifting module 2 is vertically connected to the horizontal movement module 1. A vertical slider 201 is threadedly connected to a vertical lead screw 202. A second motor 203 drives the vertical slider 201 to rise and fall vertically along the vertical guide rail 204. One side of the vertical slider 201 is connected to a cup holder 4. A rotation module 3 is provided between the horizontal movement module 1 and the lifting module 2. A third motor 301 drives the lifting module 2 to rotate through a rotating block 302. The three modules work together to achieve three-dimensional spatial positioning and transfer of the dispensing cup.

[0035] The transfer mechanism used in this application achieves precise positioning of the cup holder 4 in three-dimensional space through the coordinated control of the horizontal movement module 1, the lifting module 2, and the rotation module 3. The high integration of these three components reduces space occupation and avoids interference with other mechanisms during movement. Both the horizontal movement module 1 and the lifting module 2 employ a screw-guide-slider mechanism. The screw pair achieves high-precision positioning through threaded feeding, while the guide-slider system bears the overturning moment, preventing the overall mechanism from tipping over. The parallel layout of the screw and guide rail saves significant installation space compared to independent drive and guiding systems, and the dual constraint mechanism prevents motion instability.

[0036] In the preferred embodiment, the structure of the horizontal moving module 1 is as follows: the horizontal lead screw 102 and the horizontal guide rail 104 are arranged parallel to each other in the horizontal direction, the horizontal slider 101 is connected to the horizontal lead screw 102 by the threaded transmission through the middle first lead screw nut part 107, and the lower end is slidably connected to the horizontal guide rail 104, forming a linear guide mechanism with bidirectional constraints, and the output end of the first motor 103 is connected to the horizontal lead screw 102 through the coupling 105, driving the horizontal slider 101 to move linearly in the horizontal direction.

[0037] In the preferred embodiment, a first bearing limit seat 106 is provided at the end of the stroke of the horizontal lead screw 102 and the horizontal guide rail 104, and the horizontal moving module 1 is set on the dispensing cup transfer path through the first bearing limit seats 106 at both ends.

[0038] In the preferred embodiment, the first lead screw nut part 107 includes a fixed part 1071 and two free parts 1072. The fixed part 1071 is fixedly connected to the horizontal slider 101 and is used to convert the rotational motion of the horizontal lead screw 102 into the linear movement of the horizontal slider 101 along the axial direction of the horizontal lead screw 102.

[0039] The free part 1072 is connected to the horizontal slide 101 on both sides in the axial direction through rotating bearings, and is used to rotate synchronously under the driving of the screw thread of the horizontal screw 102 when the horizontal slide 101 moves along the horizontal screw 102.

[0040] In the preferred embodiment, the outer end surface of the two free parts 1072 is provided with a brush 6, which extends obliquely towards the axis direction of the horizontal screw 102, and the end thereof extends into the screw thread bottom of the horizontal screw 102, and the diameter of the brush 6 is smaller than the screw thread pitch of the horizontal screw 102.

[0041] Since the popcorn crumbs may fall into the screw thread gap due to vibration or the material receiving gap during the popcorn receiving and delivering process, the mechanism may be stuck and worn, and errors may be caused, and the cleaning mechanism or manual real-time cleaning undoubtedly increases the operation cost of the popcorn vending machine. Therefore, the thread gap is cleaned simultaneously with the movement of the mechanism by using the cooperation of the screw nut pair, which is a low-cost and effective cleaning method.

[0042] In the preferred embodiment, the structure of the lifting module 2 is that the vertical guide rail 204 and the vertical screw 202 are parallel to each other, the vertical slide 201 is threadedly connected to the vertical screw 202 through the second screw nut part 2011 in the middle, is slidingly connected to the vertical guide rail 204 on one side, and constitutes a linear guide mechanism with bidirectional constraint, and is connected to the cup holder 4 through the supporting rod 5 on the other side. The lifting module 2 is perpendicular to the horizontal moving module 1 as a whole, the output shaft of the second motor 203 is connected to one end of the vertical screw 202, and the vertical slide 201 is driven to move linearly in the vertical direction.

[0043] In the preferred embodiment, the structure of the rotating module 3 is that the upper end of the horizontal slide 101 is connected to the rotating platform 303, the third motor 301 is connected to the lower surface of the rotating platform 303 through the motor seat, the output shaft thereof penetrates through the rotating platform 303 and is connected to one side of the rotating block 302, the other side of the rotating block 302 is connected to the lower end of the lifting module 2, and the third motor 301 drives the lifting module 2 to rotate around the vertical axis of the output shaft thereof.

[0044] The supporting rib 304 is further arranged between the horizontal slide 101 and the rotating platform 303.

[0045] The rotating module 3 is combined with the horizontal moving module 1 and the lifting module 2 in height, the rotating platform 303 is integrally fixed with the horizontal slide 101, the third motor 301 is installed between the two and is supported thereby, the second motor 203 of the lifting module 2 is arranged at the upper end and does not interfere with the third motor 301, the three motors of the overall transfer mechanism are reasonably arranged in space, the driving performance of the mechanism is ensured, the symmetrical layout and the dispersed layout of the device are realized, and it is a high-efficiency and stable multi-degree-of-freedom moving mechanism.

[0046] In a preferred embodiment, the length of the supporting rod 5 is equal to the distance between the maximum travel end of the cup holder 4 and the horizontal projection of the output shaft of the third motor 301.

[0047] In a preferred embodiment, the vertical guide rail 204 is provided with a second bearing limiting seat 205 at the travel end of each end of the vertical lead screw 202, the second motor 203 is arranged at the upper end of the lifting module 2 through the second bearing limiting seat 205 at the upper end, and the lifting module 2 is connected with the rotating block 302 through the second bearing limiting seat 205 at the lower end.

[0048] In a preferred embodiment, the upper surface of the rotating platform 303 is provided with a first arc groove 3031, the lower surface of the rotating block 302 is provided with a second arc groove 3021, the first arc groove 3031 and the second arc groove 3021 are symmetrically arranged along the relative rotation plane of the rotating platform 303 and the rotating block 302, the central angle corresponding to the arc length of the first arc groove 3031 and the second arc groove 3021 is adapted to the angle required by the cup holder 4 to rotate, and the first arc groove 3031 and the second arc groove 3021 are provided with a plurality of balls 7, forming a rolling friction guide structure.

[0049] The rotating platform 303 and the rotating block 302 are the supporting parts of the lifting module 2, and the relative rotation is performed frequently during operation, so that the contact surface is prone to wear. By placing the balls in the arc grooves, the original direct sliding contact is converted into rolling contact, thereby reducing the friction, and the rotation range is limited.

[0050] The above-mentioned embodiments are only preferred technical solutions of the present application, and should not be regarded as limiting the present application. The protection scope of the present application should be based on the technical solutions recited in the claims, including the equivalent replacement solutions of the technical features recited in the claims. That is, the equivalent replacement improvements within this range are also within the protection scope of the present application.

Claims

1. A multi-degree of freedom popcorn portion cup transfer mechanism, characterized by: The horizontal moving module (1), the lifting module (2) and the rotating module (3) are included, the horizontal sliding block (101) is in threaded transmission connection with the horizontal screw rod (102), the first motor (103) drives the horizontal sliding block (101) to slide horizontally along the horizontal guide rail (104), the lifting module (2) is connected vertically with the horizontal moving module (1), the vertical sliding block (201) is in threaded transmission connection with the vertical screw rod (202), the second motor (203) drives the vertical sliding block (201) to lift vertically along the vertical guide rail (204), one side of the vertical sliding block (201) is connected with the cup holder (4), the rotating module (3) is arranged between the horizontal moving module (1) and the lifting module (2), the third motor (301) drives the lifting module (2) to rotate through the rotating block (302), and the three modules are cooperated to realize three-dimensional space positioning and transfer of the subassembly cup.

2. The multi-degree of freedom popcorn portion cup transfer mechanism according to claim 1, wherein: The structure of the horizontal moving module (1) is that the horizontal screw rod (102) and the horizontal guide rail (104) are arranged in parallel in the horizontal direction, the horizontal sliding block (101) is in threaded transmission connection with the horizontal screw rod (102) through the first screw nut part (107) in the middle, the lower end is in sliding connection with the horizontal guide rail (104), and a linear guide mechanism with bidirectional constraint is formed, the output end of the first motor (103) is connected with one end of the horizontal screw rod (102) through the shaft coupling (105), and the horizontal sliding block (101) is driven to move linearly in the horizontal direction.

3. The multi-degree of freedom popcorn portion cup transfer mechanism according to claim 2, wherein: First bearing limit seats (106) are arranged at both ends of the horizontal screw rod (102) and the horizontal guide rail (104), and the horizontal moving module (1) is arranged on the subassembly cup transfer path through the two first bearing limit seats (106).

4. The multi-degree of freedom popcorn portion cup transfer mechanism according to claim 2, wherein: The first screw nut part (107) includes a fixed part (1071) and two free parts (1072), the fixed part (1071) is fixedly connected with the horizontal sliding block (101), and is used for converting the rotary motion of the horizontal screw rod (102) into the linear movement of the horizontal sliding block (101) in the axial direction of the horizontal screw rod (102); The free part (1072) is rotatably connected with the horizontal sliding block (101) on the two sides in the axial direction through the rotating bearing, and is used for rotating synchronously under the threaded drive of the horizontal screw rod (102) when the horizontal sliding block (101) moves along the horizontal screw rod (102).

5. The multi-degree of freedom popcorn portion cup transfer mechanism according to claim 4, wherein: The outer end surface of the two free parts (1072) is provided with a brush (6), the brush (6) extends obliquely towards the axis direction of the horizontal screw rod (102), the end of the brush (6) extends into the thread root of the horizontal screw rod (102), and the monofilament diameter of the brush (6) is smaller than the thread pitch of the horizontal screw rod (102).

6. The multi-degree of freedom popcorn portion cup transfer mechanism according to claim 1, wherein: The structure of the lifting module (2) is that the vertical guide rail (204) and the vertical lead screw (202) are parallel to each other, the vertical sliding block (201) is in threaded transmission connection with the vertical lead screw (202) through the second lead screw nut portion (2011) in the middle thereof, is in sliding connection with the vertical guide rail (204) on one side, and constitutes a linear guide mechanism with bidirectional constraint, and is connected with the cup holder (4) through the supporting rod (5) on the other side, the lifting module (2) is perpendicular to the horizontal movement module (1) as a whole, the output shaft of the second motor (203) is connected with one end of the vertical lead screw (202), and the vertical sliding block (201) is driven to move linearly in the vertical direction.

7. The multi-degree of freedom popcorn portion cup transfer mechanism according to claim 1, wherein: The structure of the rotating module (3) is that the upper end of the horizontal sliding block (101) is connected with the rotating platform (303), the third motor (301) is connected with the lower surface of the rotating platform (303) through a motor base, the output shaft of the third motor (301) penetrates through the rotating platform (303) and is connected with one side of the rotating block (302), the other side of the rotating block (302) is connected with the lower end of the lifting module (2), and the third motor (301) drives the lifting module (2) to rotate around the vertical axis of the output shaft thereof. The supporting ribs (304) are further arranged between the horizontal sliding block (101) and the rotating platform (303).

8. The multi-degree of freedom popcorn portion cup transfer mechanism according to claim 7, wherein: The length of the supporting rod (5) is equal to the distance from the maximum stroke end point of the cup holder (4) to the horizontal projection of the output shaft of the third motor (301).

9. The multi-degree-of-freedom popcorn portion cup transfer mechanism according to claim 7, wherein the vertical movement is vertical movement of the cup. Second bearing limiting seats (205) are arranged at both ends of the stroke of the guide rail (204) and the vertical lead screw (202), the second motor (203) is arranged on the upper end of the lifting module (2) through the second bearing limiting seat (205) at the upper end, and the lifting module (2) is connected with the rotating block (302) through the second bearing limiting seat (205) at the lower end.

10. The multi-degree of freedom popcorn portion cup transfer mechanism according to claim 7, wherein: The upper surface of the rotating platform (303) is provided with a first arc groove (3031), the lower surface of the rotating block (302) is provided with a second arc groove (3021), the first arc groove (3031) and the second arc groove (3021) are symmetrically arranged along the relative rotation plane of the rotating platform (303) and the rotating block (302), the central angle corresponding to the arc length of the first arc groove (3031) and the second arc groove (3021) is adapted to the angle required by the cup holder (4) to rotate, and the first arc groove (3031) and the second arc groove (3021) are provided with the ball bearings (7) therein, so as to form a rolling friction guide structure.

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