Adjustable mechanical arm ejection mechanism based on bidirectional ball screw

Abstract

This utility model discloses an adjustable robotic arm ejection mechanism based on a bidirectional ball screw, including a placement cylinder, a placement platform, a lifting mechanism, and a guiding device. The placement platform is located inside the placement cylinder, and several paper cups or cup lids are stacked on the placement platform. The lifting mechanism includes a fixed plate, a support plate, a ball screw, a movable plate, a nut, a coupling, and a control motor. The fixed plate is installed at the upper and lower ends of the placement cylinder via the support plate. The lower end of the ball screw is connected to the output end of the control motor via a coupling. The movable plate is located at the lower end of the placement platform, and the nut is installed on the movable plate and connected to the ball screw via the nut. The control motor drives the ball screw to rotate, controlling the movable plate to move up and down, thereby moving the placement platform along the inside of the placement cylinder and ejecting the paper cups or cup lids from the guiding device at the upper end of the placement cylinder. This mechanism improves the efficiency and convenience of using paper cups or cup lids.

Description

Technical Field

[0001] This utility model relates to the field of transmission technology for automated equipment, specifically a high-precision cup or lid ejection mechanism based on bidirectional ball screw drive and with adaptive ejection function. Background Technology

[0002] As a core component in mechanical transmission, the lead screw is mainly used to convert rotary motion into linear motion. With the evolution of industrial demands from sliding friction (inefficient and high-loss) to rolling friction (ball screw, efficient and precise), the ejection of lightweight paper cups and lids requires precise positioning and stable stroke. Existing ejection mechanisms for picking up cups or lids have many problems. For example, the spring force of the spring ejection mechanism changes with the change of the paper cup or lid, resulting in instability. This leads to problems such as the robotic arm picking up two paper cups or lids, or failing to pick up any paper cups or lids at all. Traditional trapezoidal lead screws rely on sliding friction, with a transmission efficiency of less than 30%. The stroke lead screw is prone to sag due to its own weight, causing it to swing during operation. It is inefficient, lacks precision, and is complex to maintain.

[0003] To solve this problem, a ball screw ejection mechanism needs to be developed to automatically eject paper cups or lids to meet the needs of the robotic arm in making coffee, achieving one cup and one lid, stability and reliability, high overall space utilization, and maximizing the use of small spaces. Utility Model Content

[0004] To address the shortcomings of existing technologies, this utility model discloses an adjustable robotic arm ejection mechanism based on a bidirectional ball screw, in order to solve the problems mentioned in the background art.

[0005] To achieve the above objectives, this utility model provides the following technical solution: an adjustable robotic arm ejection mechanism based on a bidirectional ball screw, comprising a placement cylinder, a placement platform, a lifting mechanism, and a guiding device;

[0006] The placement platform is located inside the placement cylinder, and several paper cups or cup lids are stacked on the placement platform;

[0007] The lifting mechanism includes a fixed plate, a support plate, a ball screw, a movable plate, a nut, a coupling, and a control motor. The fixed plate is located on one side of the placement cylinder, and the support plate is located at the upper and lower ends of the fixed plate. The fixed plate is installed at the upper and lower ends of the placement cylinder via the support plate. The control motor is fixedly installed on the lower surface of the support plate at the bottom. The ball screw is vertically located between the fixed plate and the placement cylinder, and the upper and lower ends of the ball screw are rotatably connected to the mounting base provided on the inner side of the fixed plate. The lower end of the ball screw is connected to the output end of the control motor via a coupling. The movable plate is located at the lower end of the placement platform, and the two are connected by a connecting rod. The nut is installed on the movable plate and is connected to the ball screw. The control motor drives the ball screw to rotate, controlling the movable plate to move up and down, thereby driving the placement platform to move along the inside of the placement cylinder, pushing the paper cup or cup lid out from the guide device at the upper end of the placement cylinder.

[0008] Preferably, the placement platform includes a frustum and a limiting boss. The limiting boss is located on the upper surface of the frustum and is used to restrict the movement of the paper cup or cup lid. The lower end of the frustum is connected to the moving plate through the connecting rod.

[0009] Preferably, the ball screw is provided with support shafts on both sides, and the two ends of the support shafts are fixed to the upper and lower support plates respectively. The through holes provided on both sides of the movable plate are respectively connected to the support shafts to guide the up and down movement of the movable plate.

[0010] Preferably, the mounting base is connected to the ball screw via a linear bearing.

[0011] Preferably, the guiding device includes a guide cylinder and a silicone pad. The guide cylinder is installed on the upper end of the placement cylinder, and the silicone pad is annular and located inside the guide cylinder. The silicone pad limits the paper cup or cup lid to prevent the paper cup or cup lid from falling off when it is not needed.

[0012] Preferably, a locking device is provided on the outside of the guide device. The locking device includes a locking plate, a fixing seat, and a locking knob. The locking plate is fixed to the upper end of the placement tube, and the fixing seat is installed on both sides of the locking plate. An L-shaped groove is provided on the outer wall of the guide tube. The L-shaped groove cooperates with the pin on one side of the fixing seat. The locking knob is located on the outside of the fixing seat on the other side. By rotating the locking knob, the locking rod on the inner side is engaged with the outer wall of the guide tube and locked, thereby fixing the guide tube to the upper end of the placement tube. By assembling and disassembling the guide device, it is convenient to put the paper cup or cup lid into the placement tube.

[0013] Preferably, a limit detection device is provided on one side of the fixed plate. The limit detection device includes a switch sensor profile, a slotted photoelectric sensor, and a sensor detection plate. The switch sensor profile is installed on one side wall of the fixed plate, the slotted photoelectric sensor is installed on the switch sensor profile, and the sensor detection plate is installed on the moving plate. By the interaction between the sensor detection plate and the slotted photoelectric sensor, the height position of the moving plate can be detected, thereby determining the amount of paper cups and cup lids inside the placement tube.

[0014] Compared with the prior art, the beneficial effects of this utility model are as follows:

[0015] 1. In this utility model, the ball screw and nut achieve transmission through rolling friction, which improves the motion accuracy and reliability of the entire mechanism, and facilitates the accurate picking up of paper cups or cup lids by robotic arms or other picking devices, avoiding the chaos and inconvenience caused by ejecting multiple items at the same time; the rolling friction coefficient is low and the noise generated is low, the transmission efficiency is high, the acceleration is high, and high-speed ejection cycle is supported; compared with the pneumatic system, there is no risk of air leakage, the space occupation is small, and the standardized ball screw assembly is easy to disassemble and maintain.

[0016] 2. In this utility model, the limit detection device can detect the height position of the moving plate and thus control the height of the placement platform to realize the automatic ejection of paper cups or cup lids. The ejection action can be automatically adjusted according to the amount of paper cups or cup lids in the placement tube, without the need for frequent manual intervention, thereby improving the automation and efficiency of the entire retrieval process.

[0017] 3. In this utility model, the locking device design allows the guide cylinder to be firmly fixed to the upper end of the placement cylinder. The locking knob drives the locking rod to engage with the outer wall of the guide cylinder, ensuring the stability of the guide cylinder during operation. This prevents the guide cylinder from loosening or shifting when ejecting the paper cup or lid, thus ensuring the stable operation of the entire ejection mechanism. Attached Figure Description

[0018] The accompanying drawings are provided to further understand the present invention and form part of the specification. They are used together with the embodiments of the present invention to explain the present invention and do not constitute a limitation thereof.

[0019] In the attached diagram:

[0020] Figure 1 This is a schematic diagram of the adjustable robotic arm ejection mechanism of this utility model when picking up a paper cup;

[0021] Figure 2 This is a schematic diagram of the adjustable robotic arm ejection mechanism of this utility model when it is picking up a cup lid;

[0022] Figure 3 This is a side sectional view of the adjustable robotic arm ejection mechanism of this utility model;

[0023] Figure 4 This is a structural schematic diagram of the placement platform and the movable plate of this utility model;

[0024] Figure 5 This is a schematic diagram of the locking device and guiding device of this utility model;

[0025] Figure 6 This is a schematic diagram of the limit detection structure of this utility model;

[0026] The following are the labeling elements in the diagram: 1. Placement cylinder; 101. Frustum; 102. Limiting boss; 201. Fixing plate; 202. Support plate; 203. Ball screw; 204. Moving plate; 205. Nut; 206. Coupling; 207. Control motor; 208. Mounting base; 209. Connecting rod; 210. Support shaft; 211. Through hole; 212. Linear bearing; 301. Guide cylinder; 302. Silicone pad; 401. Locking plate; 402. Fixing base; 403. Locking knob; 404. L-shaped groove; 405. Pin; 406. Locking rod; 501. Switch sensor profile; 502. Slotted photoelectric sensor; 503. Sensor detection plate; 6. Paper cup; 7. Cup lid. Detailed Implementation

[0027] The preferred embodiments of the present invention will be described below with reference to the accompanying drawings. It should be understood that the preferred embodiments described herein are for illustration and explanation only and are not intended to limit the present invention.

[0028] Example: Figure 1 and Figure 2 As shown, an adjustable robotic arm ejection mechanism based on a bidirectional ball screw includes a placement cylinder 1, a placement platform, a lifting mechanism, and a guiding device.

[0029] like Figure 3 and Figure 4 As shown, the placement platform is located inside the placement cylinder 1, and several paper cups 6 or cup lids 7 are stacked on the placement platform; the placement platform includes a frustum 101 and a limiting boss 102. The limiting boss 102 is located on the upper surface of the frustum 101 and is used to restrict the movement of the paper cups 6 or cup lids 7. The lower end of the frustum 101 is connected to the moving plate 204 through the connecting rod 209.

[0030] like Figures 1-4As shown, the lifting mechanism includes a fixed plate 201, a support plate 202, a ball screw 203, a moving plate 204, a nut 205, a coupling 206, and a control motor 207. The fixed plate 201 is located on one side of the placement cylinder 1, and the support plate 202 is located at the upper and lower ends of the fixed plate 201. The fixed plate 201 is mounted on the upper and lower ends of the placement cylinder 1 via the support plate 202. The control motor 207 is fixedly mounted on the lower surface of the support plate 202 at the bottom. The ball screw 203 is vertically positioned between the fixed plate 201 and the placement cylinder 1. Linear bearings 212 are provided at the upper and lower ends of the ball screw 203 and are connected to mounting seats 208 installed inside the fixed plate 201. The lower end of the ball screw 203 is connected to the output end of the control motor 207 via a coupling 206. Support shafts 210 are provided on both sides of the ball screw 203, and the two ends of the support shafts 210 are fixed to the upper and lower support plates 202, respectively. The through holes 211 on both sides of the movable plate 204 are respectively connected to the support shaft 210 to guide the up and down movement of the movable plate 204. The movable plate 204 is located at the lower end of the placement platform, and the two are connected by a connecting rod 209. The nut 205 is installed on the movable plate 204 and is connected to the ball screw 203. The bidirectional ball screw 203 is driven to rotate by the control motor 207, thereby controlling the movement of the movable plate 204 in both directions, thereby driving the placement platform to move along the inside of the placement cylinder 1, pushing the paper cup 6 or cup lid 7 out from the guide device at the upper end of the placement cylinder 1. The guide device includes a guide cylinder 301 and a silicone pad 302. The guide cylinder 301 is installed at the upper end of the placement cylinder 1, and the silicone pad 302 is annular and located inside the guide cylinder 301. The silicone pad 302 limits the paper cup 6 or cup lid 7 to prevent it from falling off when not in use. Figure 5 As shown, a locking device is provided on the outside of the guide device. The locking device includes a locking plate 401, a fixing seat 402, and a locking knob 403. The locking plate 401 is fixed to the upper end of the placement tube 1. The fixing seat 402 is installed on both sides of the locking plate 401. An L-shaped groove 404 is provided on the outer wall of the guide tube 301. The L-shaped groove 404 cooperates with the pin 405 on one side of the fixing seat 402. The locking knob 403 is located on the outside of the fixing seat 402 on the other side. By rotating the locking knob 403, the locking rod 406 on the inner side is engaged with the outer wall of the guide tube 301 to lock it, thereby fixing the guide tube 301 to the upper end of the placement tube 1. By disassembling and assembling the guide device, it is convenient to put the paper cup 6 or the cup lid 7 into the placement tube 1.

[0031] Among them, such as Figure 6As shown, a limit detection device is provided on one side of the fixed plate 201. The limit detection device is distributed at the upper and lower ends of the fixed plate 201, and detects the upper and lower positions of the placement cylinder 1 respectively, thereby identifying the quantity of paper cups 6 or cup lids 7 inside the placement cylinder 1. The limit detection device includes a switch sensor profile 501, a slotted photoelectric sensor 502, and a sensor detection piece 503. The switch sensor profile 501 is installed on one side wall of the fixed plate 201, the slotted photoelectric sensor 502 is installed on the switch sensor profile 501, and the sensor detection piece 503 is installed on the moving plate 204. By the interaction of the sensor detection piece 503 and the slotted photoelectric sensor 502, the height position of the moving plate 204 can be detected, thereby determining the quantity of paper cups 6 and cup lids 7 inside the placement cylinder 1.

[0032] Specific working principle:

[0033] First, open the locking device by rotating the locking knob 403 to separate the locking rod 406 from the outer wall of the guide cylinder 301. Then, rotate the guide cylinder 301; the pin 405 on the other side will rotate along the L-shaped groove 404, and the guide cylinder 301 can be pulled out upwards. After the guide cylinder 301 is removed from the upper end of the placement cylinder 1, adjust the placement platform to the lower end of the placement cylinder 1. At this point... Figure 1 and Figure 2 As shown, several paper cups 6 or cup lids 7 are stacked together and placed upside down into the placement cylinder 1, so that they are placed on the placement platform. Ensure that the paper cups 6 or cup lids 7 are restricted by the limiting protrusions 102 of the placement platform and will not move arbitrarily. Then, the guide cylinder 301 is reinstalled on the upper end of the placement cylinder 1 and fixed in place by the locking device.

[0034] The control motor 207 is started and begins to work; the control motor 207 drives the ball screw 203 to rotate via the coupling 206. Since the ball screw 203 is connected to the nut 205, the rotation of the ball screw 203 causes the moving plate 204 to move up and down along the support shaft 210. The moving plate 204 drives the placement platform to move upward along the inside of the placement cylinder 1 via the connecting rod 209. The paper cups 6 or cup lids 7 on the placement platform move upward together with the placement platform. When they reach a certain position, the uppermost paper cup 6 or cup lid 7 will contact the silicone pad 302 inside the guide cylinder 301, which can push out the silicone pad 302 one by one, making it easy to pick up the paper cups 6 or cup lids 7.

[0035] At the same time, the height position of the moving plate 204 is detected by the limit detection device, and the slotted photoelectric 502 detects the position of the sensor detection piece 503. Based on the cooperation between the sensor detection piece 503 and the slotted photoelectric 502, the height of the moving plate 204 is determined, and the height of the placement platform is controlled to realize the automatic ejection of the paper cup 6 or the cup lid 7.

[0036] Finally, it should be noted that the above description is merely a preferred embodiment of this utility model and is not intended to limit the utility model. Although the utility model has been described in detail with reference to the foregoing embodiments, those skilled in the art can still modify the technical solutions described in the foregoing embodiments or make equivalent substitutions for some of the technical features. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this utility model should be included within the protection scope of this utility model.

Claims

1. An adjustable robotic arm ejection mechanism based on a bidirectional ball screw, characterized in that: Includes placement cylinder, placement platform, lifting mechanism, and guiding device; The placement platform is located inside the placement cylinder, and several paper cups or cup lids are stacked on the placement platform; The lifting mechanism includes a fixed plate, a support plate, a ball screw, a movable plate, a nut, a coupling, and a control motor. The fixed plate is located on one side of the placement cylinder, and the support plate is located at the upper and lower ends of the fixed plate. The fixed plate is installed at the upper and lower ends of the placement cylinder via the support plate. The control motor is fixedly installed on the lower surface of the support plate at the bottom. The ball screw is vertically located between the fixed plate and the placement cylinder, and the upper and lower ends of the ball screw are rotatably connected to the mounting base provided on the inner side of the fixed plate. The lower end of the ball screw is connected to the output end of the control motor via a coupling. The movable plate is located at the lower end of the placement platform, and the two are connected by a connecting rod. The nut is installed on the movable plate and is connected to the ball screw. The control motor drives the ball screw to rotate, controlling the movable plate to move up and down, thereby driving the placement platform to move along the inside of the placement cylinder, pushing the paper cup or cup lid out from the guide device at the upper end of the placement cylinder.

2. The adjustable robotic arm ejection mechanism based on a bidirectional ball screw according to claim 1, characterized in that: The placement platform includes a frustum and a limiting boss. The limiting boss is located on the upper surface of the frustum and is used to restrict the movement of the paper cup or cup lid. The lower end of the frustum is connected to the moving plate through the connecting rod.

3. The adjustable robotic arm ejection mechanism based on a bidirectional ball screw according to claim 1, characterized in that: The ball screw is provided with support shafts on both sides, and the two ends of the support shafts are fixed to the upper and lower support plates respectively. The through holes on both sides of the movable plate are respectively connected to the support shafts to guide the up and down movement of the movable plate.

4. The adjustable robotic arm ejection mechanism based on a bidirectional ball screw according to claim 1, characterized in that: The mounting base is connected to the ball screw via a linear bearing.

5. The adjustable robotic arm ejection mechanism based on a bidirectional ball screw according to claim 1, characterized in that: The guiding device includes a guide cylinder and a silicone pad. The guide cylinder is installed on the upper end of the placement cylinder, and the silicone pad is annular and located inside the guide cylinder. The silicone pad is used to limit the position of the paper cup or cup lid.

6. The adjustable robotic arm ejection mechanism based on a bidirectional ball screw according to claim 5, characterized in that: A locking device is provided on the outside of the guide device. The locking device includes a locking plate, a fixing seat, and a locking knob. The locking plate is fixed to the upper end of the placement cylinder. The fixing seat is installed on both sides of the locking plate. An L-shaped groove is provided on the outer wall of the guide cylinder. The L-shaped groove cooperates with the pin on one side of the fixing seat. The locking knob is located on the outside of the fixing seat on the other side. By rotating the locking knob, the inner locking rod is driven to cooperate with the outer wall of the guide cylinder and lock it, thereby fixing the guide cylinder to the upper end of the placement cylinder.

7. The adjustable robotic arm ejection mechanism based on a bidirectional ball screw according to claim 1, characterized in that: A limit detection device is provided on one side of the fixed plate. The limit detection device includes a switch sensor profile, a slotted photoelectric sensor, and a sensor detection plate. The switch sensor profile is installed on one side wall of the fixed plate, the slotted photoelectric sensor is installed on the switch sensor profile, and the sensor detection plate is installed on the movable plate.

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