CN109785450B - Bill purchasing machine - Google Patents
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- CN109785450B CN109785450B CN201811504555.4A CN201811504555A CN109785450B CN 109785450 B CN109785450 B CN 109785450B CN 201811504555 A CN201811504555 A CN 201811504555A CN 109785450 B CN109785450 B CN 109785450B
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Abstract
A kind of this form invoice ticket buying machine, including the outer cover and locating the automatic gate device, positioning the shifter in the outer cover, the mechanical arm gripping device, mechanical arm fore-and-aft movement device and ticket-sending device; the shell is a cuboid, and the front surface of the shell is provided with a ticket outlet; the automatic gate device comprises a gate body which can move so as to open or close the ticket outlet; the positioning and moving device is used for enabling the ticket sending device to move along the width direction and the height direction of the shell; the bill delivery device is used for delivering the bill to the bill outlet; the mechanical arm front-and-back moving device is arranged on the ticket sending device, the mechanical arm grabbing device is arranged on the mechanical arm front-and-back moving device and can move on the mechanical arm front-and-back moving device along the thickness direction of the shell, and the mechanical arm grabbing device comprises a mechanical arm used for clamping the bill. The invoice buying machine for the invoice can realize automatic ticket buying of a user, save queuing time of the user and reduce labor intensity of workers.
Description
Technical Field
The invention relates to the field of self-service ticketing equipment, in particular to a book-shaped invoice purchasing machine.
Background
With the development of national economy and the enhancement of national tax consciousness, the demand of local invoices in daily consumption is larger and larger, and particularly in the industries such as hotels, shops and the like, the demand of the local invoices is increased more rapidly. The ticket buying process of the invoice is complicated, the invoice demand unit must go to the designated ticket buying window of the tax bureau service hall to buy the ticket, and the queuing time is too long during ticket buying due to the continuous increase of ticket buying personnel, so that the working pressure of the tax bureau service personnel is obviously increased. Therefore, it is expected to develop a technical solution to realize self-help and convenient ticket purchase of local invoice, to reduce the queuing time of ticket purchasing units, and to reduce the working pressure of ticket window in tax bureau service hall.
Disclosure of Invention
The invention aims to provide a book-shaped invoice ticket purchasing machine to realize self-service ticket purchasing.
The invention provides a book-shaped invoice purchasing machine which comprises a shell, and an automatic gate device, a positioning and moving device, a manipulator grabbing device, a manipulator front-back moving device and a ticket sending device which are arranged in the shell, wherein the manipulator grabbing device is arranged on the shell;
the shell is a cuboid, and the front surface of the shell is provided with a ticket outlet;
the automatic gate device comprises a gate body which can move so as to open or close the ticket outlet;
the positioning and moving device is used for enabling the ticket sending device to move along the width direction and the height direction of the shell;
the ticket sending device is used for transmitting the invoice to the ticket outlet;
the mechanical arm front-back moving device is arranged on the ticket sending device, the mechanical arm gripping device is arranged on the mechanical arm front-back moving device and can move on the mechanical arm front-back moving device along the thickness direction of the shell, and the mechanical arm gripping device comprises a mechanical arm used for clamping the bill.
Preferably, the automatic bill storage device further comprises a bill bin arranged in the shell, wherein the bill bin comprises a plurality of bill storage areas in an array form, and each bill storage area is used for containing one bill in a book shape.
Preferably, the automatic gate device further comprises a fixed support, and a gate driving motor, a gate driving belt, a gate driving gear, an upper limit switch and a lower limit switch which are arranged on the fixed support;
the fixed bracket is arranged on the front surface of the shell;
the gate driving belt comprises a first belt, a second belt and a third belt which are arranged in parallel, the gate driving gear comprises a first driving gear to a sixth driving gear, the first driving gear and the second driving gear are in transmission connection through the first belt, the third driving gear and a fourth driving gear are in transmission connection through the second belt, the fifth driving gear and the sixth driving gear are in transmission connection through the third belt, the second driving gear, the third driving gear and the fifth driving gear are fixedly connected to a first transmission shaft, the fourth driving gear and the fifth driving gear are fixedly connected to a second transmission shaft, and the first transmission shaft and the second transmission shaft are arranged in parallel;
the gate driving motor is connected to the first driving gear;
the door body is arranged between the second belt and the third belt and fixedly connected with the second belt and the third belt;
the upper limit switch and the lower limit switch are respectively arranged at the top and the bottom of the fixed support and used for controlling the moving range of the door body.
Preferably, the positioning and moving device comprises a left-right moving mechanism and an up-down moving mechanism;
the left-right moving mechanism comprises a left-right driving motor, a left-right driving gear, a left-right driving rack, a left-right guide rail bracket and a pair of left-right limit switches; the left and right driving racks and the left and right guide rail brackets are arranged in parallel along the width direction of the shell, the left and right driving motors are movably arranged on the left and right guide rail brackets, the left and right driving gears are connected with output shafts of the left and right driving motors, the left and right driving racks are in transmission connection with the left and right driving gears, and the pair of left and right limit switches are respectively arranged at two ends of the left and right guide rail brackets and used for controlling the moving range of the left and right driving motors; the ticket sending device is fixedly connected with the left and right driving motors;
the up-down moving mechanism comprises an up-down driving motor, an up-down driving belt, an upper driving shaft, a lower driving shaft, an upper guide rail bracket, a lower guide rail bracket and a pair of upper and lower limit switches; the upper and lower guide rail brackets are fixedly arranged in the shell along the height direction of the shell, the upper and lower driving motors are fixedly connected to the upper and lower guide rail brackets, the upper driving shaft and the lower driving shaft are arranged in parallel on the upper and lower guide rail brackets, the upper driving shaft is connected to the output shafts of the upper and lower driving motors, the upper driving shaft and the lower driving shaft are in transmission connection through the upper and lower driving belts, and the pair of upper and lower limit switches are respectively arranged at two ends of the upper and lower guide rail brackets; the left and right guide rail brackets are fixedly connected with the upper and lower driving belts.
Preferably, the manipulator back-and-forth movement device comprises a pair of connecting blocks, a supporting rod, a rack and a pair of limit switches, the supporting rod and the rack are arranged between the pair of connecting blocks in parallel, and each limit switch is arranged on one connecting block.
Preferably, the mechanical arm comprises a fixed arm and a movable arm, and the mechanical arm grabbing device further comprises a mechanical arm support, and a cam, a microswitch, a cam motor, a mechanical arm gear motor and a spring which are arranged on the mechanical arm support;
the manipulator bracket is fixedly connected with the manipulator gear motor; the fixed arm and the movable arm are hinged to the manipulator support through hinge points, one end of the fixed arm is connected to the cam, and the other end of the fixed arm is a free end; one end of the movable arm is connected with the cam, and the spring is arranged between the other end of the movable arm and the middle part of the movable arm; the cam rotates forwards or backwards under the driving of the cam motor, so that the other end of the fixed arm and the other end of the movable arm are close to or separated from each other;
a first limiting bulge and a second limiting bulge are arranged on the periphery of the cam, and the first limiting bulge and the second limiting bulge can be in contact with the microswitch so as to control the driving of the cam motor through the microswitch;
the manipulator gear motor is movably connected to the supporting rod, the manipulator gear is connected to an output shaft of the manipulator gear motor, and the manipulator gear is in transmission connection with the rack.
Preferably, the ticket delivering device comprises a bottom plate, a ticket delivering belt arranged on the bottom plate, a ticket delivering belt motor and an infrared detector; the ticket sending belt is in transmission connection with the ticket sending belt motor, and the infrared detector is arranged on one side, close to the ticket outlet, of the bottom plate.
Preferably, the automatic bill feeding device further comprises a scanning mechanism, wherein the scanning mechanism is arranged on the bottom plate and used for scanning the local bills on the bill feeding belt.
Preferably, the electronic invoice management system further comprises a touch control operation screen, wherein the touch control operation screen is used for receiving the local invoice information input by the user.
Preferably, the electronic ticket issuing system further comprises a controller, wherein the controller is used for determining the spatial position of the local invoice corresponding to the local invoice information, so as to control the positioning and moving device to move the ticket sending device to the spatial position.
The invention has the beneficial effects that:
1. the automatic purchase of the local invoices by the user can be reliably realized, the queuing time of the user is saved, and the labor intensity of workers is reduced;
2. the mechanical arm grabbing device is suitable for clamping the bill in a thick, soft and large-area mode through the arrangement of the fixed arm, the movable arm, the cam and the spring;
3. the ticket buying machine can store and sell the bill of the book with various types and denominations, thereby reducing the ticket loading times and effectively reducing the workload of the staff.
The apparatus of the present invention has other features and advantages which will be apparent from or are set forth in detail in the accompanying drawings and the following detailed description, which are incorporated herein, and which together serve to explain certain principles of the invention.
Drawings
The above and other objects, features and advantages of the present invention will become more apparent by describing in more detail exemplary embodiments thereof with reference to the attached drawings, in which like reference numerals generally represent like parts.
FIG. 1 shows a schematic exterior view of a present invoice ticketing machine according to an exemplary embodiment of the present invention;
FIG. 2 shows a schematic internal structure diagram of a bill purchasing machine for a present form according to an exemplary embodiment of the present invention;
FIG. 3 shows a schematic view of the mounting of the robot gripping device of the present ticket purchaser on the robot fore-and-aft movement device according to an exemplary embodiment of the present invention;
FIG. 4 shows a schematic installation diagram of a manipulator grabbing device, a manipulator forward and backward moving device and a ticket feeding device of a present invoice ticket purchasing machine according to an exemplary embodiment of the invention;
FIG. 5 shows a block diagram of a robotic grasping device of a present ticket purchaser according to an exemplary embodiment of the present invention;
FIG. 6 shows a block diagram of a positioning mobile device of a present invoice ticketing machine, according to an exemplary embodiment of the present invention;
FIG. 7 shows a block diagram of a hopper of a present ticket purchaser, according to an exemplary embodiment of the present invention;
fig. 8 shows a structural view of an automatic gate device of a present ticket purchaser according to an exemplary embodiment of the present invention;
FIG. 9 shows a state diagram of a robotic grasping device of a present invoice ticketing machine grasping an invoice in accordance with an exemplary embodiment of the present invention;
FIG. 10 shows a state diagram of a robotic gripper of a present invoice ticketing machine pulling out an invoice, according to an exemplary embodiment of the present invention;
FIG. 11 shows a state diagram of a robotic gripper of a present invoice ticketing machine releasing an invoice in accordance with an exemplary embodiment of the present invention;
FIG. 12 shows a state diagram of an invoice landing on a ticket delivery device of a present invoice ticketing machine according to an exemplary embodiment of the present invention;
fig. 13 is a view showing a state in which an invoice of a present invoice ticket purchaser moves to a ticket outlet and a door body is opened, according to an exemplary embodiment of the present invention;
fig. 14 shows a ticketing status diagram of a present invoice ticketing machine according to an exemplary embodiment of the present invention.
Description of reference numerals:
1-shell, 2-touch control operation screen, 4-manipulator grabbing device, 41-fixed arm, 42-movable arm, 43-cam, 44-microswitch, 45-cam motor, 46-manipulator gear, 47-manipulator gear motor, 48-spring and 49-manipulator support; 5-a manipulator front-back moving device, 51-a limit switch, 6-a scanning mechanism, 7-a left-right moving mechanism, 8-an up-down moving mechanism, 9-a ticket sending device, 91-a ticket sending belt, 92-a ticket sending belt motor, 93-an infrared detector, 10-a bill, 11-a ticket bin, 12-a ticket outlet, 121-a door body, 122-a protective part, 123-a lower limit switch, 124-a gate driving motor, 125-a gate driving belt, 126-a gate driving gear, 127-an upper limit switch and 128-a fixed support.
Detailed Description
The invention will be described in more detail below with reference to the accompanying drawings. While the preferred embodiments of the present invention are shown in the drawings, it should be understood that the present invention may be embodied in various forms and should not be limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the scope of the invention to those skilled in the art.
The embodiment of the invention provides a bill purchasing machine for a notebook invoice, which comprises a shell, an automatic gate device, a positioning and moving device, a manipulator grabbing device, a manipulator front-back moving device and a bill conveying device, wherein the automatic gate device and the positioning and moving device are arranged in the shell;
the shell is a cuboid, and the front surface of the shell is provided with a ticket outlet;
the automatic gate device comprises a gate body which can move so as to open or close the ticket outlet;
the positioning and moving device is used for enabling the ticket sending device to move along the width direction and the height direction of the shell;
the bill delivery device is used for delivering the bill to the bill outlet;
the mechanical arm front-and-back moving device is arranged on the ticket sending device, the mechanical arm grabbing device is arranged on the mechanical arm front-and-back moving device and can move on the mechanical arm front-and-back moving device along the thickness direction of the shell, and the mechanical arm grabbing device comprises a mechanical arm used for clamping the bill.
The positioning and moving device enables the ticket sending device to move to the designated height and width position in the shell, the manipulator grabbing device moves backwards to the place of the local invoice along the manipulator back-and-forth moving device, the manipulator arm clamps the local invoice and then moves forwards, the local invoice is loosened to fall on the ticket sending device, the door body is opened, and the local invoice is sent to the ticket outlet by the ticket sending device. The bill purchasing machine for the bill with the shape can realize automatic bill drawing, thereby saving queuing time of users and lightening the working intensity of workers.
In one example, the note purchasing machine for the local invoices further comprises a note bin arranged in the shell, wherein the note bin comprises a plurality of note storage areas in an array form, and each note storage area is used for containing one local invoice. In particular, the plurality of ticket holding areas are arranged in an array along the height direction and the width direction of the housing.
In one example, the automatic gate device further comprises a fixed support, and a gate driving motor, a gate driving belt, a gate driving gear, an upper limit switch and a lower limit switch which are arranged on the fixed support;
the fixed bracket is arranged on the front surface of the shell;
the gate driving belt comprises a first belt, a second belt and a third belt which are arranged in parallel, the gate driving gear comprises a first driving gear to a sixth driving gear, the first driving gear and the second driving gear are in transmission connection through the first belt, the third driving gear and the fourth driving gear are in transmission connection through the second belt, the fifth driving gear and the sixth driving gear are in transmission connection through the third belt, the second driving gear, the third driving gear and the fifth driving gear are fixedly connected to a first transmission shaft, the fourth driving gear and the fifth driving gear are fixedly connected to a second transmission shaft, and the first transmission shaft and the second transmission shaft are arranged in parallel;
the gate driving motor is connected to the first driving gear;
the door body is arranged between the second belt and the third belt and is fixedly connected with the second belt and the third belt;
the upper limit switch and the lower limit switch are respectively arranged at the top and the bottom of the fixed support and used for controlling the moving range of the door body.
During operation, gate driving motor drive first drive gear rotates to drive first belt, second drive gear, first transmission shaft and last third drive gear and fifth drive gear, second belt and third belt, fourth drive gear and the motion of sixth drive gear in proper order, second belt and third belt drive a body synchronous motion, thereby make the door body reciprocate and open or close the mouth of drawing a bill. When the door body moves to the upper limit switch or the lower limit switch, the gate driving motor can be controlled to stop driving according to the detection signal of the upper limit switch or the lower limit switch, so that the moving range of the door body is controlled.
In one example, the positioning moving device includes a left-right moving mechanism and an up-down moving mechanism;
the left-right moving mechanism comprises a left-right driving motor, a left-right driving gear, a left-right driving rack, a left-right guide rail bracket and a pair of left-right limit switches; the left and right driving racks and the left and right guide rail brackets are arranged in parallel along the width direction of the shell, the left and right driving motors are movably arranged on the left and right guide rail brackets, the left and right driving gears are connected with output shafts of the left and right driving motors, the left and right driving racks are in transmission connection with the left and right driving gears, and a pair of left and right limit switches are respectively arranged at two ends of the left and right guide rail brackets and used for controlling the moving range of the left and right; the ticket sending device is fixedly connected with the left and right driving motors;
the up-down moving mechanism comprises an up-down driving motor, an up-down driving belt, an upper driving shaft, a lower driving shaft, an upper guide rail bracket, a lower guide rail bracket and a pair of upper and lower limit switches; the upper and lower guide rail brackets are fixedly arranged in the shell along the height direction of the shell, the upper and lower driving motors are fixedly connected with the upper and lower guide rail brackets, the upper driving shaft and the lower driving shaft are arranged in the upper and lower guide rail brackets in parallel, the upper driving shaft is connected with the output shaft of the upper and lower driving motors, the upper driving shaft and the lower driving shaft are in transmission connection through an upper and lower driving belt, and a pair of upper and lower limit switches are respectively arranged at two ends of the; the left and right guide rail brackets are fixedly connected with the upper and lower driving belts.
When the device works, the upper and lower driving motors drive the upper driving shaft to rotate, so that the upper and lower driving belts and the lower driving shaft are sequentially driven to move, and the upper and lower driving belts drive the left and right guide rail brackets to move up and down. The upper limit switch and the lower limit switch are respectively arranged at two ends of the upper guide rail support and the lower guide rail support, and when the left guide rail support and the right guide rail support move to the upper limit switch and the lower limit switch, the upper driving motor and the lower driving motor can be controlled to stop driving through detection signals of the upper limit switch and the lower limit switch, so that the moving range of the left guide rail support and the right guide rail support along.
The left and right driving motors drive the left and right driving gears to rotate, so that the left and right driving motors can drive the racks to move along the width direction of the shell. The left limit switch and the right limit switch are respectively arranged at two ends of the left guide rail bracket and the right guide rail bracket, and when the left driving motor and the right driving motor move to the left limit switch and the right limit switch, the left driving motor and the right driving motor can be controlled to stop driving through detection signals of the left limit switch and the right limit switch, so that the moving range of the left driving motor and the right driving motor is controlled.
In one example, the manipulator back-and-forth movement device comprises a pair of connecting blocks, a supporting rod, a rack and a pair of limit switches, wherein the supporting rod and the rack are arranged between the pair of connecting blocks in parallel, and each limit switch is arranged on one connecting block respectively.
The mechanical arm comprises a fixed arm and a movable arm, and the mechanical arm grabbing device further comprises a mechanical arm support, and a cam, a microswitch, a cam motor, a mechanical arm gear motor and a spring which are arranged on the mechanical arm support;
the manipulator bracket is fixedly connected with the manipulator gear motor; the fixed arm and the movable arm are hinged to the manipulator support through hinge points, one end of the fixed arm is connected to the cam, and the other end of the fixed arm is a free end; one end of the movable arm is connected with the cam, and a spring is arranged between the other end of the movable arm and the middle part of the movable arm; the cam rotates forwards or backwards under the driving of the cam motor, so that the other end of the fixed arm and the other end of the movable arm are close to or separated from each other;
a first limiting bulge and a second limiting bulge are arranged on the periphery of the cam, and the first limiting bulge and the second limiting bulge can be in contact with the micro switch so as to control the driving of the cam motor through the micro switch;
the manipulator gear motor is movably connected to the supporting rod, the manipulator gear is connected to an output shaft of the manipulator gear motor, and the manipulator gear is in transmission connection with the rack.
When the manipulator device works, the manipulator gear motor drives the manipulator gear to rotate, so that the manipulator gear rolls along the rack of the manipulator back-and-forth moving device, and the manipulator gear motor, the manipulator support and all the parts on the manipulator support are driven to move along the rack. When the gear motor of the manipulator reaches a limit switch of the front-back moving device of the manipulator, the gear motor of the manipulator is controlled to stop driving through a detection signal of the limit switch, and the cam motor drives the cam to rotate forwards, so that the fixed arm and the movable arm are driven to rotate to clamp the invoice; because the invoice types are different, and the thickness is also slightly different, consequently can carry out the micro-adjustment to the activity arm through the spring to guarantee to press from both sides the invoice of different types different thickness. When the first limit bulge of the cam is contacted with the microswitch, the cam motor stops driving, and the manipulator grabbing device drives the invoice to move reversely along the manipulator forward-backward moving device until the invoice reaches the limit switch of the manipulator forward-backward moving device; at the moment, the cam motor drives the cam to rotate reversely, so that the fixed arm and the movable arm are driven to rotate, and the invoice is loosened.
The invoice falls freely under the action of gravity and is flatly laid on the invoice delivery mechanism. In one example, the ticket conveying device comprises a bottom plate, a ticket conveying belt motor and an infrared detector, wherein the ticket conveying belt, the ticket conveying belt motor and the infrared detector are arranged on the bottom plate; the ticket sending belt is in transmission connection with a ticket sending belt motor, and the infrared detector is arranged on one side of the bottom plate close to the ticket outlet. The ticket-sending belt motor drives the ticket-sending belt to move through the driving shaft and the driving wheel, and the invoice on the ticket-sending belt is conveyed forwards until the infrared detector detects the invoice.
In one example, the bill purchasing machine for the bill of paper further comprises a scanning mechanism, wherein the scanning mechanism is arranged on the bottom plate and is used for scanning the bill of paper on the bill conveying belt. The scanning mechanism can scan the number of the bill and further identify the bill.
In one example, the local invoice ticket purchasing machine further comprises a touch control operation screen, and the touch control operation screen is used for accepting local invoice information input by a user, such as invoice types and the like. The controller can determine the spatial position of the corresponding local invoice in the invoice bin according to the local invoice information input by the user, so as to control the positioning and moving device to move the ticket feeding device to the spatial position.
The controller also receives the detection signals of the limit switches and the micro switches of the devices and controls the starting, stopping, forward rotation and reverse rotation of the motors according to the detection signals. This is conventional in the art and will not be described further herein.
Examples
Fig. 1 and 2 show an external view and an internal structure of a present invoice ticket purchaser according to an exemplary embodiment of the present invention, respectively; fig. 3 shows a schematic view of the mounting of the robot gripping device on the robot back-and-forth movement device; FIG. 4 shows an installation diagram of the manipulator grabbing device, the manipulator forward-backward moving device and the ticket delivering device; fig. 5 to 8 show the structure diagrams of the manipulator grabbing device, the positioning and moving device, the ticket bin and the automatic gate device respectively; FIGS. 9 to 11 are views showing states of the mechanical hand grasping device grasping an invoice, pulling out the invoice, and releasing the invoice, respectively; FIG. 12 shows a state diagram of an invoice landing on a ticket delivery device; FIG. 13 is a view showing the invoice moving to the exit and the door open; fig. 14 shows the ticket output state of the present invoice ticket buyer.
Exemplary embodiments of the present invention are described in detail below with reference to fig. 1-14. The invoice purchasing machine comprises a shell 1, an automatic gate device, a positioning and moving device, a manipulator grabbing device 4, a manipulator front-back moving device 5 and an invoice delivery device 9, wherein the automatic gate device, the positioning and moving device, the manipulator grabbing device, the manipulator front-back moving device and the invoice delivery device are arranged in the shell 1;
the shell 1 is a cuboid, and the front surface of the shell is provided with a ticket outlet 12;
the automatic gate device includes a gate body 121 that can move to open or close the ticket outlet;
the positioning and moving device is used for moving the ticket delivering device 9 along the width direction (namely, the left and right direction in fig. 2) and the height direction (namely, the up and down direction in fig. 2) of the shell 1;
the ticket sending device 9 is used for transmitting the local invoice 10 to a ticket outlet 12;
the mechanical arm front-back moving device 5 is arranged on the ticket sending device 9, the mechanical arm gripping device 4 is arranged on the mechanical arm front-back moving device 5 and can move on the mechanical arm front-back moving device 5 along the thickness direction of the shell 1, and the mechanical arm gripping device 4 comprises a mechanical arm for clamping the bill 10.
The invoice purchasing machine further comprises an invoice bin 11 arranged in the shell 1, wherein the invoice bin 11 comprises a plurality of invoice storage areas in an array form, and each invoice storage area is used for accommodating one invoice 10 in the form of a book, as shown in fig. 2.
As shown in fig. 8, the automatic gate apparatus further includes a fixing bracket 128, and a gate driving motor 124, a gate driving belt 125, a gate driving gear 126, an upper limit switch 127 and a lower limit switch 123 provided on the fixing bracket 128;
the fixing bracket 128 is provided on the front surface of the housing 1;
the gate driving belt 125 comprises a first belt, a second belt and a third belt which are arranged in parallel, the gate driving gear 126 comprises a first driving gear to a sixth driving gear, wherein the first driving gear and the second driving gear are in transmission connection through the first belt, the third driving gear and the fourth driving gear are in transmission connection through the second belt, the fifth driving gear and the sixth driving gear are in transmission connection through the third belt, the second driving gear, the third driving gear and the fifth driving gear are fixedly connected to a first transmission shaft, the fourth driving gear and the fifth driving gear are fixedly connected to a second transmission shaft, and the first transmission shaft and the second transmission shaft are arranged in parallel;
the shutter driving motor 124 is connected to the first driving gear;
the door body 121 is arranged between the second belt and the third belt and fixedly connected with the second belt and the third belt;
the upper limit switch 127 and the lower limit switch 123 are respectively arranged at the top and the bottom of the fixed bracket 128 and are used for controlling the moving range of the door body 121.
As shown in fig. 6, the positioning and moving device includes a left-right moving mechanism 7 and an up-down moving mechanism 8;
the left-right moving mechanism 7 comprises a left-right driving motor, a left-right driving gear, a left-right driving rack, a left-right guide rail bracket and a pair of left-right limit switches; the left and right driving racks and the left and right guide rail brackets are arranged in parallel along the width direction of the shell, the left and right driving motors are movably arranged on the left and right guide rail brackets, the left and right driving gears are connected with output shafts of the left and right driving motors, the left and right driving racks are in transmission connection with the left and right driving gears, and a pair of left and right limit switches are respectively arranged at two ends of the left and right guide rail brackets and used for controlling the moving range of the left and right; the ticket sending device is fixedly connected with the left and right driving motors;
the up-down moving mechanism 8 comprises an up-down driving motor, an up-down driving belt, an upper driving shaft, a lower driving shaft, an upper guide rail bracket, a lower guide rail bracket and a pair of upper and lower limit switches; the upper and lower guide rail brackets are fixedly arranged in the shell along the height direction of the shell, the upper and lower driving motors are fixedly connected with the upper and lower guide rail brackets, the upper driving shaft and the lower driving shaft are arranged in the upper and lower guide rail brackets in parallel, the upper driving shaft is connected with the output shaft of the upper and lower driving motors, the upper driving shaft and the lower driving shaft are in transmission connection through an upper and lower driving belt, and a pair of upper and lower limit switches are respectively arranged at two ends of the; the left and right guide rail brackets are fixedly connected with the upper and lower driving belts.
As shown in fig. 3 and 4, the manipulator forward-backward moving device 5 includes a pair of connecting blocks, a support rod, a rack, and a pair of limit switches 51, the support rod and the rack are disposed in parallel between the pair of connecting blocks, and each limit switch 51 is disposed on one connecting block.
As shown in fig. 3-5, the robot arm includes a fixed arm 41 and a movable arm 42, the robot gripping device 4 further includes a robot support 49, and a cam 43, a micro switch 44, a cam motor 45, a robot gear 46, a robot gear motor 47 and a spring 48 which are arranged on the robot support 49;
the manipulator bracket 49 is fixedly connected to the manipulator gear motor 47; the fixed arm 41 and the movable arm 42 are hinged to the manipulator bracket 49 through hinge points, one end of the fixed arm 41 is connected to the cam 43, and the other end of the fixed arm is a free end; one end of the movable arm 42 is connected to the cam 43, and a spring 48 is arranged between the other end and the middle part of the movable arm; the cam 43 rotates forward or backward by the driving of the cam motor 45, so that the other end of the fixed arm 41 and the other end of the movable arm 42 move closer to or away from each other;
a first limit projection and a second limit projection are arranged on the periphery of the cam 43, and as shown in fig. 5, the first limit projection and the second limit projection can be in contact with the micro switch 44 so as to control the driving of the cam motor through the micro switch 44;
the manipulator gear motor 47 is movably connected to the support rod, the manipulator gear 46 is connected to an output shaft of the manipulator gear motor 47, and the manipulator gear 46 is in transmission connection with the rack.
As shown in fig. 4, the ticket delivering device 9 comprises a bottom plate, a ticket delivering belt 91 arranged on the bottom plate, a ticket delivering belt motor 92 and an infrared detector 93; the ticket-sending belt 91 is connected with a ticket-sending belt motor 92 in a transmission way, and the infrared detector 93 is arranged on one side of the bottom plate close to the ticket outlet. The ticket feeding belt motor 92 drives the ticket feeding belt 91 to move through a driving shaft and a driving wheel.
The bill purchasing machine for the bill of the. The scanning mechanism can scan the number of the bill and further identify the bill.
The local invoice purchasing machine further comprises a touch control operation screen 2, and the touch control operation screen 2 is used for receiving local invoice information input by a user, such as invoice types and the like. The controller can determine the spatial position of the corresponding local invoice in the invoice bin according to the local invoice information input by the user, so as to control the positioning and moving device to move the ticket feeding device to the spatial position.
The controller also receives the detection signals of the limit switches (including the upper limit switch 127, the lower limit switch 123, the left and right limit switches, the upper and lower limit switches, the limit switch 51) and the micro switch 44 of each device and the detection signals of the infrared detector 93, and controls the start, stop, forward rotation and reverse rotation of each motor (including the gate drive motor 124, the left and right drive motor, the up and down drive motor, the cam motor 45, the manipulator gear motor 47 and the ticket delivery belt motor 92) according to the detection signals. The controller is, for example, a PLC controller.
The operation of the bill purchasing machine for the present embodiment is as follows:
the user inputs the information of the local invoice to be purchased through the touch control operation screen 2, and the controller determines the spatial position of the local invoice 10 corresponding to the information of the local invoice in the invoice bin 11, so that the left and right driving motors and the up and down driving motors of the positioning and moving device can be controlled to drive. Specifically, the upper and lower driving motors drive the upper driving shaft to rotate, so as to drive the upper and lower driving belts and the lower driving shaft to move in sequence, and drive the left and right guide rail brackets to move to a specified height along the height direction of the shell 1; the left and right driving motors drive the left and right driving gears to rotate, so that the left and right driving motors move to a specified position along the width direction of the shell along the left and right driving racks, and at the moment, the ticket sending device fixedly connected with the left and right driving motors is positioned at the specified position of the ticket bin 11.
Then, the controller controls the robot gear motor 47 to rotate the robot gear 46, so that the robot gear 46 rolls along the rack of the robot back-and-forth moving device 5, thereby driving the robot gear motor 47, the robot arm 49, and the components thereon to move along the rack. When the manipulator gear motor 47 reaches the limit switch 51 of the manipulator forward-backward moving device, the controller controls the manipulator gear motor 47 to stop driving according to the detection signal of the limit switch 51, the cam motor 45 starts to work, the driving cam 43 rotates forward, and the fixed arm 41 and the movable arm 42 are driven to rotate, so that the local invoice 10 is gradually clamped (as shown in fig. 9). When the first limit bump of the cam 43 contacts the microswitch 44, the cam motor 45 stops driving, the manipulator gripping device 4 carries the invoice 10 to move reversely along the manipulator forward-backward moving device 5 (the driving process is similar to the foregoing process, and is not described herein again), and the invoice 10 is dragged out (as shown in fig. 10) until reaching the limit switch 51 of the manipulator forward-backward moving device 5; the controller controls the cam motor 45 to rotate reversely according to the detection signal of the limit switch 51, and then drives the cam 43 to rotate reversely, so as to drive the fixed arm 41 and the movable arm 42 to rotate reversely, and loosen the bill 10 (as shown in fig. 11).
This form 10 falls freely under gravity and lays flat on the delivery belt of the delivery mechanism (as shown in figure 12). The positioning and moving device then moves the ticket delivery device to the ticket gate in a similar but reverse process. The ticket-feeding belt motor drives the movement of the ticket-feeding belt to convey the bill 10 to the ticket outlet 12 (as shown in fig. 13) until the infrared detector 93 detects the bill 10.
The scanning mechanism 6 scans the number of the local invoice, the controller determines the type of the local invoice according to the number, and compares the number with the local invoice information input by the user, when the comparison result is consistent, the controller controls the gate driving motor 124 to drive the first driving gear to rotate, so as to sequentially drive the first belt, the second driving gear, the first transmission shaft, the third driving gear and the fifth driving gear on the first transmission shaft, the second belt and the third belt, the fourth driving gear and the sixth driving gear to move, the second belt and the third belt drive the door body 121 to move synchronously, so that the door body 121 moves, thereby opening a ticket outlet (as shown in fig. 14), and waiting for the user to take away the local invoice. When the infrared detector 93 detects that the local invoice 10 is taken away, the gate driving motor 124 is controlled to rotate reversely so as to close the invoice outlet, and the invoice feeding belt motor also rotates reversely so as to recycle the local invoice which is not taken away to a recycling bin (not shown), so that the ticket purchasing is completed.
Having described embodiments of the present invention, the foregoing description is intended to be exemplary, not exhaustive, and not limited to the embodiments disclosed. Many modifications and variations will be apparent to those of ordinary skill in the art without departing from the scope and spirit of the described embodiments.
Claims (8)
1. The bill purchasing machine for the bill of the book form is characterized by comprising a shell, an automatic gate device, a positioning and moving device, a manipulator grabbing device, a manipulator front-back moving device and a bill conveying device, wherein the automatic gate device, the positioning and moving device, the manipulator grabbing device, the manipulator front-back moving device and the bill conveying device are arranged in the shell;
the shell is a cuboid, and the front surface of the shell is provided with a ticket outlet;
the automatic gate device comprises a gate body which can move so as to open or close the ticket outlet;
the positioning and moving device is used for enabling the ticket sending device to move along the width direction and the height direction of the shell;
the ticket sending device is used for transmitting the invoice to the ticket outlet;
the mechanical arm front-and-back moving device is arranged on the ticket sending device, the mechanical arm grabbing device is arranged on the mechanical arm front-and-back moving device and can move on the mechanical arm front-and-back moving device along the thickness direction of the shell, and the mechanical arm grabbing device comprises a mechanical arm for clamping the bill;
the manipulator forward-backward moving device (5) comprises a pair of connecting blocks, a supporting rod, a rack and a pair of limit switches (51), wherein the supporting rod and the rack are arranged between the pair of connecting blocks in parallel, and each limit switch is arranged on one connecting block;
the mechanical arm comprises a fixed arm (41) and a movable arm (42), the mechanical arm grabbing device (4) further comprises a mechanical arm support (49), a cam (43), a micro switch (44), a cam motor (45), a mechanical arm gear (46), a mechanical arm gear motor (47) and a spring (48), wherein the cam (43), the micro switch (44), the cam motor (45), the mechanical arm gear (46), the mechanical arm gear motor (47) and the spring (48) are arranged on the mechanical arm;
the manipulator bracket is fixedly connected with the manipulator gear motor; the fixed arm and the movable arm are hinged to the manipulator support through hinge points, one end of the fixed arm is connected to the cam, and the other end of the fixed arm is a free end; one end of the movable arm is connected with the cam, and the spring is arranged between the other end of the movable arm and the middle part of the movable arm; the cam rotates forwards or backwards under the driving of the cam motor, so that the other end of the fixed arm and the other end of the movable arm are close to or separated from each other;
a first limiting bulge and a second limiting bulge are arranged on the periphery of the cam, and the first limiting bulge and the second limiting bulge can be in contact with the microswitch so as to control the driving of the cam motor through the microswitch;
the manipulator gear motor is movably connected to the supporting rod, the manipulator gear is connected to an output shaft of the manipulator gear motor, and the manipulator gear is in transmission connection with the rack.
2. The bill purchasing machine according to claim 1, further comprising a hopper (11) disposed in the housing, wherein the hopper comprises a plurality of bill storage areas in an array, each of the bill storage areas being configured to receive one of the bill copies.
3. The bill purchasing machine according to claim 1, wherein the automatic gate device further comprises a fixed bracket (128), and a gate driving motor (124), a gate driving belt (125), a gate driving gear (126), an upper limit switch (127) and a lower limit switch (123) which are arranged on the fixed bracket;
the fixed bracket is arranged on the front surface of the shell;
the gate driving belt comprises a first belt, a second belt and a third belt which are arranged in parallel, the gate driving gear comprises a first driving gear to a sixth driving gear, the first driving gear and the second driving gear are in transmission connection through the first belt, the third driving gear and a fourth driving gear are in transmission connection through the second belt, the fifth driving gear and the sixth driving gear are in transmission connection through the third belt, the second driving gear, the third driving gear and the fifth driving gear are fixedly connected to a first transmission shaft, the fourth driving gear and the fifth driving gear are fixedly connected to a second transmission shaft, and the first transmission shaft and the second transmission shaft are arranged in parallel;
the gate driving motor is connected to the first driving gear;
the door body is arranged between the second belt and the third belt and fixedly connected with the second belt and the third belt;
the upper limit switch and the lower limit switch are respectively arranged at the top and the bottom of the fixed support and used for controlling the moving range of the door body.
4. The bill purchasing machine according to claim 1, wherein the positioning and moving device comprises a left-right moving mechanism (7) and an up-down moving mechanism (8);
the left-right moving mechanism comprises a left-right driving motor, a left-right driving gear, a left-right driving rack, a left-right guide rail bracket and a pair of left-right limit switches; the left and right driving racks and the left and right guide rail brackets are arranged in parallel along the width direction of the shell, the left and right driving motors are movably arranged on the left and right guide rail brackets, the left and right driving gears are connected with output shafts of the left and right driving motors, the left and right driving racks are in transmission connection with the left and right driving gears, and the pair of left and right limit switches are respectively arranged at two ends of the left and right guide rail brackets and used for controlling the moving range of the left and right driving motors; the ticket sending device is fixedly connected with the left and right driving motors;
the up-down moving mechanism comprises an up-down driving motor, an up-down driving belt, an upper driving shaft, a lower driving shaft, an upper guide rail bracket, a lower guide rail bracket and a pair of upper and lower limit switches; the upper and lower guide rail brackets are fixedly arranged in the shell along the height direction of the shell, the upper and lower driving motors are fixedly connected to the upper and lower guide rail brackets, the upper driving shaft and the lower driving shaft are arranged in parallel on the upper and lower guide rail brackets, the upper driving shaft is connected to the output shafts of the upper and lower driving motors, the upper driving shaft and the lower driving shaft are in transmission connection through the upper and lower driving belts, and the pair of upper and lower limit switches are respectively arranged at two ends of the upper and lower guide rail brackets; the left and right guide rail brackets are fixedly connected with the upper and lower driving belts.
5. The bill purchasing machine according to claim 1, wherein the ticket feeding device (9) comprises a bottom plate, a ticket feeding belt (91), a ticket feeding belt motor (92) and an infrared detector (93), wherein the ticket feeding belt motor (92) and the infrared detector are arranged on the bottom plate; the ticket sending belt is in transmission connection with the ticket sending belt motor, and the infrared detector is arranged on one side, close to the ticket outlet, of the bottom plate.
6. The bill purchasing machine according to claim 5, further comprising a scanning mechanism (6) disposed on the bottom plate for scanning the bill on the delivery belt.
7. The bill purchasing machine for local invoices according to claim 1 further comprising a touch control operation screen (2) for accepting input of local invoice information from a user.
8. The bill purchasing machine according to claim 7, further comprising a controller, wherein the controller is configured to determine a spatial position of the bill corresponding to the bill information, so as to control the positioning and moving device to move the ticket sending device to the spatial position.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811504555.4A CN109785450B (en) | 2018-12-10 | 2018-12-10 | Bill purchasing machine |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811504555.4A CN109785450B (en) | 2018-12-10 | 2018-12-10 | Bill purchasing machine |
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| Publication Number | Publication Date |
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| CN109785450A CN109785450A (en) | 2019-05-21 |
| CN109785450B true CN109785450B (en) | 2021-06-01 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201811504555.4A Active CN109785450B (en) | 2018-12-10 | 2018-12-10 | Bill purchasing machine |
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Families Citing this family (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111179441B (en) * | 2019-12-27 | 2021-07-30 | 航天信息股份有限公司 | Book-shaped invoice selling device |
| CN111127671B (en) * | 2019-12-27 | 2021-07-16 | 航天信息股份有限公司 | Quota invoice selling device |
| CN110992602B (en) * | 2019-12-31 | 2022-01-14 | 航天信息股份有限公司 | Gold tax disk selling device |
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| CN208068254U (en) * | 2018-03-14 | 2018-11-09 | 南阳国医艾草园科技开发有限公司 | A kind of mobile device for intelligent machine arm |
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| DE9315118U1 (en) * | 1993-10-06 | 1993-12-16 | M. Staude GmbH, 46485 Wesel | Picking system for pharmacy products |
| CN2710058Y (en) * | 2003-11-20 | 2005-07-13 | 青岛澳柯玛自动商用设备有限公司 | Box structure for newspaper selling apparatus |
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| CN109785450A (en) | 2019-05-21 |
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