CN112276986A - Snatch manipulator of ice-cube - Google Patents
Snatch manipulator of ice-cube Download PDFInfo
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- CN112276986A CN112276986A CN202011106499.6A CN202011106499A CN112276986A CN 112276986 A CN112276986 A CN 112276986A CN 202011106499 A CN202011106499 A CN 202011106499A CN 112276986 A CN112276986 A CN 112276986A
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- telescopic arm
- pulley
- bracket
- handle
- belt
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/08—Gripping heads and other end effectors having finger members
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J18/00—Arms
- B25J18/02—Arms extensible
- B25J18/025—Arms extensible telescopic
Abstract
The invention belongs to the technical field of grabbing mechanical devices, and particularly relates to a manipulator for grabbing ice cubes. The invention mainly comprises a central support, a left support, a right support, a handle and a handle. An operator tightens the belt through reciprocating the handle, and the belt drives the left support, the right support, the outer telescopic arm, the inner telescopic arm and the telescopic bottom foot to move, so that grabbing action is realized. The invention provides a solution for conveniently grabbing ice blocks of various sizes for ice processing personnel, and is mainly applied to the field of ice processing. The present invention has the additional property of holding ice cubes. After the ice cubes are grabbed, experimenters can also indirectly hold the ice cubes through the manipulator, and dangers of directly holding the ice cubes during cutting operation of the bone sawing machine and the chain saw are reduced.
Description
Technical Field
The invention belongs to the technical field of grabbing mechanical devices, and particularly relates to a manipulator for grabbing ice cubes.
Background
Before ice research was conducted, it was necessary to cut ice cubes using a bone saw, a slicer or an electric chain saw. The experiment personnel are required to carry by bare hands before cutting, and the experiment personnel are required to hold the ice block by hands during cutting so as to finish the cutting operation. As is well known, the ice has a smooth surface and a low temperature, which makes it inconvenient for a single person to carry the ice by hand, and the low temperature of the surface easily damages the health of the carrying person, and the risk of holding the ice by hand when cutting the ice with an electric tool is high. There is a need for a robot for catching ice cubes to solve the above problems.
Patent number is CN201520857867.9, and utility model patent named "a case transport tongs" discloses a case transport tongs, but it relies on self clamping-force can not carry the smooth ice-cube in surface, and this utility model's the great portability that does not have of volume, and the suitability receives the restriction. Patent No. CN201020582397.7, the utility model patent of name "tongs and arm for low-speed case" though have the bottom baffle, but each baffle uses electronic and hydraulic pressure respectively, complex operation, function singleness and inconvenient carrying.
Disclosure of Invention
The invention aims to provide a manipulator for grabbing ice cubes, which can conveniently grab ice cubes of various sizes.
The purpose of the invention is realized by the following technical scheme: comprises a left bracket, a right bracket, a central bracket and a handle; the left bracket comprises a left bracket shell, a left bracket male head, an outer telescopic arm, an inner telescopic arm and a telescopic foot; the left bracket shell is arranged on the left side of the central bracket, a first pulley is arranged on the upper right part in the left bracket shell, and a second pulley is arranged on the lower right part in the left bracket shell; the left end of the left support male head is connected with the right end of the upper part of the left support shell, and the right end of the left support male head extends into the central support and is connected with the right end of the central support through a thrust spring; the outer telescopic arm is integrally arranged inside the left support shell, the top surface of the outer telescopic arm is connected with the top surface of the left support shell through a tension spring, a fourth pulley is arranged on the left side of the top surface of the outer telescopic arm, a third pulley is arranged on the right side of the top surface of the outer telescopic arm, and a fifth pulley is arranged on the left side of the bottom surface of the outer telescopic arm; the upper part of the inner telescopic arm is arranged in the outer telescopic arm, the top surface of the inner telescopic arm is connected with the top surface of the outer telescopic arm through a tension spring, the bottom of the inner telescopic arm extends out of the left bracket shell, the bottom of the inner telescopic arm is provided with a linear slideway, the left side of the top surface of the inner telescopic arm is provided with a sixth pulley, the right side of the top surface of the inner telescopic arm is provided with a seventh pulley, the right side of the bottom of the inner telescopic arm is provided with an eighth pulley, and the eighth pulley is positioned above the telescopic bottom foot; the telescopic bottom foot is connected with the bottom of the inner telescopic arm through a linear slideway, and the whole length of the telescopic bottom foot is greater than that of the linear slideway at the bottom of the inner telescopic arm; the front end of the telescopic bottom foot is wedge-shaped, and the tail end of the telescopic bottom foot is connected with the outer side wall surface of the inner telescopic arm through a thrust spring; the left side and the right side inside the central support are respectively provided with a transmission pulley block, and the outer side of the middle part of the central support is provided with a handle; the left side and the right side of the handle are arranged at the lower end of the central support through linear slideways, a thrust spring is arranged between the handle and the central support, and the left end and the right end of the handle are respectively connected with belt tightening ratchet wheels arranged on the left side and the right side of the handle through racks; the belt tightening ratchet wheel is arranged at the lower end of the bottom surface of the central support, ratchets are arranged in a wheel shaft of the belt tightening ratchet wheel, a belt is wound on the belt tightening ratchet wheel, the belts on the belt tightening ratchet wheels on the left side and the right side of the handle enter the left support and the right support through the transmission pulley blocks on the left side and the right side in the central support respectively, and the belt entering the left support sequentially bypasses the first pulley, the second pulley, the third pulley, the fourth pulley, the fifth pulley, the sixth pulley, the seventh pulley and the eighth pulley and is fixed at the tail end of the telescopic footing; the structure of the right bracket is the same as that of the left bracket.
The present invention may further comprise:
a belt reset button is arranged on the central bracket; the belt reset button is arranged near the handle and connected with ratchets in wheel shafts of the belt tightening ratchet wheels on the left side and the right side of the handle through control lines, and when the belt reset button is pressed down, the ratchets at the wheel shafts of the belt tightening ratchet wheels fail, the belt tightening ratchet wheels rotate freely, and the belt is loosened.
The inner walls of the bottoms of the left side and the right side of the central support are provided with a slip stopper; the inner walls of the bottoms of the left side and the right side of the outer telescopic arm are provided with a slip stopper; the inner walls of the bottoms of the left side and the right side of the left bracket shell are provided with a slip stopper; a self-locking button is arranged on the central bracket; the self-locking button is arranged near the holding handle and is connected with all the slip stoppers through the control lines, and when the self-locking button is pressed, the slip stoppers expand to fix the relative positions of the left bracket, the right bracket and the central bracket and the relative positions of the inner telescopic arm, the outer telescopic arm, the left bracket and the right bracket.
The outer wall of the right end of the left bracket shell is provided with strip-shaped anti-skid rubber; trapezoidal non-slip rubber has been arranged on the outer wall of interior telescopic arm right-hand member, and trapezoidal non-slip rubber sets up between flexible footing and left socle casing.
The invention has the beneficial effects that:
the invention provides a manipulator for grabbing ice cubes, provides a solution for conveniently grabbing ice cubes of various sizes for ice processing personnel, and is mainly applied to the field of ice processing. The present invention has the additional property of holding ice cubes. After the ice cubes are grabbed, experimenters can also indirectly hold the ice cubes through the manipulator, and dangers of directly holding the ice cubes during cutting operation of the bone sawing machine and the chain saw are reduced.
Drawings
Fig. 1 is a schematic view of the general structure of the present invention.
Fig. 2 is a schematic view of the horizontal retracting mechanism of the present invention.
Fig. 3 is a schematic view of the belt tightening mechanism of the present invention.
Fig. 4 is a front view of the longitudinal expansion mechanism of the present invention.
Fig. 5 is a side view of the longitudinal expansion mechanism of the present invention.
Detailed Description
The invention is further described below with reference to the accompanying drawings.
The invention relates to a grabbing mechanical device, in particular to a manipulator for grabbing ice. The invention aims to provide a manipulator for grabbing ice, provides a solution for grabbing ice blocks of various sizes conveniently for ice processing personnel, and is mainly applied to the field of ice processing.
A manipulator for grabbing ice cubes comprises a left support 2, a right support 3, a central support 1 and a handle 9; the left bracket 2 comprises a left bracket shell, a left bracket male head 6, an outer telescopic arm 31, an inner telescopic arm 30 and a telescopic foot 32; the left bracket shell is arranged on the left side of the central bracket 1, a first pulley 22 is arranged on the upper right part in the left bracket shell, and a second pulley 23 is arranged on the lower right part in the left bracket shell; the left end of the left support male head 6 is connected with the right end of the upper part of the left support shell, and the right end of the left support male head 6 extends into the central support 1 and is connected with the right end of the central support 1 through a thrust spring 13; the outer telescopic arm 31 is integrally arranged in the left support shell, the top surface of the outer telescopic arm 31 is connected with the top surface of the left support shell through a tension spring 11, a fourth pulley 25 is arranged on the left side of the top surface of the outer telescopic arm 31, a third pulley 24 is arranged on the right side of the top surface of the outer telescopic arm 31, and a fifth pulley 26 is arranged on the left side of the bottom surface of the outer telescopic arm 31; the upper part of the inner telescopic arm 30 is arranged in the outer telescopic arm 31, the top surface of the inner telescopic arm 30 is connected with the top surface of the outer telescopic arm 31 through a tension spring 12, the bottom of the inner telescopic arm 30 extends out of the left bracket shell, the bottom of the inner telescopic arm 30 is provided with a linear slideway, the left side of the top surface of the inner telescopic arm 30 is provided with a sixth pulley 27, the right side of the top surface of the inner telescopic arm 30 is provided with a seventh pulley 28, the right side of the bottom of the inner telescopic arm 30 is provided with an eighth pulley 29, and the eighth pulley 29 is positioned above the telescopic bottom foot 32; the telescopic bottom foot 32 is connected with the bottom of the inner telescopic arm 30 through a linear slideway, and the whole length of the telescopic bottom foot 32 is greater than that of the linear slideway at the bottom of the inner telescopic arm 30; the front end of the telescopic foot 32 is wedge-shaped, and the tail end of the telescopic foot 32 is connected with the outer side wall surface of the inner telescopic arm 30 through a thrust spring 16; the left side and the right side inside the central support 1 are respectively provided with a transmission pulley block 18, a transmission pulley block 19 and a transmission pulley block 20, and the outer side of the middle part of the central support 1 is provided with a handle 8; the left side and the right side of the handle 9 are arranged at the lower end of the central support 1 through the linear slide way 5, thrust springs 14 and 15 are arranged between the handle 9 and the central support 1, and the left end and the right end of the handle 9 are respectively connected with belt tightening ratchet wheels 21 arranged at the left side and the right side of the handle through racks 10; the belt tightening ratchet wheel 21 is arranged at the lower end of the bottom surface of the central support 1, ratchets are arranged in a wheel shaft of the belt tightening ratchet wheel 21, a belt is wound on the belt tightening ratchet wheel 21, the belts on the left and right side belt tightening ratchet wheels of the handle 9 enter the left support 2 and the right support 3 through the transmission pulley blocks 18 on the left and right sides in the central support 1 respectively, and the belt 4 entering the left support 2 sequentially bypasses the first pulley 22, the second pulley 23, the third pulley 24, the fourth pulley 25, the fifth pulley 26, the sixth pulley 27, the seventh pulley 28 and the eighth pulley 29 and is fixed at the tail end of the telescopic footing 32; the structure of the right bracket 3 is the same as that of the left bracket.
A belt reset button 37 is arranged on the central bracket 1; the belt reset button 37 is arranged near the handle 8, the belt reset button 37 is connected with ratchets in wheel shafts of the belt tightening ratchet wheels 21 on the left side and the right side of the handle 9 through control lines, and after the belt reset button 37 is pressed down, the ratchets on the wheel shafts of the belt tightening ratchet wheels are invalid, the belt tightening ratchet wheels rotate freely, and the belt is loosened. The inner walls of the bottoms of the left side and the right side of the central bracket 1 are provided with a slip stopper 33; the inner walls of the bottoms of the left side and the right side of the external telescopic arm 31 are provided with a slip stopper 34; the inner walls of the bottoms of the left side and the right side of the left bracket shell are provided with a slip stopper 34; a self-locking button 35 is arranged on the central bracket; the self-locking button 35 is arranged near the handle 8, the self-locking button 35 is connected with all the slip stoppers through control lines, and when the self-locking button 35 is pressed, the slip stoppers expand to fix the relative positions of the left bracket 2, the right bracket 3 and the central bracket 1 and the relative positions of the inner telescopic arm 30, the outer telescopic arm 31, the left bracket 2 and the right bracket 3. The outer wall of the right end of the left bracket shell is provided with a strip-shaped anti-slip rubber 39; trapezoidal anti-skidding rubber 40 has been arranged on the outer wall of interior telescopic arm right-hand member, and trapezoidal anti-skidding rubber 40 sets up between flexible footing 32 and left socle casing.
Example 1:
the manipulator for grabbing ice cubes has a bilaterally symmetrical structure, and only the left half of the device is described for simplicity.
Referring to fig. 1, the device comprises 3 parts, namely a central support 1, a left support 2 and a right support 3.
Referring to fig. 2, the left bracket male head 6 is sleeved in the center bracket female head 7, a linear slideway 5 is arranged between the inner wall of the center bracket female head 7 and the outer wall of the left bracket male head 6, and the center bracket 1 and the left bracket 2 are combined with the linear slideway 5 through a thrust spring 13. The center support 1 and the left support 2 can slide relatively freely but are not separated. When no external force is applied, the left bracket male head 6 can extend out of the central bracket female head 7 under the tensile force of the thrust spring 13. Pulley 19 is fixed to left bracket 2 and pulley 20 and pulley 18 are fixed to center bracket 1.
Referring to fig. 3, the handle 9 and the center frame 1 are connected by a linear slide 8 and are urged by a thrust spring 14 and a thrust spring 15. Racks are fixed on two sides of the handle. When the handle 9 is manually operated by an operator, the rack 10 can reciprocate up and down, so that the belt tightening ratchet wheel 21 is driven to rotate in a single direction. The rack 10 and the belt tightening ratchet 21 are in gear-rack transmission, and when the handle 9 is not held, the rack 10 and the belt tightening ratchet 21 are not in contact with each other. Ratchets are arranged in the wheel axle of the belt tightening ratchet wheel 21. And a plurality of circles of belts are wound on the belt tightening ratchet wheel 21 and are fixed on the central support 1. The belt return button 37 is disposed near the grip 8 and connected to the ratchets in the wheel shafts of the two belt tightening ratchets 21 through control lines, and when the belt return button 37 is pressed, the ratchets at the wheel shafts of the belt tightening ratchets 21 are disabled, the belt tightening ratchets 21 rotate freely, and the belt can be loosened freely.
Referring to fig. 4 and 5, the inner telescopic arm 30 is sleeved in the outer telescopic arm 31 and is limited by the tension spring 12 and the linear slideway. The outer telescopic arm 31 is sleeved in the cavity of the left bracket 2 and is limited by the tension spring 11 and the linear slideway. The front end of the telescopic bottom foot 32 is wedge-shaped and is connected with the bottom of the inner telescopic arm 30 through a linear slideway, and a thrust spring 16 is connected between the tail end of the telescopic bottom foot 32 and the bottom of the inner telescopic arm 30. Pulley 24 and pulley 25 are fixed to the top end of outer telescopic arm 31, pulley 26 is fixed to the bottom end of outer telescopic arm 31, pulley 27 and pulley 28 are fixed to the top end of inner telescopic arm 30, pulley 29 is fixed to the bottom end of inner telescopic arm 30, and pulley 23 and pulley 22 are fixed to left bracket 2.
With reference to fig. 2, 3, 4 and 5, the tension spring or the thrust spring has the following spring force relationship: the pushing force generated by the pushing spring 16 is greater than the pulling force generated by the pulling spring 12, equal to the pulling force generated by the pulling spring 11, greater than the pushing force generated by the pushing spring 13, and greater than the force generated by the spring at the wheel axle of the belt tightening ratchet 21 to tighten the belt. The spring sequencing described allows the following mechanisms to perform the prescribed actions in the following agreed sequence as the belt is tightened: the left bracket male head 6 is contracted into the central bracket female head 7, so that the left bracket 2 is close to the central bracket 1 until the ice block is clamped, and the width of the ice block to be grabbed is matched; the inner telescopic arm 30 extends downwards from the cavity inside the outer telescopic arm 31, and the outer telescopic arm 31 continues to extend downwards from the cavity of the left bracket 2; after the bottom of the inner telescopic arm 30 touches the ground, the tension on the belt is greater than the thrust of the thrust spring 16, the telescopic foot 32 extends out under the tension of the belt 4, and the wedge at the front end is wedged into the bottom of the ice to be grabbed. At this point, the ice-catching operation is completed.
Referring to fig. 2, 3, 4 and 5, a slip stopper 33 is arranged between the left bracket male head 6 and the center bracket female head 7, and the slip stopper 33 is fixed on the inner wall of the center bracket female head 7. A slip stopper 34 is arranged between the inner telescopic arm 30 and the outer telescopic arm 31, the slip stopper 34 is fixed on the inner wall of the outer telescopic arm, a slip stopper 33 is arranged between the outer telescopic arm 31 and the left bracket 2, and the slip stopper 34 is fixed on the inner wall of the cavity of the left bracket 2. The anti-slip device 33 and the anti-slip device 34 are connected to a self-locking button 35 at the handle 8 via a control cord. When the self-locking button 35 is pressed, the anti-slip device 33 and the anti-slip device 34 are expanded to fix the relative positions of the left bracket 2, the right bracket 3 and the central bracket 1, and the relative positions of the inner telescopic arm 30 and the outer telescopic arm 31 and the left bracket 2 and the right bracket 3.
Referring to fig. 2, 4 and 5, the outer walls of the left bracket 2 and the inner telescopic arm 30 are provided with anti-slip rubber 39 and anti-slip rubber 40. The outer surfaces of the anti-slip rubber 39 and the anti-slip rubber 40 are on the same plane. Can be closely contacted with the side surface of the ice block to be grabbed, and the ice block is prevented from slipping downwards.
The manipulator can freely grab ice blocks with the length of 20-60 cm, the height of 10-90 cm and the width of any width. The minimum form of the invention is 30 cm long, 35 cm high and 10 cm thick; the fully expanded form is 70 cm long, 95 cm high and 10 cm thick. An operator tightens the belt through reciprocating the handle, and the belt drives the left support, the right support, the outer telescopic arm, the inner telescopic arm and the telescopic bottom foot to move, so that grabbing action is realized. The specific operation method comprises the following steps:
preparation before ice-cube catching:
before the grabbing action is executed, an operator holds the handle 8 and presses the self-locking button 35 to cancel locking, so that the left bracket male head 6 and the right bracket male head are completely ejected from the central bracket female head 7. Then the plane of the mechanical hand is perpendicular to the ground, and then the mechanical hand is placed on the upper surface of the ice block to be grabbed, so that the lower surface of the central support 1 of the mechanical hand is contacted with the upper surface of the ice block.
At this time, the left bracket 2 and the right bracket 3 are in extreme positions away from the center bracket 1 due to the urging force of the urging spring 13. Meanwhile, the inner telescopic arm 30 and the outer telescopic arm 31 are completely retracted and stored in the cavity of the left bracket 2 by the tensile force of the tension spring 11 and the tension spring 12. Meanwhile, the telescopic foot 32 is at the limit position under the thrust action of the thrust spring 16, namely, one side of the wedge shape is hidden in the inner telescopic arm 30, and the other side is exposed out of the inner telescopic arm 30. Meanwhile, the belt 4 is in a slack state without tension.
Capturing ice blocks:
when the grabbing operation is started, the palm of an operator continuously holds the handle 9, the handle 9 drives the rack 10 to move up and down, and the belt is driven to tighten the ratchet wheel 21 to rotate in a single direction. Because of the inside ratchet that is equipped with of belt tightening ratchet 21, belt tightening ratchet 21 can unidirectional rotation constantly tighten up the belt, drive left socle 2 and right branch frame 3 in proper order and contract to central support 1, interior flexible arm 30 and the outer flexible arm 31 of stretching out downwards, flexible footing 32 stretches out after interior flexible arm 30 contacts to the ground, the wedge district embedding ice-cube bottom of flexible footing front end realizes snatching the action to the ice-cube. The operator presses the hand lock button 35 with the thumb, and the motion is transmitted to the slip stopper 34 and the slip stopper 33 through the control line, thereby fixing the relative positions of the left bracket 2, the right bracket 3 and the center bracket 1, and fixing the relative positions of the inner telescopic arm 30 and the outer telescopic arm 31 and the left bracket 2 and the right bracket 3.
And (4) placing ice blocks:
after the action of grabbing the ice cubes is completed, the operator presses the belt reset button 37, the belt loses tension after being restrained by the belt tightening ratchet 21, the telescopic bottom feet 32 are pushed by the thrust spring 16 and retract into the inner telescopic arms 30 to return, namely the telescopic bottom feet 32 are withdrawn from the bottom of the ice cubes. The manipulator completes the action of putting down the ice cubes. Since the anti-slip device 33 and the anti-slip device 34 are still in the collision state, the relative positions of the left bracket 2, the right bracket 3 and the central bracket 1 are not changed, and the relative positions of the inner telescopic arm 30 and the outer telescopic arm 31 and the left bracket 2 and the right bracket 3 are not changed.
And (3) capturing ice blocks again:
if the ice cubes of the same size are again grasped, the handle 9 is repeatedly grasped directly after the above-described "preparation before grasping ice cubes" action is completed. The above-mentioned action of "catching ice cubes" is completed.
If ice cubes with other sizes need to be grabbed, the self-locking button 35 needs to be pressed to cancel the expansion action of the slip stopper 33 and the slip stopper 34, so that the manipulator is completely in the initial state before the action of 'preparation before ice cube grabbing'. The operation then starts from the above "preparation before ice-catching" action.
Assisting in fixing ice blocks:
the ice cube tray is used as a bridge between the connecting operator and the ice cube, and the operator can hold the ice cube conveniently. Reduce the danger when direct bare-handed contact ice-cube carries out operations such as electric tool cutting, reduce the potential harm of ice-cube surface low temperature to the health that operating personnel produced when operating personnel direct bare-handed contact ice-cube.
After the above-mentioned "put ice" action is completed, the self-locking button 35 is not pressed, at this time, the present invention is not restored to the original state. That is, the left bracket 2 and the right bracket 3 are not completely extended to the initial position, and the inner telescopic arm 30 and the outer telescopic arm 31 are still outside the left bracket 2. The operator directly sleeves the invention on ice blocks, so that the telescopic bottom foot 31 at the bottom of the left bracket 2 and the telescopic bottom foot 31 at the bottom of the right bracket 3 are respectively positioned on two opposite and parallel planes. The handle 9 is then manually grasped and the strap is tightened. Until the telescopic feet 32 at the two sides extend out of two opposite and mutually parallel planes for clamping the ice blocks, the fixation of the ice blocks is realized.
At the moment, an operator can grasp the ice cube storage device to indirectly control the spatial position of the ice cube, and direct contact with the ice cube is avoided.
Storage and carrying:
after the self-locking button 35 is pressed to remove the locking, the whole manipulator returns to the initial state, namely the left support 2 and the right support 3 are completely extended out, and the inner telescopic arm 30 and the outer telescopic arm 31 are completely retracted into the cavity of the left support 2. The left support 2 and the right support 3 are squeezed inwards by both hands until the male head 6 of the left support and the male head of the right support are completely clamped into the central support 1, and the locking device of the self-locking button 35 is pressed. So far, accomplish and accomodate the action, this manipulator is in minimum form, conveniently carries.
Compared with the prior art, the invention has the beneficial effects that:
1. the device can automatically judge the height of the captured ice block and automatically extend out of the base angle at a proper height to shovel the ice block.
2. The device for automatically identifying the size of the ice block in the length, width and height three-dimensional directions is operated by using one set of operating device, and manual conversion is not needed in the identification process.
3. Any size of ice can be grasped. Under the condition that the physical power of a single person can bear, ice blocks with the width of 20-60 cm, the height of 10-90 cm and any length can be grabbed and carried.
4. With the additional property of holding ice. After the ice cubes are grabbed, experimenters can also indirectly hold the ice cubes through the manipulator, and dangers of directly holding the ice cubes during cutting operation of the bone sawing machine and the chain saw are reduced.
The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (5)
1. The utility model provides a snatch manipulator of ice-cube which characterized in that: comprises a left bracket, a right bracket, a central bracket and a handle; the left bracket comprises a left bracket shell, a left bracket male head, an outer telescopic arm, an inner telescopic arm and a telescopic foot; the left bracket shell is arranged on the left side of the central bracket, a first pulley is arranged on the upper right part in the left bracket shell, and a second pulley is arranged on the lower right part in the left bracket shell; the left end of the left support male head is connected with the right end of the upper part of the left support shell, and the right end of the left support male head extends into the central support and is connected with the right end of the central support through a thrust spring; the outer telescopic arm is integrally arranged inside the left support shell, the top surface of the outer telescopic arm is connected with the top surface of the left support shell through a tension spring, a fourth pulley is arranged on the left side of the top surface of the outer telescopic arm, a third pulley is arranged on the right side of the top surface of the outer telescopic arm, and a fifth pulley is arranged on the left side of the bottom surface of the outer telescopic arm; the upper part of the inner telescopic arm is arranged in the outer telescopic arm, the top surface of the inner telescopic arm is connected with the top surface of the outer telescopic arm through a tension spring, the bottom of the inner telescopic arm extends out of the left bracket shell, the bottom of the inner telescopic arm is provided with a linear slideway, the left side of the top surface of the inner telescopic arm is provided with a sixth pulley, the right side of the top surface of the inner telescopic arm is provided with a seventh pulley, the right side of the bottom of the inner telescopic arm is provided with an eighth pulley, and the eighth pulley is positioned above the telescopic bottom foot; the telescopic bottom foot is connected with the bottom of the inner telescopic arm through a linear slideway, and the whole length of the telescopic bottom foot is greater than that of the linear slideway at the bottom of the inner telescopic arm; the front end of the telescopic bottom foot is wedge-shaped, and the tail end of the telescopic bottom foot is connected with the outer side wall surface of the inner telescopic arm through a thrust spring; the left side and the right side inside the central support are respectively provided with a transmission pulley block, and the outer side of the middle part of the central support is provided with a handle; the left side and the right side of the handle are arranged at the lower end of the central support through linear slideways, a thrust spring is arranged between the handle and the central support, and the left end and the right end of the handle are respectively connected with belt tightening ratchet wheels arranged on the left side and the right side of the handle through racks; the belt tightening ratchet wheel is arranged at the lower end of the bottom surface of the central support, ratchets are arranged in a wheel shaft of the belt tightening ratchet wheel, a belt is wound on the belt tightening ratchet wheel, the belts on the belt tightening ratchet wheels on the left side and the right side of the handle enter the left support and the right support through the transmission pulley blocks on the left side and the right side in the central support respectively, and the belt entering the left support sequentially bypasses the first pulley, the second pulley, the third pulley, the fourth pulley, the fifth pulley, the sixth pulley, the seventh pulley and the eighth pulley and is fixed at the tail end of the telescopic footing; the structure of the right bracket is the same as that of the left bracket.
2. The robot for catching ice cubes of claim 1, wherein: a belt reset button is arranged on the central bracket; the belt reset button is arranged near the handle and connected with ratchets in wheel shafts of the belt tightening ratchet wheels on the left side and the right side of the handle through control lines, and when the belt reset button is pressed down, the ratchets at the wheel shafts of the belt tightening ratchet wheels fail, the belt tightening ratchet wheels rotate freely, and the belt is loosened.
3. The robot for catching ice cubes of claim 1 or 2, wherein: the inner walls of the bottoms of the left side and the right side of the central support are provided with a slip stopper; the inner walls of the bottoms of the left side and the right side of the outer telescopic arm are provided with a slip stopper; the inner walls of the bottoms of the left side and the right side of the left bracket shell are provided with a slip stopper; a self-locking button is arranged on the central bracket; the self-locking button is arranged near the holding handle and is connected with all the slip stoppers through the control lines, and when the self-locking button is pressed, the slip stoppers expand to fix the relative positions of the left bracket, the right bracket and the central bracket and the relative positions of the inner telescopic arm, the outer telescopic arm, the left bracket and the right bracket.
4. The robot for catching ice cubes of claim 1 or 2, wherein: the outer wall of the right end of the left bracket shell is provided with strip-shaped anti-skid rubber; trapezoidal non-slip rubber has been arranged on the outer wall of interior telescopic arm right-hand member, and trapezoidal non-slip rubber sets up between flexible footing and left socle casing.
5. The robot for catching ice cubes of claim 3, wherein: the outer wall of the right end of the left bracket shell is provided with strip-shaped anti-skid rubber; trapezoidal non-slip rubber has been arranged on the outer wall of interior telescopic arm right-hand member, and trapezoidal non-slip rubber sets up between flexible footing and left socle casing.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011106499.6A CN112276986B (en) | 2020-10-16 | 2020-10-16 | Snatch manipulator of ice-cube |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113233174A (en) * | 2021-05-15 | 2021-08-10 | 杨蕊 | Fixed-point distribution system for products in freezing chain |
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| CN108858259A (en) * | 2018-07-18 | 2018-11-23 | 卢响锋 | A kind of four paws manipulator that Grabbing properties are stable |
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| CN209364643U (en) * | 2019-01-09 | 2019-09-10 | 刘华 | A kind of robot reclaimer device convenient for multi-angle rotary |
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| JPS61111894A (en) * | 1984-10-15 | 1986-05-29 | ユナイテツド・テクノロジーズ・コーポレイシヨン | Method of moving article and manipulator device |
| JP2018508390A (en) * | 2014-12-25 | 2018-03-29 | ラング ユザー オートモティヴ ヤン サナイ ヴェ ティカレット アノニム シレケッティＬａｎｇ Ｙｕｚｅｒ Ｏｔｏｍｏｔｉｖ Ｙａｎ Ｓａｎａｙｉ Ｖｅ Ｔｉｃａｒｅｔ Ａｎｏｎｉｍ Ｓｉｒｋｅｔｉ | Cleaning robot for tire vulcanization mold |
| CN108858259A (en) * | 2018-07-18 | 2018-11-23 | 卢响锋 | A kind of four paws manipulator that Grabbing properties are stable |
| CN208962027U (en) * | 2018-11-09 | 2019-06-11 | 烟台冰轮节能科技有限公司 | A kind of hand type Full-automatic picking ice production apparatus |
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| CN113233174A (en) * | 2021-05-15 | 2021-08-10 | 杨蕊 | Fixed-point distribution system for products in freezing chain |
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| CN112276986B (en) | 2021-10-01 |
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