CN114633277A - Manipulator for transferring wine liquid storage barrel - Google Patents
Manipulator for transferring wine liquid storage barrel Download PDFInfo
- Publication number
- CN114633277A CN114633277A CN202210541502.XA CN202210541502A CN114633277A CN 114633277 A CN114633277 A CN 114633277A CN 202210541502 A CN202210541502 A CN 202210541502A CN 114633277 A CN114633277 A CN 114633277A
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- China
- Prior art keywords
- plate
- adjusting
- block
- storage barrel
- liquid storage
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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
Abstract
The invention is suitable for the related technical field of manipulators, and provides a manipulator for transferring a wine liquid storage barrel, which comprises: the device comprises a connecting base and a first adjusting plate positioned on the connecting base; the supporting plates are connected with the first adjusting plate through spacing adjusting assemblies; the side positioning assembly is arranged on the supporting plate and used for positioning the positions of two ends of the wine liquid storage barrel; the clamping mechanism is connected with the supporting plate through a second adjusting plate, and a position adjusting assembly for adjusting the working position of the clamping mechanism is further arranged in the second adjusting plate; the clamping mechanism comprises a support frame, a first guide block, a first adjusting rod, a first clamping block, a second adjusting rod and a second guide block.
Description
Technical Field
The invention relates to the technical field of manipulator correlation, in particular to a manipulator for transferring a wine liquid storage barrel.
Background
A robot is an automatic operating device that simulates some of the motion functions of a human hand and arm to grab, carry objects or operate tools according to a fixed program. In order to reduce the working strength of workers, a manipulator is generally adopted to transport a wine storage barrel.
The current manipulator is generally comparatively traditional, because the middle part of grape wine liquid storage bucket reduces to both ends diameter gradually for each position diameter of grape wine liquid storage bucket is different, and the manipulator is difficult to grasp it, appears the condition that grape wine liquid storage bucket dropped easily, thereby causes economic loss. Therefore, in view of the above current situation, there is an urgent need to provide a manipulator for transferring a wine liquid storage barrel, so as to overcome the shortcomings in the current practical application.
Disclosure of Invention
The invention aims to provide a manipulator for transferring a wine liquid storage barrel, and aims to solve the following problems: the current manipulator is generally comparatively traditional, because the middle part of grape wine liquid storage bucket reduces to both ends diameter gradually for each position diameter of grape wine liquid storage bucket is different, and the manipulator is difficult to with its centre gripping, the condition that the grape wine liquid storage bucket dropped appears easily, thereby causes economic loss, consequently is difficult to obtain wide application.
The invention is realized in this way, a manipulator for transporting a wine liquid storage barrel, the manipulator for transporting a wine liquid storage barrel comprises:
the device comprises a connecting base and a first adjusting plate positioned on the connecting base;
the supporting plates are connected with the first adjusting plate through spacing adjusting assemblies;
the side positioning assembly is arranged on the supporting plate and is used for positioning the positions of two ends of the wine liquid storage barrel; and
the clamping mechanism is connected with the supporting plate through a second adjusting plate, and a position adjusting assembly for adjusting the working position of the clamping mechanism is further arranged in the second adjusting plate; wherein the clamping mechanism comprises a support frame, a first guide block, a first adjusting rod, a first clamping block, a second adjusting rod and a second guide block, the support frame is connected with the position adjusting assembly, one end of the first adjusting rod is in sliding fit with the support frame through the first guide block, the other end of the first adjusting rod is connected with the first clamping block, one end of the second adjusting rod is in sliding fit with the support frame through the second guide block, the other end of the second adjusting rod is connected with the second clamping block, a driving assembly for respectively driving the second guide block and the first guide block to move is further arranged in the support frame, the side positioning assembly limits the positions of the two ends of the wine liquid storage barrel and is matched with the position adjusting assembly to drive the support frame to move to one side of the wine liquid storage barrel so as to transfer the working position of the first clamping block to the bottom of the wine liquid storage barrel, drive assembly realizes the support of a grip block to grape wine stock solution bucket through driving a guide block to the mode of keeping away from a grip block one side motion, a grip block realizes pressing of No. two grip blocks to grape wine stock solution bucket through the mode that cooperation drive assembly drove No. two guide blocks to No. two grip blocks one side motions, a grip block realizes the centre gripping to grape wine stock solution bucket through the mode of supporting bottom of grape wine stock solution bucket and the mode of cooperating No. two grip blocks to press at grape wine stock solution bucket top.
Compared with the prior art, the invention has the beneficial effects that:
the invention is provided with a side positioning component and a clamping mechanism, the side positioning component limits the positions of two ends of a wine liquid storage barrel, and is matched with a position adjusting component to drive a support frame to move to one side of the wine liquid storage barrel, so as to realize the transfer of the working position of a first clamping block to the bottom of the wine liquid storage barrel, a driving component realizes the support of the first clamping block to the wine liquid storage barrel by driving a first guide block to move to one side far away from the first clamping block, and is matched with a mode of driving a second guide block to move to one side of a second clamping block by driving a driving component to realize the pressing of the second clamping block to the wine liquid storage barrel, the first clamping block supports the bottom of the wine liquid storage barrel, and is matched with a mode of pressing the top of the wine liquid storage barrel by the second clamping block to realize the clamping of the wine liquid storage barrel, thereby avoiding the diameter of the middle part of the wine liquid storage barrel from gradually reducing to two ends, make the different of each position diameter of grape wine stock solution bucket, the manipulator is difficult to be lived its centre gripping, the condition that the grape wine stock solution bucket dropped appears easily to cause economic loss's problem.
Drawings
Fig. 1 is a schematic front view of an embodiment of the present invention.
FIG. 2 is a schematic side view of a clamping mechanism according to an embodiment of the invention.
Fig. 3 is a schematic structural diagram of a first clamping block in an embodiment of the present invention.
Fig. 4 is a schematic sectional view at a-a in fig. 2.
Fig. 5 is a front cross-sectional structural view of an adjustment plate in accordance with an embodiment of the present invention.
FIG. 6 is a schematic side cross-sectional view of an embodiment of a second adjustment plate according to the invention.
In the drawings: 1-a connecting base, 2-a first adjusting plate, 3-a telescopic piece, 4-a lifting plate, 5-a supporting plate, 6-a guiding groove, 7-a side positioning plate, 8-a positioning block, 9-a first adjusting rod, 10-a first guiding block, 11-a second adjusting plate, 12-a supporting frame, 13-a first threaded rod, 14-a first sliding block, 15-a first clamping block, 16-a second clamping block, 17-a second adjusting rod, 18-a second guiding block, 19-a linkage rod, 20-a linkage plate, 21-a middle supporting bar, 22-a complementary supporting bar, 23-a push rod, 24-an adjusting rod, 25-an elastic rope, 26-a mounting shaft, 27-a spring, 28-a second threaded rod and 29-a second driving motor, 30-second sliding block, 31-third driving motor, 32-third sliding block and 33-third threaded rod.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
Specific implementations of the present invention are described in detail below with reference to specific embodiments.
Referring to fig. 1 to 6, a manipulator for transferring a wine storage barrel according to an embodiment of the present invention includes:
the device comprises a connecting base 1 and a first adjusting plate 2 positioned on the connecting base 1;
the supporting plates 5 are connected with the first adjusting plate 2 through spacing adjusting components;
the side positioning assembly is arranged on the supporting plate 5 and is used for positioning the positions of two ends of the wine liquid storage barrel; and
the clamping mechanism is connected with the supporting plate 5 through a second adjusting plate 11, and a position adjusting assembly used for adjusting the working position of the clamping mechanism is further arranged in the second adjusting plate 11; wherein the clamping mechanism comprises a support frame 12, a first guide block 10, a first adjusting rod 9, a first clamping block 15, a second clamping block 16, a second adjusting rod 17 and a second guide block 18, the support frame 12 is connected with the position adjusting component, one end of the first adjusting rod 9 is in sliding fit with the support frame 12 through the first guide block 10, the other end of the first adjusting rod 9 is connected with the first clamping block 15, one end of the second adjusting rod 17 is in sliding fit with the support frame 12 through the second guide block 18, the other end of the second adjusting rod 17 is connected with the second clamping block 16, a driving component for respectively driving the second guide block 18 and the first guide block 10 to move is further arranged in the support frame 12, the side positioning components limit the positions of the two ends of the wine liquid storage barrel and cooperate with the position adjusting component to drive the support frame 12 to move towards one side of the wine liquid storage barrel, realize shifting the operating position of grip block 15 No. one to grape wine stock solution barrel head portion, drive assembly realizes the support of a grip block 15 to grape wine stock solution barrel to keeping away from the mode of a 15 side motion of grip block through driving a guide block 10, cooperation drive assembly drives the mode of No. two guide blocks 18 to the motion of No. two grip blocks 16 one sides, realize pressing of No. two grip blocks 16 to grape wine stock solution barrel, a grip block 15 is through the mode to grape wine stock solution barrel head portion support, the mode of pressing of No. two grip blocks 16 to grape wine stock solution barrel head portion is cooperated, the realization is to the centre gripping of grape wine stock solution barrel.
In the embodiment of the invention, during the transferring operation, the connecting base 1 is firstly installed on a mechanical arm or a lifting machine, the spacing adjusting component drives the supporting plates 5 to move oppositely or reversely and is matched with the side positioning component to realize the preliminary limitation of the positions of two ends of the wine liquid storage barrel (so that the first clamping block 15 can move to the lower part of the wine liquid storage barrel), and is matched with the mode that the position adjusting component drives the supporting frame 12 to move towards one side of the wine liquid storage barrel to realize the transfer of the working position of the first clamping block 15 to the bottom of the wine liquid storage barrel, the driving component drives the first guide block 10 to move towards one side far away from the first clamping block 15 to realize the support of the first clamping block 15 to the wine liquid storage barrel, and is matched with the mode that the driving component drives the second guide block 18 to move towards one side of the second clamping block 16 to realize the pressing of the second clamping block 16 to the wine liquid storage barrel, the first clamping block 15 clamps the wine liquid storage barrel in a mode of supporting the bottom of the wine liquid storage barrel and in a mode of pressing the top of the wine liquid storage barrel by matching with the second clamping block 16, and the condition that the wine liquid storage barrel falls can be avoided through the matching effect of the first clamping block 15 and the second clamping block 16; the driving assembly is connected with the second guide block 18 and the first guide block 10 through a linkage rod 19 respectively and comprises a first threaded rod 13 and a first sliding block 14, two groups of the first threaded rod 13 are arranged in the supporting frame 12 in a rotating mode, a first driving motor (not shown in the figure) for driving the first threaded rod 13 to rotate independently is arranged in the supporting frame 12, the first sliding block 14 is in threaded connection with the first threaded rod 13, the first sliding block 14 is connected with the linkage rod 19, and independent movement between the second guide block 18 and the first guide block 10 can be achieved through a mode that the first driving motor drives the first threaded rod 13 to rotate independently; compared with the prior art, the embodiment of the invention is provided with the side positioning component and the clamping mechanism, the side positioning component realizes the transfer of the working position of the first clamping block 15 to the bottom of the wine liquid storage barrel by limiting the positions of two ends of the wine liquid storage barrel and matching with the mode that the position adjusting component drives the support frame 12 to move towards one side of the wine liquid storage barrel, the driving component realizes the support of the first clamping block 15 to the wine liquid storage barrel by driving the first guide block 10 to move towards one side far away from the first clamping block 15, and realizes the clamping of the second clamping block 16 to the wine liquid storage barrel by matching with the mode that the driving component drives the second guide block 18 to move towards one side of the second clamping block 16, the first clamping block 15 realizes the pressing of the wine liquid storage barrel by supporting the bottom of the wine liquid storage barrel and matching with the mode that the second clamping block 16 presses the top of the wine liquid storage barrel, avoided because the middle part of grape wine liquid storage bucket reduces to both ends diameter gradually for each position diameter of grape wine liquid storage bucket is different, and the manipulator is difficult to grasp it, appears the condition that grape wine liquid storage bucket dropped easily, thereby causes economic loss's problem.
In an embodiment of the present invention, referring to fig. 1-4, an arc-shaped groove is disposed on the first clamping block 15, and a bonding assembly is further disposed on the first clamping block 15;
the laminating subassembly includes:
the middle supporting bar 21 is installed on the first clamping block 15 through a spring 27;
the complementary supporting bars 22 are in sliding fit with the first clamping blocks 15, and the complementary supporting bars 22 are symmetrically arranged on two sides of the middle supporting bar 21;
the adjusting rod 24 is in rotating fit with the first clamping block 15 through a mounting shaft 26;
at least one group of elastic ropes 25 are used for connecting the adjusting rod 24 with the first clamping block 15; and
one end of the push rod 23 is connected with the complementary supporting bar 22, and the other end of the push rod 23 is in rotating fit with the adjusting rod 24;
and the second clamping block 16 is also provided with a fitting component.
In this embodiment, because each position diameter of grape wine stock solution bucket is different, when one of them a set of complementary support bar 22 received pressing of grape wine stock solution bucket, through complementary support bar 22 to the mode of adjusting the motion of pole 24 one side, push rod 23 can press and adjust pole 24 and rotate on a grip block 15, through the mating reaction of adjusting pole 24 and push rod 23 this moment, will promote another set of complementary support bar 22 and upwards move, thereby realize the complete laminating of complementary support bar 22 and grape wine stock solution bucket lateral wall, and then improve the stability when a grip block 15 centre gripping grape wine stock solution bucket.
In one embodiment of the present invention, referring to fig. 1, the side positioning assembly includes:
the guide groove 6 is formed in the support plate 5;
the side positioning plate 7 is in sliding fit with the guide groove 6;
the positioning block 8 is mounted on the side positioning plate 7; and
one side of the linkage plate 20 is mounted on the side positioning plate 7, the other side of the linkage plate 20 is in sliding fit with the first guide block 10, and the linkage plate 20 can move along the length direction of the support plate 5 along with the first guide block 10.
In this embodiment, through the linkage effect of linkage plate 20, can realize the simultaneous movement between side locating plate 7 and the regulation pole 9 No. one, backup pad 5 can realize the injecing to grape wine stock solution bucket both ends position through the mode that drives side locating plate 7 relative motion to the locating piece 8 of installation on the cooperation side locating plate 7.
In an embodiment of the present invention, referring to fig. 1 and 5, the supporting plate 5 is a telescopic structure, and the connecting base 1 is further provided with a lifting assembly for driving the supporting plate 5 to move;
the lifting assembly comprises:
the lifting plate 4 is connected with the supporting plate 5, and the telescopic end of the supporting plate 5 penetrates through the lifting plate 4 and is connected with the spacing adjusting component; and
at least one group of extensible member 3, extensible member 3 install in connect on the base 1 for drive the lifter plate 4 motion.
In this embodiment, extensible member 3 can adopt electric putter, also can adopt the extending structure of other forms, and extensible member 3 can realize handling the regulation of backup pad 5 operating height through the mode that drives the motion of lifter plate 4.
In one embodiment of the present invention, referring to fig. 1 and 5, the spacing adjustment assembly includes:
the second threaded rod 28 is arranged in the first adjusting plate 2, and a second driving motor 29 for driving the second threaded rod 28 to rotate is further arranged in the first adjusting plate 2; and
and the second sliding block 30 is arranged on the second threaded rod 28, and the second sliding block 30 is connected with the supporting plate 5.
In this embodiment, No. two driving motor 29 is two output shaft motors, No. two sliders 30 with threaded connection between No. two threaded rods 28, No. two driving motor 29 can realize No. two sliders 30 and slide in regulating plate 2 through driving No. two threaded rods 28 pivoted modes to No. two sliders 30 can drive the motion of backup pad 5.
In one embodiment of the present invention, referring to fig. 1 and 6, the position adjustment assembly includes:
the third threaded rod 33 is arranged in the second adjusting plate 11, and a third driving motor 31 for driving the third threaded rod 33 to rotate is further arranged in the second adjusting plate 11; and
no. three sliders 32, No. three sliders 32 set up in No. three threaded rod 33 is last, and No. three sliders 32 with support frame 12 is connected.
In this embodiment, No. three threaded rods 33 with threaded connection between No. three sliders 32, No. three driving motor 31 can realize No. three sliders 32 and slide in No. two regulating plates 11 through driving No. three threaded rods 33 pivoted modes to No. two regulating plates 11 can drive the motion of support frame 12.
In summary, the working principle of the invention is as follows: during transferring operation, the connecting base 1 is firstly installed on a mechanical arm or a lifting machine, the spacing adjusting assembly realizes the fixation of the positions of two ends of the wine liquid storage barrel by driving the supporting plates 5 to move oppositely or reversely by matching with the side positioning assembly, and realizes the support of the first clamping block 15 to the wine liquid storage barrel by matching with the mode that the position adjusting assembly drives the supporting frame 12 to move towards one side of the wine liquid storage barrel, the driving assembly realizes the support of the first clamping block 15 to the wine liquid storage barrel by driving the first guide block 10 to move towards one side far away from the first clamping block 15, and realizes the press of the second clamping block 16 to the wine liquid storage barrel by matching with the mode that the driving assembly drives the second guide block 18 to move towards one side of the second clamping block 16, the first clamping block 15 supports the bottom of the wine liquid storage barrel, and matches with the mode that the second clamping block 16 presses the top of the wine liquid storage barrel, the realization is to the centre gripping of grape wine stock solution bucket, through a grip block 15 and No. two grip blocks 16's mating reaction, can avoid the condition that grape wine stock solution bucket dropped.
The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the invention, and any modifications, equivalents and improvements made within the spirit and principle of the present invention are intended to be included within the scope of the present invention.
Claims (9)
1. The utility model provides a manipulator is used in transportation of grape wine stock solution bucket, is including connecting the base and being located a regulating plate on connecting the base, its characterized in that still includes:
the supporting plates are connected with the first adjusting plate through spacing adjusting assemblies;
the side positioning assembly is arranged on the supporting plate and used for positioning the positions of two ends of the wine liquid storage barrel; and
the clamping mechanism is connected with the supporting plate through a second adjusting plate, and a position adjusting assembly for adjusting the working position of the clamping mechanism is further arranged in the second adjusting plate; wherein the clamping mechanism comprises a support frame, a first guide block, a first adjusting rod, a first clamping block, a second adjusting rod and a second guide block, the support frame is connected with the position adjusting assembly, one end of the first adjusting rod is in sliding fit with the support frame through the first guide block, the other end of the first adjusting rod is connected with the first clamping block, one end of the second adjusting rod is in sliding fit with the support frame through the second guide block, the other end of the second adjusting rod is connected with the second clamping block, a driving assembly for respectively driving the second guide block and the first guide block to move is further arranged in the support frame, the side positioning assembly limits the positions of the two ends of the wine liquid storage barrel and is matched with the position adjusting assembly to drive the support frame to move to one side of the wine liquid storage barrel so as to transfer the working position of the first clamping block to the bottom of the wine liquid storage barrel, drive assembly realizes the support of a grip block to grape wine stock solution bucket through driving a guide block to the mode of keeping away from a grip block one side motion, a grip block realizes pressing of No. two grip blocks to grape wine stock solution bucket through the mode that cooperation drive assembly drove No. two guide blocks to No. two grip blocks one side motions, a grip block realizes the centre gripping to grape wine stock solution bucket through the mode of supporting bottom of grape wine stock solution bucket and the mode of cooperating No. two grip blocks to press at grape wine stock solution bucket top.
2. The manipulator for transferring the wine storage barrel according to claim 1, wherein an arc groove is formed in the first clamping block, and a fitting assembly is further arranged on the first clamping block.
3. The manipulator of claim 2, wherein the attachment assembly comprises:
the middle supporting bar is arranged on the first clamping block through a spring;
the complementary supporting bars are in sliding fit with the first clamping blocks and are symmetrically arranged on two sides of the middle supporting bar;
the adjusting rod is in rotating fit with the first clamping block through an installing shaft;
the elastic rope is used for connecting the adjusting rod with the first clamping block; and
and one end of the push rod is connected with the complementary support bar, and the other end of the push rod is in running fit with the adjusting rod.
4. The manipulator for transporting a wine storage barrel according to claim 2, wherein the second clamping block is also provided with a fitting component.
5. The wine storage barrel transfer robot of claim 1, wherein the side positioning assembly comprises:
the guide groove is formed in the supporting plate;
the side positioning plate is in sliding fit with the guide groove;
the positioning block is arranged on the side positioning plate; and
the linkage plate, linkage plate one side install in on the side locating plate, linkage plate opposite side with No. one guide block sliding fit, and linkage plate can follow a guide block and move in the length direction of backup pad.
6. The manipulator for transporting a wine storage barrel according to claim 1, wherein the support plate is of a telescopic structure, and the connecting base is further provided with a lifting assembly for driving the support plate to move.
7. The manipulator of claim 6, wherein the lifting assembly comprises:
the lifting plate is connected with the supporting plate, and the telescopic end of the supporting plate penetrates through the lifting plate and is connected with the spacing adjusting component; and
and the telescopic piece is arranged on the connecting base and is used for driving the lifting plate to move.
8. The manipulator of claim 1, wherein the spacing adjustment assembly comprises:
the second threaded rod is arranged in the first adjusting plate, and a second driving motor for driving the second threaded rod to rotate is further arranged in the first adjusting plate; and
no. two sliders, No. two sliders set up in on No. two threaded rods, and No. two sliders with the backup pad is connected.
9. The manipulator of claim 1, wherein the position adjustment assembly comprises:
the third threaded rod is arranged in the second adjusting plate, and a third driving motor for driving the third threaded rod to rotate is further arranged in the second adjusting plate; and
no. three sliders, No. three sliders set up in on No. three threaded rods, and No. three sliders with the support frame is connected.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210541502.XA CN114633277B (en) | 2022-05-19 | 2022-05-19 | Manipulator for transferring wine liquid storage barrel |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210541502.XA CN114633277B (en) | 2022-05-19 | 2022-05-19 | Manipulator for transferring wine liquid storage barrel |
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| Publication Number | Publication Date |
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| CN114633277A true CN114633277A (en) | 2022-06-17 |
| CN114633277B CN114633277B (en) | 2022-08-02 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN202210541502.XA Active CN114633277B (en) | 2022-05-19 | 2022-05-19 | Manipulator for transferring wine liquid storage barrel |
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|---|---|
| CN114633277B (en) | 2022-08-02 |
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