CN119347734A - A parallel manipulator for grabbing dolls - Google Patents
A parallel manipulator for grabbing dolls Download PDFInfo
- Publication number
- CN119347734A CN119347734A CN202411929644.9A CN202411929644A CN119347734A CN 119347734 A CN119347734 A CN 119347734A CN 202411929644 A CN202411929644 A CN 202411929644A CN 119347734 A CN119347734 A CN 119347734A
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- arc
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- grabbing
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- 238000004804 winding Methods 0.000 claims description 21
- 238000009434 installation Methods 0.000 claims description 17
- 230000005540 biological transmission Effects 0.000 claims description 12
- 230000006835 compression Effects 0.000 claims description 11
- 238000007906 compression Methods 0.000 claims description 11
- 230000001360 synchronised effect Effects 0.000 claims description 9
- 238000005096 rolling process Methods 0.000 description 5
- 230000009286 beneficial effect Effects 0.000 description 1
- 239000004566 building material Substances 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/003—Programme-controlled manipulators having parallel kinematics
-
- 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
- B25J15/10—Gripping heads and other end effectors having finger members with three or more finger members
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention is suitable for the technical field of manipulators, and provides a parallel manipulator for grabbing a doll, which comprises a mounting column and further comprises four mounting grooves I which are uniformly arranged at the lower end of the mounting column, arc grabbing rods are respectively and rotatably connected in the four mounting grooves I, a driving mechanism is arranged on the mounting column and used for driving the four arc grabbing rods to synchronously rotate in opposite directions or reversely, arc guide grooves are respectively arranged on the inner sides of the four arc grabbing rods, arc sinking grooves are respectively arranged on the outer sides of the four arc grabbing rods, a plurality of guide sliding blocks are connected in the arc guide grooves in a sliding mode, and limiting rings are respectively fixed on one sides of the plurality of guide sliding blocks far away from the arc grabbing rods. Under the cooperation of arc grab pole and clamp rope, improve the arm and snatch the precision of baby to and can press from both sides the baby of equidimension not and get, improve and press from both sides and get the success rate, four clamp rope cooperation moppet of tightening up the state can play the effect of restriction to the arc grab pole, avoids the arc to grab the pole unexpected to open.
Description
Technical Field
The invention belongs to the technical field of manipulators, and particularly relates to a parallel manipulator for grabbing a doll.
Background
The manipulator is a machine for grabbing and carrying objects or operating tools in space, and the manipulator can be applied to a plurality of fields, mainly comprises industrial manufacturing, medical treatment, agriculture, food processing, building materials, daily life and the like, and the manipulator is selected according to the size of the objects.
If on grabbing baby machinery, people press from both sides the baby through controlling the manipulator and get, but the manipulator only can snatch the baby of a specification, when snatching small-size baby, the baby falls from the gap of clamping jaw easily, has influenced the stability that the baby snatched greatly.
Not limited to grabbing baby, all have above-mentioned problem when the present manipulator presss from both sides the object of getting the equidimension, cause the manipulator to need to design according to waiting to press from both sides the object of getting, when pressing from both sides the object of equidimension to the equidimension, have and press from both sides and get the problem that the precision is low and stability is poor.
Disclosure of Invention
The embodiment of the invention aims to provide a parallel manipulator for grabbing a doll, which aims to solve the problems that the manipulator needs to be designed according to objects to be grabbed, and the clamping precision is low and the stability is poor when objects with different sizes are grabbed.
The parallel manipulator for grabbing the doll comprises a mounting column, four first mounting grooves are uniformly formed in the lower end of the mounting column, arc grabbing rods are fixedly connected to the four first mounting grooves in a rotating mode, a driving mechanism is arranged on the mounting column and used for driving the four arc grabbing rods to synchronously rotate oppositely or reversely, arc guiding grooves are formed in the inner sides of the four arc grabbing rods, arc sinking grooves are formed in the outer sides of the four arc grabbing rods, a plurality of guide sliding blocks are connected in the arc guiding grooves in a sliding mode, a limiting ring is fixedly arranged on one side, far away from the arc grabbing rods, of each guide sliding block, a pressure spring is fixedly connected to one guide sliding block, far away from the mounting column, of each guide sliding block, the tail end of each pressure spring is fixedly arranged in each arc guiding groove, a U-shaped reversing groove is formed in each arc grabbing rod, two ends of each U-shaped reversing groove are respectively communicated with the corresponding arc guiding groove and each arc groove, a clamping rope is arranged on each arc grabbing rod, a plurality of clamping rope is sequentially arranged on each arc sinking rope, each clamping rope penetrates through the corresponding clamping rings, and is arranged at one end of each clamping mechanism, and is connected to the other in the corresponding parallel manipulator, and is used for driving the clamping mechanism to be connected to one end of the clamping columns to the other in the parallel manipulator.
Further technical scheme, arc guide slot internal fixation has the arc back shaft, the arc back shaft runs through a plurality of direction sliders, pressure spring one and pressure spring two all cover are established on the arc back shaft.
Further technical scheme, actuating mechanism includes the guide way one that sets up in the erection column, sliding connection has the carriage in the guide way one, the carriage lower extreme evenly is fixed with four installation pieces, four all embedded rack that is fixed with on the installation piece lateral wall, guide way one internal fixation has electric telescopic handle, electric telescopic handle's telescopic handle is fixed at the carriage lower extreme, four the one end that the arc grabs the pole and is close to the erection column all is provided with mounting groove two, be provided with the gear in the mounting groove two, the gear is fixed in the rotation center department that the arc grabs the pole, four gears respectively with four rack engagement.
Further technical scheme, winding mechanism includes the mounting groove III that sets up in the erection column, three internal rotation in mounting groove is connected with the master gear, three internal fixation in mounting groove has motor one, the rotation end and the master gear fixed connection of motor one, even rotation is connected with four rolling covers in the mounting groove three, and four is sheathe in and is all fixed with driven gear, four driven gear all meshes with the master gear, the erection column lower extreme evenly is provided with four rope grooves, and four rope groove's end all stretches into in the mounting groove III, and four clamp rope is located the one end in the arc grab pole outside and stretches into mounting groove III through four rope grooves respectively, and four rope groove's end is fixed respectively on four rolling covers.
Further technical scheme, parallelly connected arm mechanism includes mounting panel one and mounting panel two, mounting panel one upper end rotates and is connected with two connecting rods one, mounting panel lower extreme is fixed with two motors three, two motor three's rotation end respectively with the center of rotation fixed connection of two connecting rods one, two the terminal of connecting rod one is all rotated and is connected with connecting rod two, two the terminal of connecting rod two is all rotated and is connected with the thread bush, two the thread bush is all fixed on mounting panel two, be provided with rotating assembly on the mounting panel one, rotating assembly is used for driving mounting panel one and rotates, the erection column passes through lifting assembly and connects on mounting panel two, lifting assembly is used for driving the erection column and reciprocates.
Further technical scheme, rotating assembly includes the fixed connecting rod of mounting panel one upper end to and motor two, the rotation end of motor two is fixed in the connecting rod upper end.
Further technical scheme, lifting assembly includes the mounting panel III, the three upper end of mounting panel rotates and is connected with two lead screws, and two lead screws are threaded connection respectively in two thread bush, the three lower extreme of mounting panel is fixed with the motor IV, the rotation end and one of them lead screw fixed connection of motor IV, two the lead screw passes through belt drive assembly transmission and connects.
According to a further technical scheme, the belt transmission assembly comprises synchronous pulleys fixed on two screw rods, and the two synchronous pulleys are connected through synchronous belt transmission.
Compared with the prior art, the invention has the beneficial effects that:
1. The winding mechanism winds the end parts of the clamping ropes positioned in the mounting columns, the clamping ropes compress the guide sliding blocks, the guide sliding blocks overcome the elastic force of the first compression spring and the second compression spring and gather towards the tail ends of the arc-shaped grabbing rods, the four clamping ropes are positioned at one end of the inner side of the arc-shaped grabbing rods to form a cross shape, and the cross-shaped clamping ropes clamp the upper parts of the dolls, so that the small dolls are prevented from falling from gaps between the adjacent arc-shaped grabbing rods, and the clamping mechanism can clamp dolls with different sizes;
2. The clamping ropes in the four tightening states are matched with the doll, so that the arc-shaped grabbing rods can be limited, and the arc-shaped grabbing rods are prevented from being opened accidentally;
3. Under the cooperation of arc grab bar and clamp rope, improve the arm and snatch the precision of baby to and can press from both sides the baby of equidimension not and get, improve and press from both sides and get the success rate.
Drawings
Fig. 1 is a schematic structural view of a parallel manipulator for grabbing a doll according to the present disclosure;
Fig. 2 is a schematic structural diagram of the parallel mechanical arm mechanism in fig. 1 according to the present invention;
FIG. 3 is a schematic view of the structure of FIG. 1 with the parallel mechanical arm mechanism removed;
FIG. 4 is a schematic view of the internal structure of the mounting post of FIG. 3 according to the present invention;
FIG. 5 is an enlarged schematic view of the structure of FIG. 4A according to the present invention;
FIG. 6 is a schematic view of the structure of FIG. 3 with the mounting post removed;
FIG. 7 is a schematic cross-sectional view of the mounting post of FIG. 3 in accordance with the present invention;
FIG. 8 is a schematic view of the internal structure of the arcuate grab bar of FIG. 1 provided by the present invention;
FIG. 9 is an enlarged schematic view of structure B in FIG. 8 according to the present invention;
Fig. 10 is an enlarged schematic view of the structure of C in fig. 8 according to the present invention.
In the drawing, a mounting column 101, a mounting groove I102, an arc-shaped grab bar 103, an arc-shaped guide groove 104, an arc-shaped sinking groove 105, a guide sliding block 106, a limiting ring 107, an arc-shaped supporting shaft 108, a pressure spring I109, a pressure spring II 110, a U-shaped reversing groove 111, a clamping rope 112, a driving mechanism 2, a mounting groove II 201, a gear 202, a guide groove I203, a sliding frame 204, a mounting block 205, a rack 206, an electric telescopic rod 207, a winding mechanism 3, a mounting groove III 301, a main gear 302, a motor I303, a winding sleeve 304, a driven gear 305, a rope groove 306, a rotating component 4, a connecting rod 401, a motor II 402, a parallel mechanical arm mechanism 5, a mounting plate I501, a connecting rod I502, a connecting rod II 503, a mounting plate II 504, a thread sleeve 505, a motor III 506, a lifting component 6, a mounting plate III 601, a screw 602 and a motor IV 603 are shown.
Detailed Description
The present invention will be described in further detail with reference to the drawings and examples, in order to make the objects, technical solutions and advantages of the present invention more apparent. It should be understood that the specific embodiments described herein are for purposes of illustration only and are not intended to limit the scope of the invention.
Specific implementations of the invention are described in detail below in connection with specific embodiments.
As shown in fig. 1, 3,4, 5, 6, 7, 8, 9 and 10, the parallel manipulator for grabbing dolls provided by an embodiment of the present invention includes an installation column 101, and four installation grooves 102 uniformly arranged at the lower end of the installation column 101, wherein arc-shaped grabbing rods 103 are rotatably connected in the four installation grooves 102; the installation column 101 is provided with a driving mechanism 2, the driving mechanism 2 is used for driving four arc-shaped grab bars 103 to synchronously rotate in opposite directions or reversely, arc-shaped guide grooves 104 are formed in the inner sides of the four arc-shaped grab bars 103, arc-shaped sinking grooves 105 are formed in the outer sides of the four arc-shaped grab bars 103, a plurality of guide sliding blocks 106 are connected in a sliding mode in the arc-shaped guide grooves 104, one sides, far away from the arc-shaped grab bars 103, of the guide sliding blocks 106 are fixedly provided with limiting rings 107, a first pressure spring 109 is arranged between every two guide sliding blocks 106, a second pressure spring 110 is fixedly connected to one guide sliding block 106 farthest from the installation column 101, the tail end of the second pressure spring 110 is fixedly arranged in the arc-shaped guide grooves 104, U-shaped reversing grooves 111 are formed in the arc-shaped grab bars 103, two ends of the U-shaped reversing grooves 111 are respectively communicated with the arc-shaped guide grooves 104 and the arc-shaped sinking grooves 105, clamping ropes 112 are respectively arranged on the four arc-shaped grab bars 103, the clamping ropes 112 sequentially penetrate through the limiting rings 107, the U-shaped reversing grooves 111 and the sinking ropes 105, one ends of the clamping ropes 103 are fixedly connected to the other ends of the arc-shaped reversing bars 103, the clamping ropes 103 are arranged on the outer sides of the arc-shaped grab bars 101, the clamping bars are fixedly arranged on the outer sides of the arc-shaped grab bars 101, the winding mechanism is fixedly connected with one end of the arc-shaped reversing bars 101, and the clamping mechanism is arranged in the cross-shaped rods and connected with one end 101, and is fixedly arranged in the end, and connected with one end stretching rods, and is connected with one end 3, the winding mechanism 3 is used for winding and releasing the end part of the clamping rope 112 positioned in the mounting column 101, the upper end of the mounting column 101 is connected with the parallel mechanical arm mechanism 5, and the parallel mechanical arm mechanism 5 is used for driving the mounting column 101 to move.
In the embodiment of the invention, when a doll is grabbed, the parallel mechanical arm mechanism 5 drives the mounting column 101 to move, the mounting column 101 drives the arc grabbing rods 103 to move to a clamping position, so that the doll is positioned between the four arc grabbing rods 103, the driving mechanism 2 drives the four arc grabbing rods 103 to synchronously rotate in opposite directions, the four arc grabbing rods 103 are further closed, the winding mechanism 3 winds the end parts of the clamping ropes 112 positioned in the mounting column 101, the clamping ropes 112 compress the guide sliding blocks 106, the guide sliding blocks 106 overcome the elastic force of the first pressure spring 109 and the second pressure spring 110 and gather towards the tail ends of the arc grabbing rods 103, the four clamping ropes 112 are positioned at one end of the inner side of the arc grabbing rods 103 to form a cross shape, the cross clamping ropes 112 move downwards, so that the inner space of the four arc grabbing rods 103 is reduced, the cross clamping ropes 112 clamp the upper part of the doll in a matched manner, and the gap between the adjacent arc grabbing rods 103 is prevented from falling, the doll 103 can be clamped, and the clamping ropes 103 in different sizes can be clamped, and the clamping state of the four clamping ropes are prevented from being accidentally opened; when the parallel mechanical arm mechanism 5 moves the mounting column 101 and the arc-shaped grabbing rods 103 to the release position, the winding mechanism 3 releases the end parts of the clamping ropes 112 positioned in the mounting column 101, the first pressure spring 109 and the second pressure spring 110 push the plurality of guide sliding blocks 106 to move, the uppermost guide sliding blocks 106 further drive the cross ends of the clamping ropes 112 to move upwards, the clamping ropes 112 do not clamp a doll, the driving mechanism 2 drives the four arc-shaped grabbing rods 103 to synchronously rotate reversely, and then make four arc grab bars 103 open and release the baby, under the cooperation of arc grab bars 103 and clamp rope 112, improve the arm and snatch the precision of baby to and can press from both sides the baby of equidimension not, improve and press from both sides and get the success rate.
As shown in fig. 6, 8, 9 and 10, as a preferred embodiment of the present invention, an arc-shaped supporting shaft 108 is fixed in the arc-shaped guiding groove 104, the arc-shaped supporting shaft 108 penetrates through the plurality of guiding sliding blocks 106, and the first compression spring 109 and the second compression spring 110 are respectively sleeved on the arc-shaped supporting shaft 108.
In the embodiment of the present invention, the arc-shaped support shaft 108 supports the first compression spring 109 and the second compression spring 110.
As shown in fig. 1, fig. 4, fig. 5, fig. 6, fig. 7, fig. 8 and fig. 9, as a preferred embodiment of the present invention, the driving mechanism 2 includes a first guide groove 203 disposed in the mounting post 101, a sliding frame 204 is slidably connected in the first guide groove 203, four mounting blocks 205 are uniformly fixed at the lower end of the sliding frame 204, racks 206 are respectively embedded and fixed on the side walls of the four mounting blocks 205, an electric telescopic rod 207 is fixed in the first guide groove 203, a telescopic end of the electric telescopic rod 207 is fixed at the lower end of the sliding frame 204, two mounting grooves 201 are disposed at the ends of the four arc-shaped grab bars 103 close to the mounting post 101, and gears 202 are disposed in the second mounting grooves 201, and the gears 202 are fixed at the rotation center of the arc-shaped grab bars 103, and the four gears 202 are respectively meshed with the four racks 206.
In the embodiment of the invention, when a doll is grabbed, the electric telescopic rod 207 stretches, the electric telescopic rod 207 drives the sliding frame 204 to move upwards, the sliding frame 204 drives the mounting block 205 to move upwards, the mounting block 205 drives the rack 206 to move upwards, the rack 206 drives the gear 202 to rotate, the gear 202 drives the arc-shaped grabbing rods 103 to rotate, the four arc-shaped grabbing rods 103 rotate oppositely and clamp the doll, and when the doll is released, the electric telescopic rod 207 contracts, the electric telescopic rod 207 drives the sliding frame 204 to move downwards, the sliding frame 204 drives the mounting block 205 to move downwards, the mounting block 205 drives the rack 206 to move downwards, the rack 206 drives the gear 202 to rotate reversely, the gear 202 drives the arc-shaped grabbing rods 103 to rotate reversely, and the four arc-shaped grabbing rods 103 are opened.
As shown in fig. 1, 3, 4, 5, 7, 8, 9 and 10, as a preferred embodiment of the present invention, the winding mechanism 3 includes a third mounting groove 301 disposed in the mounting post 101, a main gear 302 is rotationally connected to the third mounting groove 301, a first motor 303 is fixed in the third mounting groove 301, a rotating end of the first motor 303 is fixedly connected to the main gear 302, four winding sleeves 304 are uniformly rotationally connected to the third mounting groove 301, driven gears 305 are fixed on the four winding sleeves 304, the driven gears 305 are meshed with the main gear 302, four rope grooves 306 are uniformly disposed at the lower end of the mounting post 101, the ends of the four rope grooves 306 extend into the third mounting groove 301, one ends of the four clamping ropes 112 located outside the arc-shaped grab bar 103 extend into the third mounting groove 301 through the four rope grooves 306, and the ends of the four rope grooves 306 are respectively fixed on the four winding sleeves 304.
In the embodiment of the present invention, the first motor 303 drives the main gear 302 to rotate, the main gear 302 drives the four driven gears 305 to rotate, the four driven gears 305 drive the four winding sleeves 304 to rotate, and the rotating winding sleeves 304 wind and release the clamping rope 112.
As shown in fig. 1 and fig. 2, as a preferred embodiment of the present invention, the parallel mechanical arm mechanism 5 includes a first mounting plate 501 and a second mounting plate 504, the upper end of the first mounting plate 501 is rotatably connected with two first connecting rods 502, the lower end of the first mounting plate 501 is fixedly connected with two third motors 506, the rotating ends of the two third motors 506 are respectively fixedly connected with the rotating centers of the two first connecting rods 502, the tail ends of the two first connecting rods 502 are rotatably connected with a second connecting rod 503, the tail ends of the two second connecting rods 503 are rotatably connected with threaded sleeves 505, the two threaded sleeves 505 are fixed on the second mounting plate 504, the first mounting plate 501 is provided with a rotating assembly 4, the rotating assembly 4 is used for driving the first mounting plate 501 to rotate, the mounting post 101 is connected to the second mounting plate 504 through a lifting assembly 6, and the lifting assembly 6 is used for driving the mounting post 101 to move up and down.
In the embodiment of the invention, the two motors three 506 respectively drive the two connecting rods one 502 to rotate, the two connecting rods one 502 drive the threaded sleeve 505 and the mounting plate two 504 to move through the two connecting rods one 502, and the position of the mounting plate two 504 is further adjusted under the driving and matching of the two motors three 506, so that the grabbing position of the arc grabbing rod 103 is adjusted.
As shown in fig. 1 and 2, as a preferred embodiment of the present invention, the rotating assembly 4 includes a first mounting plate 501 with a fixed connecting rod 401 at an upper end, and a second motor 402, where a rotating end of the second motor 402 is fixed at an upper end of the connecting rod 401.
In the embodiment of the present invention, the second motor 402 drives the connecting rod 401 to rotate, and the connecting rod 401 drives the first mounting plate 501 to rotate, so as to adjust the movement range of the second mounting plate 504, and further enlarge the movement range of the second mounting plate 504.
As shown in fig. 1 and fig. 2, as a preferred embodiment of the present invention, the lifting assembly 6 includes a third mounting plate 601, two screw rods 602 are rotatably connected to the upper end of the third mounting plate 601, the two screw rods 602 are respectively screwed in the two threaded sleeves 505, a fourth motor 603 is fixed to the lower end of the third mounting plate 601, the rotating end of the fourth motor 603 is fixedly connected to one of the screw rods 602, the two screw rods 602 are in transmission connection through a belt transmission assembly, and the belt transmission assembly includes synchronous pulleys fixed on the two screw rods 602, and the two synchronous pulleys are in transmission connection through a synchronous belt.
In the embodiment of the invention, the motor IV 603 drives the screw rod 602 to rotate, the screw rod 602 moves on the threaded sleeve 505 in a threaded transmission mode, the heights of the screw rod 602 and the mounting plate III 601 are further adjusted, the mounting plate III 601 adjusts the height of the mounting column 101, and the mounting column 101 adjusts the grabbing height of the arc grabbing rod 103.
In the above embodiment of the invention, the parallel mechanical arm mechanism 5 drives the mounting post 101 to move when grabbing the doll, the mounting post 101 drives the arc grabbing rods 103 to move to the clamping position, so that the doll is positioned between the four arc grabbing rods 103, the electric telescopic rods 207 extend, the electric telescopic rods 207 drive the sliding frames 204 to move upwards, the sliding frames 204 drive the mounting blocks 205 to move upwards, the mounting blocks 205 drive the racks 206 to move upwards, the racks 206 drive the gears 202 to rotate, the gears 202 drive the arc grabbing rods 103 to rotate, the four arc grabbing rods 103 rotate in opposite directions and clamp the doll, the first motor 303 drives the main gear 302 to rotate, the main gear 302 drives the four driven gears 305 to rotate, the four driven gears 305 drive the four rolling sleeves 304 to rotate, the rolling sleeves 304 roll the clamping ropes 112, the clamping ropes 106 compress the plurality of guide sliding blocks 106, the plurality of guide sliding blocks 106 overcome the elastic forces of the first pressure springs 109 and the second pressure springs 110 and gather towards the tail ends of the arc grabbing rods 103, the four clamping ropes 112 are positioned at one end of the inner sides of the arc grabbing rods 103, the cross clamping ropes 103 drive the gears 103 to rotate, the first motor 303 drive the main gears 302 to rotate, the four driven gears 305 rotate in opposite directions, the main gears 302 drive the four driven gears 305 to rotate, the four driven gears 304 drive the rolling sleeves to rotate, and the clamping rods 112 can not rotate, and the clamping levers 112, and the clamping adjacent to the two adjacent the two clamping levers can be prevented from the small rods can rotate by the clamping rods to the small rods to the clamping by the small clamping rods and the small clamping and the clamping rods; when the parallel mechanical arm mechanism 5 moves the mounting post 101 and the arc-shaped grabbing rod 103 to the release position, the motor one 303 drives the main gear 302 to rotate reversely, the main gear 302 drives the four driven gears 305 to rotate reversely, the four driven gears 305 drive the four winding sleeves 304 to rotate reversely, the inverted winding sleeve 304 releases the end part of the clamping rope 112 positioned in the mounting column 101, the first pressure spring 109 and the second pressure spring 110 push the guide sliding blocks 106 to move, the uppermost guide sliding block 106 drives the cross end of the clamping rope 112 to move upwards, the clamping rope 112 does not clamp a doll, the electric telescopic rod 207 contracts, the electric telescopic rod 207 drives the sliding frame 204 to move downwards, the sliding frame 204 drives the mounting block 205 to move downwards, the mounting block 205 drives the rack 206 to move downwards, the rack 206 drives the gear 202 to invert, the gear 202 drives the arc-shaped grabbing rods 103 to invert, the four arc-shaped grabbing rods 103 rotate reversely, and then the four arc-shaped grabbing rods 103 are opened and release the doll.
The foregoing description of the preferred embodiments of the invention is not intended to be limiting, but rather is intended to cover all modifications, equivalents, and alternatives falling within the spirit and principles of the invention.
Claims (8)
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202411929644.9A CN119347734B (en) | 2024-12-26 | 2024-12-26 | Parallel manipulator for grabbing doll |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202411929644.9A CN119347734B (en) | 2024-12-26 | 2024-12-26 | Parallel manipulator for grabbing doll |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN119347734A true CN119347734A (en) | 2025-01-24 |
| CN119347734B CN119347734B (en) | 2025-03-04 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202411929644.9A Active CN119347734B (en) | 2024-12-26 | 2024-12-26 | Parallel manipulator for grabbing doll |
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| Country | Link |
|---|---|
| CN (1) | CN119347734B (en) |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106584500A (en) * | 2017-03-06 | 2017-04-26 | 张新 | Toy clamping manipulator |
| CN107737450A (en) * | 2017-11-23 | 2018-02-27 | 赵美文 | A kind of doll machine grasping mechanism |
| JP2020039989A (en) * | 2015-11-19 | 2020-03-19 | 株式会社タイトー | Game device |
| CN217345528U (en) * | 2022-06-15 | 2022-09-02 | 攀枝花学院 | a manipulator |
| CN217448906U (en) * | 2022-05-09 | 2022-09-20 | 金园 | Grab and press from both sides mechanism and grab baby machine |
-
2024
- 2024-12-26 CN CN202411929644.9A patent/CN119347734B/en active Active
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2020039989A (en) * | 2015-11-19 | 2020-03-19 | 株式会社タイトー | Game device |
| CN106584500A (en) * | 2017-03-06 | 2017-04-26 | 张新 | Toy clamping manipulator |
| CN107737450A (en) * | 2017-11-23 | 2018-02-27 | 赵美文 | A kind of doll machine grasping mechanism |
| CN217448906U (en) * | 2022-05-09 | 2022-09-20 | 金园 | Grab and press from both sides mechanism and grab baby machine |
| CN217345528U (en) * | 2022-06-15 | 2022-09-02 | 攀枝花学院 | a manipulator |
Also Published As
| Publication number | Publication date |
|---|---|
| CN119347734B (en) | 2025-03-04 |
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