CN207356537U - A kind of recreational machine manipulator - Google Patents
A kind of recreational machine manipulator Download PDFInfo
- Publication number
- CN207356537U CN207356537U CN201720787350.6U CN201720787350U CN207356537U CN 207356537 U CN207356537 U CN 207356537U CN 201720787350 U CN201720787350 U CN 201720787350U CN 207356537 U CN207356537 U CN 207356537U
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- Prior art keywords
- armstand
- base
- cantilever
- drive
- driving
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Abstract
The utility model discloses a kind of recreational machine manipulator, including：Base；Armstand, is rotatably provided on base, and the first driving means for driving armstand to rotate are provided with base or armstand；Cantilever, what can be swung up and down is arranged in armstand, and the second driving device for driving cantilevered swing is provided with armstand or cantilever；Grab bucket mechanism, it is moving up and down to be arranged on cantilever, the 3rd driving device for driving grab bucket mechanism to move up and down is provided with cantilever；The first limited block is provided with base, the second limited block is provided with armstand, when armstand is with respect to base rotation a to angle, the second limited block can be abutted with the first limited block to limit the angle rotatable size of the opposite base of armstand.In the utility model, the rotational angle of armstand is limited using the abutting of the first limited block and the second limited block, it is simple and reliable for structure, it is easy to manufacture, failure is less prone to, can effectively prevent armstand rotational angle excessive and collision occur surprisingly, is ensured safe to use.
Description
Technical field
Recreational machine field is the utility model is related to, more particularly to a kind of recreational machine manipulator.
Background technology
Manipulator is often used in recreational machine to carry out grasping manipulation, these manipulators generally include base, rotatable
Armstand, the swingable cantilever being arranged in armstand and the grab claw moving up and down being arranged on cantilever being arranged on base
Structure, armstand can be with respect to base rotations by the driving such as motor, and in use, manipulator is normally located at the margin location of recreational machine
Put, it is necessary to limit the rotational angle of armstand, make cantilever and grab bucket mechanism and recreational machine to prevent armstand from rotating excessive
Side wall collision or bump against operator and onlooker, existing recreational machine manipulator limits armstand typically by automatically controlled mode
Rotational angle, the rotational angle of armstand is detected using sensor etc., when armstand rotational angle exceedes predetermined maximum angle
When then control motor or disconnect the transmission of motor and armstand and be rotated further to limit armstand, electric elements easily break down, special
It is not that water easily enters in electric elements and causes short circuit in the recreational machine of pond class, so as to lose to armstand angle of rotation
The limitation of degree, easily occurs unexpected situation, there are some potential safety problems, moreover, by disconnect the transmission of motor and armstand come
Armstand rotation is limited, it is necessary to set complex clutch structure, the complexity of robot manipulator structure can be increased, so as to increase recreation
Machine cost and rate of breakdown.
Utility model content
To solve the above-mentioned problems, the purpose of this utility model is to provide a kind of simple and reliable for structure, can effectively protect
Demonstrate,prove recreational machine manipulator safe to use.
The utility model is to solve the technical solution that uses of its technical problem：
A kind of recreational machine manipulator, including：
Base；
Armstand, is rotatably provided on base, and the first driving for driving armstand to rotate is provided with base or armstand
Device；
Cantilever, what can be swung up and down is arranged in armstand, and for driving cantilevered swing is provided with armstand or cantilever
Two driving devices；
Grab bucket mechanism, it is moving up and down to be arranged on cantilever, it is provided with cantilever for driving the shifting up and down of grab bucket mechanism
The 3rd dynamic driving device；
The first limited block is provided with the base, the second limited block is provided with armstand, armstand is with respect to base rotation
During to an angle, second limited block can abut big to limit the angle rotatable of the opposite base of armstand with the first limited block
It is small.
Preferably, the quantity of first limited block is two, is respectively used to limitation armstand with respect to base clockwise
With anticlockwise angle rotatable size.
Preferably, at least detector positioned at armstand side is provided with the base, is provided with armstand and institute
State the first detection block that detector is adapted, as armstand is relative to the rotation of base, first detection block be movable to
The detector is longitudinally-aligned and is identified by detector.
Preferably, the quantity of the detector is several, these detector rings are distributed around the armstand.
Preferably, the grab bucket mechanism includes pedestal and is hubbed on respectively by a first horizontal drive-connecting shaft on pedestal
Some grab bucket bodies, the pedestal by the 3rd driving device drive and can opposing cantilevers move up and down, each body point of grabbing bucket
It is not connected by suspension strop with the cantilever, with moving up and down for pedestal, the grab bucket body can be around the first drive-connecting shaft with respect to base
Seat rotates folding.
Preferably, the grab bucket body is in spherical shell shape, and capable assembling is together into hemispherical, grab bucket when each body of grabbing bucket closes
Osculum is provided with body.
Preferably, a rotating member is pivoted with by one second drive-connecting shaft in the armstand, passes through one on the rotating member
Three drive-connecting shafts be pivoted with one first driving member, second drive-connecting shaft and the 3rd drive-connecting shaft each parallel to anteroposterior direction and both
It is at a distance；The cantilever by one the 4th drive-connecting shaft be hubbed in armstand and can opposed arm swing, pass through on cantilever
One the 5th drive-connecting shaft be pivoted with one second driving member, the 4th drive-connecting shaft and the 5th drive-connecting shaft each parallel to left and right directions and
Both are at a distance；First driving member and the second driving member is connected by oscillating bearing, and the rotating member is by institute
State the driving of the second driving device and can be rotated around the second drive-connecting shaft.
Preferably, capstan winch is pivoted with the cantilever, which is connected by drawstring with the grab bucket mechanism, described
3rd driving device can drive capstan winch rotate and folding and unfolding drawstring with drive grab bucket mechanism move up and down.
Preferably, detection device is provided with the cantilever, is provided with what is be adapted with the detection device on drawstring
Second detection block, the detection device can detect the position of second detection block and control the 3rd driving device according to this
Start and stop.
The beneficial effects of the utility model are：In the utility model, the first limited block and the abutting of the second limited block are utilized
It is simple and reliable for structure to limit the rotational angle of armstand, it is easy to manufacture, it is not easy to break down, can effectively prevents from standing
Arm rotational angle is excessive and collision occurs surprisingly, ensures safe to use.
Brief description of the drawings
The utility model is described in further detail with reference to the accompanying drawings and detailed description.
Fig. 1 is the overall structure figure of the utility model；
Fig. 2 is the partial enlarged view of part A in Fig. 1；
Fig. 3 is that the utility model removes the structure chart after part enclosure；
Fig. 4 is the partial enlarged view of part B in Fig. 3；
Fig. 5 is the partial enlarged view of C portion in Fig. 3.
Embodiment
Referring to figs. 1 to Fig. 5, a kind of recreational machine manipulator, including：Base 10；Armstand 20, is rotatably provided in base 10
On, the first driving means 11 for driving armstand 20 to rotate are provided with base 10 or armstand 20；Cantilever 30, can swing up and down
Be arranged in armstand 20, be provided with armstand 20 or cantilever 30 for drive cantilever 30 swing the second driving device 21；Grab
Struggle against mechanism, moving up and down to be arranged on cantilever 30, be provided with cantilever 30 for drive that grab bucket mechanism moves up and down the
Three driving devices 31；The first limited block 12 is provided with base 10, the second limited block 22 is provided with armstand 20, armstand 20 is opposite
When base 10 turns to an angle, the second limited block 22 can be abutted with the first limited block 12 to limit armstand 20 with respect to base 10
Angle rotatable size.In the utility model, armstand 20 is limited using the abutting of the first limited block 12 and the second limited block 22
Rotational angle, it is simple and reliable for structure, it is easy to manufacture, be not easy to break down, can effectively prevent 20 angle of rotation of armstand
Spend big and collision occur surprisingly, ensure safe to use.
In the present embodiment, the quantity of the first limited block 12 is two, is respectively used to limitation armstand 20 with respect to 10 up time of base
Pin direction and anticlockwise angle rotatable size, so as to from left and right two direction to the rotational angle of armstand 20 into
Row limitation, further improves the security performance of the utility model.
At least detector 13 positioned at 20 side of armstand is provided with base 10, is provided with and detector 13 in armstand 20
The first detection block 23 being adapted, as armstand 20 is relative to the rotation of base 10, the first detection block 23 is movable to and detector
13 is longitudinally-aligned and identified by detector 13, so as to detect the rotational angle of armstand 20, the convenient rotation to armstand 20 into
Row control.Detector 13 can use the common structures such as infrared sensor, position sensor, not be described further separately herein.The present embodiment
In, the quantity of detector 13 is several, these detectors 13 are distributed around armstand 20, easily can be positioned at armstand 20
It is easy to use corresponding to the rotational angle where each detector 13.
In the utility model, grab bucket mechanism includes pedestal 61 and is hubbed on base by a first horizontal drive-connecting shaft 63 respectively
Seat 61 on some grab bucket bodies 62, pedestal 61 by the 3rd driving device 31 drive and can opposing cantilevers 30 move up and down, respectively
Grab bucket body 62 is connected by suspension strop 64 with the cantilever 30 respectively, and with moving up and down for pedestal 61, the grab bucket body 62 can
Folding is rotated around 63 opposite base 61 of the first drive-connecting shaft, simple and reliable for structure, easy to process and use.
In the present embodiment, grab bucket body 62 is in spherical shell shape, and capable assembling forms hemispherical together when each body 62 of grabbing bucket closes, from
And game item can be captured and be encased in grab bucket body 62, it is provided with osculum 621 on body 62 of grabbing bucket so that by this manipulator
The water grabbed bucket in body 62 can be discharged when in aqueous recreational machine applied to pond, increases the applicable model of the utility model
Enclose.
In the present embodiment, a rotating member 42 is pivoted with by one second drive-connecting shaft 41 in armstand 20, is led on the rotating member 42
Cross one the 3rd drive-connecting shaft 43 and be pivoted with one first driving member 44, the second drive-connecting shaft 41 and the 3rd drive-connecting shaft 43 are each parallel to front and back
To and both are at a distance；Cantilever 30 is hubbed in armstand 20 by one the 4th drive-connecting shaft 45 can be swung with respect to armstand 20,
One second driving member 47 is pivoted with by one the 5th drive-connecting shaft 46 on cantilever 30, the 4th drive-connecting shaft 45 and the 5th drive-connecting shaft 46 are flat
Row is in left and right directions and both are at a distance；First driving member 44 and the second driving member 47 are connected by oscillating bearing 48, are turned
Moving part 42 is driven by the second driving device 21 and can be rotated around the second drive-connecting shaft 41, thus, it is possible to cause the first driving member 44 with turn
The rotation of moving part 42 and appreciation is moved, and then drive the second driving member 47 to move up and down by oscillating bearing 48, so as to
Driving cantilever 30 is swung, simple and reliable for structure, and easy to process and assembling, is less prone to failure.Oscillating bearing 48 is in the art
It is widely used, is not described further separately herein.In the present embodiment, the detection for detecting 42 position of rotating member is provided with armstand 20 and is filled
49 are put, easy to carry out reset operation to cantilever 30.
Capstan winch 51 is pivoted with cantilever 30, which is connected by drawstring 52 with grab bucket mechanism, the 3rd driving device 31
Capstan winch 51 can be driven to rotate and folding and unfolding drawstring 52 with drive grab bucket mechanism move up and down, it is simple and reliable for structure, be easy to grab bucket mechanism
Lifting be controlled.Detection device 55 is provided with cantilever 30, is provided with drawstring 52 and is adapted with the detection device 55
The second detection block 54, the detection device 55 can detect the position of second detection block 54 and control according to this it is described 3rd drive
The start and stop of dynamic device 31, to the upper-lower position for mechanism of grabbing bucket can be accurately positioned and accurate control, detection device 55 can adopt
With common infrared sensor etc..
In addition, being provided with locating piece 53 on cantilever 30, with the folding and unfolding of drawstring 52, the second detection block 54 can be with locating piece 53
Abut to limit the folding and unfolding length of drawstring 52, so as to limit the distance that grab bucket mechanism moves up and down, prevent grab bucket mechanism with
Colliding and damaging occur in recreational machine and cantilever 30, and more securely and reliably, can reduce rate of breakdown.
First driving means 11, the second driving device 21 and the 3rd driving device 31 employ motor in the present embodiment,
Easy to assemble and control, certainly, it can also be substituted using other common driving structures in practical application, be covered with cantilever 30
Shell, helps to improve the aesthetics of the utility model, also avoids capstan winch 51 and drawstring 52 exposed, prevents external impurities etc. from adhering to
Trigger failure on drawstring 52 and capstan winch 51.
The foregoing is merely the preferred embodiments of the utility model, as long as realizing the utility model with essentially identical means
The technical solution of purpose is belonged within the scope of protection of the utility model.
Claims (10)
1. a kind of recreational machine manipulator, including：
Base (10)；
Armstand (20), is rotatably provided on base (10), is provided with base (10) or armstand (20) for driving armstand
(20) first driving means (11) rotated；
Cantilever (30), what can be swung up and down is arranged in armstand (20), is provided with armstand (20) or cantilever (30) for driving
The second driving device (21) that cantilever (30) is swung；
Grab bucket mechanism, it is moving up and down to be arranged on cantilever (30), it is provided with cantilever (30) for driving grab bucket mechanism
3rd driving device (31) of lower movement；
It is characterized in that, being provided with the first limited block (12) on the base (10), it is spacing to be provided with second in armstand (20)
Block (22), when armstand (20) turns to an angle with respect to base (10), second limited block (22) can be with the first limited block
(12) abut to limit angle rotatable size of the armstand (20) with respect to base (10).
A kind of 2. recreational machine manipulator according to claim 1, it is characterised in that the quantity of first limited block (12)
For two, it is big with respect to the angle rotatable of base (10) clockwise and counterclockwise to be respectively used to limitation armstand (20)
It is small.
3. a kind of recreational machine manipulator according to claim 1, it is characterised in that be provided with position on the base (10)
An at least detector (13) in armstand (20) side, is provided with first be adapted with the detector (13) in armstand (20)
Detection block (23), as armstand (20) is relative to the rotation of base (10), first detection block (23) be movable to it is described
Detector (13) is longitudinally-aligned and is identified by detector (13).
A kind of 4. recreational machine manipulator according to claim 3, it is characterised in that the detector (13) if quantity be
Dry, these detectors (13) are distributed around the armstand (20).
5. a kind of recreational machine manipulator according to claim 1, it is characterised in that the grab bucket mechanism includes pedestal
(61) and respectively by horizontal first drive-connecting shaft (63) some grab bucket bodies (62) being hubbed on pedestal (61), the base
Seat (61) by the 3rd driving device (31) drive and can opposing cantilevers (30) move up and down, respectively grab bucket body (62) pass through respectively
Suspension strop (64) is connected with the cantilever (30), and with moving up and down for pedestal (61), the grab bucket body (62) can be around the first pivot
Spindle (63) opposite base (61) rotates folding.
6. a kind of recreational machine manipulator according to claim 5, it is characterised in that the grab bucket body (62) is in spherical shell
Shape, capable assembling forms hemispherical together when body (62) of respectively grabbing bucket closes, and osculum (621) is provided with grab bucket body (62).
7. a kind of recreational machine manipulator according to claim 1, it is characterised in that pass through one in the armstand (20)
Two drive-connecting shafts (41) are pivoted with a rotating member (42), and one first is pivoted with by one the 3rd drive-connecting shaft (43) on the rotating member (42)
Driving member (44), second drive-connecting shaft (41) and the 3rd drive-connecting shaft (43) each parallel to anteroposterior direction and between the two every one away from
From；The cantilever (30) is hubbed in armstand (20) by one the 4th drive-connecting shaft (45) that armstand (20) can swing relatively, is hanged
One second driving member (47), the 4th drive-connecting shaft (45) and the 5th are pivoted with by one the 5th drive-connecting shaft (46) on arm (30)
Drive-connecting shaft (46) is each parallel to left and right directions and both are at a distance；First driving member (44) and the second driving member
(47) by oscillating bearing (48) connect, the rotating member (42) driven by second driving device (21) and can be around second
Drive-connecting shaft (41) rotates.
8. a kind of recreational machine manipulator according to claim 1, it is characterised in that be pivoted with strand on the cantilever (30)
Disk (51), the capstan winch (51) are connected by drawstring (52) with the grab bucket mechanism, and the 3rd driving device (31) can drive
Capstan winch (51) rotates and folding and unfolding drawstring (52) is moved up and down with driving grab bucket mechanism.
9. a kind of recreational machine manipulator according to claim 8, it is characterised in that be provided with inspection on the cantilever (30)
Device (55) is surveyed, the second detection block (54) being adapted with the detection device (55), the detection are provided with drawstring (52)
Device (55) can detect the position of second detection block (54) and control the start and stop of the 3rd driving device (31) according to this.
10. a kind of recreational machine manipulator according to claim 9, it is characterised in that be provided with the cantilever (30)
Locating piece (53), with the folding and unfolding of drawstring (52), the second detection block (54) can be abutted with locating piece (53) to limit drawstring (52)
Folding and unfolding length.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720787350.6U CN207356537U (en) | 2017-06-29 | 2017-06-29 | A kind of recreational machine manipulator |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720787350.6U CN207356537U (en) | 2017-06-29 | 2017-06-29 | A kind of recreational machine manipulator |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN207356537U true CN207356537U (en) | 2018-05-15 |
Family
ID=62425281
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201720787350.6U Expired - Fee Related CN207356537U (en) | 2017-06-29 | 2017-06-29 | A kind of recreational machine manipulator |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN207356537U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110453893A (en) * | 2019-08-05 | 2019-11-15 | 广东博智林机器人有限公司 | Spray gun assembly and paint finishing |
-
2017
- 2017-06-29 CN CN201720787350.6U patent/CN207356537U/en not_active Expired - Fee Related
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110453893A (en) * | 2019-08-05 | 2019-11-15 | 广东博智林机器人有限公司 | Spray gun assembly and paint finishing |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20180515 Termination date: 20190629 |