CN208801359U - Rotary lifting-type manipulator - Google Patents
Rotary lifting-type manipulator Download PDFInfo
- Publication number
- CN208801359U CN208801359U CN201821311059.2U CN201821311059U CN208801359U CN 208801359 U CN208801359 U CN 208801359U CN 201821311059 U CN201821311059 U CN 201821311059U CN 208801359 U CN208801359 U CN 208801359U
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- China
- Prior art keywords
- clamp arm
- motor
- rotary lifting
- driving member
- type manipulator
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- 230000033001 locomotion Effects 0.000 claims abstract description 16
- 230000003028 elevating effect Effects 0.000 claims abstract description 14
- NJPPVKZQTLUDBO-UHFFFAOYSA-N novaluron Chemical compound C1=C(Cl)C(OC(F)(F)C(OC(F)(F)F)F)=CC=C1NC(=O)NC(=O)C1=C(F)C=CC=C1F NJPPVKZQTLUDBO-UHFFFAOYSA-N 0.000 claims description 25
- 230000005540 biological transmission Effects 0.000 claims description 11
- 235000015243 ice cream Nutrition 0.000 abstract description 17
- 230000007306 turnover Effects 0.000 abstract description 9
- 238000010586 diagram Methods 0.000 description 2
- 230000002463 transducing effect Effects 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 239000007787 solid Substances 0.000 description 1
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- Manipulator (AREA)
Abstract
The utility model provides a kind of rotary lifting-type manipulator comprising: mechanical grip, rotating mechanism and elevating mechanism.The utility model rotary lifting-type manipulator passes through the combination of rotary motion and elevating movement, realizes the turnover to cup in Ice-cream machine, and movement travel is short, and turnover is high-efficient, is conducive to the Miniaturization Design of Ice-cream machine.
Description
Technical field
The utility model relates to a kind of manipulator more particularly to a kind of rotation and liftings having enough to meet the need for cup in Ice-cream machine
Formula manipulator.
Background technique
Ice-cream machine is a kind of machinery equipment that can make automatically and sell ice cream, in order to realize cup in Ice-cream machine
The turnover of son is typically provided with manipulator in Ice-cream machine, however the manipulator in existing Ice-cream machine is in turnover, main
It will be by being moved along the line slide rail being horizontally placed in Ice-cream machine.In this way, the movement travel of manipulator is longer, so that
Space utilization rate is not high in Ice-cream machine, and is unfavorable for the miniaturization of Ice-cream machine.Therefore, in view of the above-mentioned problems, it is necessary to mention
Further solution out.
Utility model content
The utility model is intended to provide a kind of rotary lifting-type manipulator, to overcome the deficiencies in the prior art.
In order to solve the above technical problems, the technical solution of the utility model is:
A kind of rotary lifting-type manipulator comprising: mechanical grip, rotating mechanism and elevating mechanism；
The mechanical grip includes: the first clamp arm, the second clamp arm, pedestal, first motor and transmission component, and described first
Clamp arm, the second clamp arm are slidingly arranged on the edge of the pedestal side, the rotation under the driving of the first motor
Mechanism includes: the second motor, connector, shaft and bracket, and the motor shaft of second motor passes through the connector and institute
The one end for stating shaft is connected, and the other end of the shaft is connected with the bracket, and the mechanical grip is fixed on the branch
On frame, the elevating mechanism includes: third motor, the first driving wheel, the second driving wheel, sliding block, the first sliding rail and lead screw, institute
The first driving wheel tube is stated loaded on the motor shaft of the third motor, second driving wheel tube is loaded on the lower end of the lead screw,
It is sequentially connected between first driving wheel and the second driving wheel by belt, the screw thread on the sliding block and the lead screw matches
It closes, and is slided along first sliding rail, the sliding block drives the rotating mechanism to carry out elevating movement.
The improvement of rotary lifting-type manipulator as the utility model, the first motor are installed under the pedestal
The first motor axis of side, the first motor is arranged through the pedestal, first clamp arm and second clamp arm or so phase
To setting, the two is slidingly arranged on the edge of the pedestal side.
The improvement of rotary lifting-type manipulator as the utility model, the transmission component include: the first driving member,
Two driving members and third driving member, first driving member are set on the first motor axis of the first motor, and described
One end of two driving members and one end of first driving member are pivotally connected, the other end of second driving member and described first
The sliding end of clamp arm is pivotally connected, and one end of the third driving member and the other end of first driving member are pivotally connected, institute
The sliding end of the other end and second clamp arm of stating third driving member is pivotally connected.
The improvement of rotary lifting-type manipulator as the utility model, the sliding end of first clamp arm, the second clamp arm
With adjutage, second driving member and third driving member are pivotally connected with corresponding adjutage respectively.
The improvement of rotary lifting-type manipulator as the utility model, second driving member and third driving member are
The transmission connection arm of arc.
The improvement of rotary lifting-type manipulator as the utility model, one end of first clamp arm are arcuate structure,
Its other end is the sliding end of the boundary slip along the pedestal side, and one end of second clamp arm is arcuate structure,
Its other end is the sliding end of the boundary slip along the pedestal side, the arcuate structure of first clamp arm and described the
The arcuate structure of two clamp arm leans.
The edge of the improvement of rotary lifting-type manipulator as the utility model, the pedestal side is provided with described in confession
First clamp arm and second clamp arm sliding the second sliding rail, first clamp arm, the second clamp arm sliding end be correspondingly arranged on
Sliding slot.
The improvement of rotary lifting-type manipulator as the utility model, the rotary lifting-type manipulator further includes infrared
Sensor, the infrared sensor are installed on the pedestal, and between first clamp arm and the second clamp arm.
The improvement of rotary lifting-type manipulator as the utility model, the rotating mechanism further include: retainer, chassis
And sleeve, second motor are fixed on the lower end of the retainer, the connector is contained in the retainer, described
The upper end of the retainer is fixed on chassis, and the sleeve is suited on the shaft, and between the bracket and chassis.
The improvement of rotary lifting-type manipulator as the utility model, the rotary lifting-type manipulator further includes shell
Body, the rotating mechanism are fixed in the shell, and the shell is fixedly connected with the sliding block.
Compared with prior art, the utility model has the beneficial effects that the utility model rotary lifting-type manipulator passes through
The turnover to cup in Ice-cream machine is realized in the combination of rotary motion and elevating movement, and movement travel is short, and turnover is high-efficient,
Be conducive to the Miniaturization Design of Ice-cream machine.
Detailed description of the invention
In order to illustrate the embodiment of the utility model or the technical proposal in the existing technology more clearly, below will be to embodiment
Or attached drawing needed to be used in the description of the prior art is briefly described, it should be apparent that, the accompanying drawings in the following description is only
It is some embodiments recorded in the utility model, for those of ordinary skill in the art, is not making the creative labor
Under the premise of, it is also possible to obtain other drawings based on these drawings.
Fig. 1 is the stereoscopic schematic diagram of one specific embodiment of rotary lifting-type manipulator of the utility model；
Fig. 2 is the stereoscopic schematic diagram of mechanical grip in Fig. 1；
Fig. 3 is the perspective exploded view of rotary lifting-type manipulator in Fig. 1.
Specific embodiment
The following will be combined with the drawings in the embodiments of the present invention, carries out the technical scheme in the embodiment of the utility model
Clearly and completely describe, it is clear that the described embodiments are only a part of the embodiments of the utility model, rather than whole
Embodiment.Based on the embodiments of the present invention, those of ordinary skill in the art are without making creative work
Every other embodiment obtained, fall within the protection scope of the utility model.
As shown in Figure 1, the rotary lifting-type manipulator can be used for the turnover of cup in Ice-cream machine.The rotation and lifting
Formula manipulator includes: mechanical grip 100, rotating mechanism 200 and elevating mechanism 300.
As shown in Fig. 2, the mechanical grip 100 can be used for the clamping of cup in Ice-cream machine comprising: the first clamp arm 1,
Second clamp arm 2, pedestal 3, first motor 4 and transmission component.
The first motor 4 is used to provide the described the power of the first clamp arm 1, the clamping of the second clamp arm 2, is installed on the base
4 axis of first motor of the lower section of seat 3, the first motor 4 is arranged through the pedestal 3, and stretches out from the pedestal 3.
First clamp arm 1 is oppositely arranged with second clamp arm 2 or so, and the two is slidingly arranged at the pedestal 3 one
On the edge of side, the first motor 4 drives first clamp arm 1, the second clamp arm 2 to carry out clamping fortune by the transmission component
It is dynamic.
Specifically, one end of first clamp arm 1 is arcuate structure, and the other end is along the edge of 3 side of pedestal
The sliding end of sliding.One end of second clamp arm 2 is arcuate structure, and the other end is along the side of 3 side of pedestal
The sliding end of edge sliding.The arcuate structure of first clamp arm 1 and the arcuate structure of second clamp arm 2 lean.From
And under the driving of first motor 4, when first clamp arm 1, the second clamp arm 2 move toward one another, the arcuate structure of the two can be real
Now to the clamping of cup.
In one embodiment, the edge of 3 side of pedestal is provided with for first clamp arm 1 and second folder
Arm 2 slide the second sliding rail 31, first clamp arm 1, the second clamp arm 2 sliding end be correspondingly arranged on sliding slot.
The transmission component includes: the first driving member 5, the second driving member 6 and third driving member 7.Preferably, described
Two driving members 6 and third driving member 7 are the transmission connection arm of arc.
Further, first driving member 5 is set on 4 axis of first motor of the first motor 4, and described second passes
One end of moving part 6 and one end of first driving member 5 are pivotally connected.The other end of second driving member 6 and described first
The sliding end of clamp arm 1 is pivotally connected, and one end of the third driving member 7 and the other end of first driving member 5 are pivotally connected,
The other end of the third driving member 7 and the sliding end of second clamp arm 2 are pivotally connected.
To which when first motor 4 works, first driving member 5 is rotated with 4 axis of first motor, simultaneously
First driving member 5 drives described second by the relationship that is pivotally connected with second driving member 6 and third driving member 7
Driving member 6 and third driving member 7 are moved.In the case where second driving member 6 and third driving member 7 drive, first folder
Arm 1, the second clamp arm 2 be opposite or back movement.
Connect for the ease of being pivoted with the sliding end, first clamp arm 1, the second clamp arm 2 sliding end have
Adjutage, thus, second driving member 6 and third driving member 7 are pivotally connected with corresponding adjutage respectively.
In addition, identification when in order to carry out to the cup of clamping, the rotary lifting-type manipulator further includes infrared sensor
8, the infrared sensor 8 is installed on the pedestal 3, and between first clamp arm 1 and the second clamp arm 2.It is described red
Outer sensor 8 and 4 signal of first motor transmit, thus when infrared sensor 8 senses first clamp arm 1 and the second folder
There are when cup between arm 2, transducing signal can be sent to first motor 4, the first motor 4 based on the received transducing signal into
Row work, to drive first clamp arm 1 and the second clamp arm 2 to clamp cup.
As shown in figure 3, the rotating mechanism 200 is rotated for realizing the drive mechanical grip 100 comprising:
Second motor 9, connector 10, shaft 11 and bracket 12.
The motor shaft of second motor 9 is connected by the connector 10 with one end of the shaft 11.Preferably,
The connector 10 is set on the motor shaft of second motor 9, and is locked by bolt.The shaft 11 it is another
End is connected with the bracket 12.Preferably, the other end of the shaft 11 is provided with ring flange, the ring flange by bolt with
The bracket 12 is connected.The mechanical grip 100 is fixed on the bracket 12.To, when the work of the second motor 9,
The shaft 11 is driven to be rotated by the connector 10, the shaft 11 further drives the machinery by bracket 12
Clamping jaw 100 synchronizes movement.
In addition, the rotation of the mechanical grip 100 for convenience, the rotating mechanism 200 further include: retainer 13, bottom
Disk 14 and sleeve 15.Wherein, second motor 9 is fixed on the lower end of the retainer 13, and the connector 10 is contained in
In the retainer 13, the upper end of the retainer 13 is fixed on the chassis 14, and the sleeve 15 is set in the shaft 11
On, and between the bracket 12 and chassis 14.
The elevating mechanism 300 is gone up and down for realizing the drive mechanical grip 100 comprising: third motor 16,
First driving wheel 17, the second driving wheel 18, sliding block 19, the first sliding rail 20 and lead screw (not shown).
First driving wheel 17 is set on the motor shaft of the third motor 16, and second driving wheel 18 is set in
The lower end of the lead screw is sequentially connected between first driving wheel 17 and the second driving wheel 18 by belt.The sliding block 19
It matches with the screw thread on the lead screw, and is slided along first sliding rail 20, the sliding block 19 drives the whirler
Structure 200 carries out elevating movement.
To be driven by first driving wheel 17 and the second driving wheel 18 when the third motor 16 work
The lead screw is rotated, and the lead screw further drives the sliding block 19 to be risen by the relationship that is threadedly engaged with sliding block 19
Drop.
In addition, in order to realize that the sliding block 19 drives the rotating mechanism 200 to carry out elevating movement, the rotary lifting-type
Manipulator further includes shell 21, and the rotating mechanism 200 is fixed in the shell 21, and the shell 21 and the sliding block 19 are solid
Fixed connection.Preferably, the shell 21 is hollow cylindrical shell, correspondingly, the sliding block 19 has and the cylindrical shape
The arcwall face for the recess that shell matches.
In conclusion the utility model rotary lifting-type manipulator passes through the combination of rotary motion and elevating movement, realize
Turnover to cup in Ice-cream machine, movement travel is short, and turnover is high-efficient, is conducive to the Miniaturization Design of Ice-cream machine.
It is obvious to a person skilled in the art that the present invention is not limited to the details of the above exemplary embodiments, and
And without departing substantially from the spirit or essential attributes of the utility model, it can realize that this is practical new in other specific forms
Type.Therefore, in all respects, the present embodiments are to be considered as illustrative and not restrictive, this is practical new
The range of type is indicated by the appended claims rather than the foregoing description, it is intended that containing for the equivalent requirements of the claims will be fallen in
All changes in justice and range are embraced therein.It should not treat any reference in the claims as limiting
Related claim.
In addition, it should be understood that although this specification is described in terms of embodiments, but not each embodiment is only wrapped
Containing an independent technical solution, this description of the specification is merely for the sake of clarity, and those skilled in the art should
It considers the specification as a whole, the technical solutions in the various embodiments may also be suitably combined, forms those skilled in the art
The other embodiments being understood that.
Claims (10)
1. a kind of rotary lifting-type manipulator, which is characterized in that the rotary lifting-type manipulator includes: mechanical grip, rotation
Mechanism and elevating mechanism；
The mechanical grip includes: the first clamp arm, the second clamp arm, pedestal, first motor and transmission component, first folder
Arm, the second clamp arm are slidingly arranged on the edge of the pedestal side, the whirler under the driving of the first motor
Structure includes: the second motor, connector, shaft and bracket, the motor shaft of second motor by the connector with it is described
One end of shaft is connected, and the other end of the shaft is connected with the bracket, and the mechanical grip is fixed on the bracket
On, the elevating mechanism includes: third motor, the first driving wheel, the second driving wheel, sliding block, the first sliding rail and lead screw, described
For first driving wheel tube loaded on the motor shaft of the third motor, second driving wheel tube is loaded on the lower end of the lead screw, institute
It states and is sequentially connected between the first driving wheel and the second driving wheel by belt, the screw thread on the sliding block and the lead screw matches
It closes, and is slided along first sliding rail, the sliding block drives the rotating mechanism to carry out elevating movement.
2. rotary lifting-type manipulator according to claim 1, which is characterized in that the first motor is installed on the base
The first motor axis of the lower section of seat, the first motor is arranged through the pedestal, first clamp arm and second clamp arm
Left and right is oppositely arranged, and the two is slidingly arranged on the edge of the pedestal side.
3. rotary lifting-type manipulator according to claim 2, which is characterized in that the transmission component includes: the first biography
Moving part, the second driving member and third driving member, first driving member are set on the first motor axis of the first motor,
One end of second driving member and one end of first driving member are pivotally connected, the other end of second driving member and institute
The sliding end for stating the first clamp arm is pivotally connected, and the other end of one end of the third driving member and first driving member, which pivots, to be connected
It connects, the other end of the third driving member and the sliding end of second clamp arm are pivotally connected.
4. rotary lifting-type manipulator according to claim 3, which is characterized in that first clamp arm, the second clamp arm
Sliding end has adjutage, and second driving member and third driving member are pivotally connected with corresponding adjutage respectively.
5. rotary lifting-type manipulator according to claim 3, which is characterized in that second driving member and third transmission
Part is the transmission connection arm of arc.
6. rotary lifting-type manipulator according to claim 1, which is characterized in that one end of first clamp arm is arc
Structure, the other end are the sliding end of the boundary slip along the pedestal side, and one end of second clamp arm is arcuate structure,
Its other end is the sliding end of the boundary slip along the pedestal side, the arcuate structure of first clamp arm and second folder
The arcuate structure of arm leans.
7. rotary lifting-type manipulator according to claim 1, which is characterized in that the edge of the pedestal side is provided with
For the second sliding rail of first clamp arm and second clamp arm sliding, first clamp arm, the sliding end of the second clamp arm are corresponding
It is provided with sliding slot.
8. rotary lifting-type manipulator according to claim 1, which is characterized in that the rotary lifting-type manipulator also wraps
Infrared sensor is included, the infrared sensor is installed on the pedestal, and between first clamp arm and the second clamp arm.
9. rotary lifting-type manipulator according to claim 1, which is characterized in that the rotating mechanism further include: keep
Frame, chassis and sleeve, second motor are fixed on the lower end of the retainer, and the connector is contained in the retainer
In, the upper end of the retainer is fixed on the chassis, and the sleeve is suited on the shaft, and is located at the bracket and bottom
Between disk.
10. rotary lifting-type manipulator according to claim 1, which is characterized in that the rotary lifting-type manipulator is also
Including shell, the rotating mechanism is fixed in the shell, and the shell is fixedly connected with the sliding block.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821311059.2U CN208801359U (en) | 2018-08-15 | 2018-08-15 | Rotary lifting-type manipulator |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821311059.2U CN208801359U (en) | 2018-08-15 | 2018-08-15 | Rotary lifting-type manipulator |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN208801359U true CN208801359U (en) | 2019-04-30 |
Family
ID=66235380
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201821311059.2U Expired - Fee Related CN208801359U (en) | 2018-08-15 | 2018-08-15 | Rotary lifting-type manipulator |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN208801359U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108858244A (en) * | 2018-08-15 | 2018-11-23 | 苏州晴雨智能科技有限公司 | Rotary lifting-type manipulator |
-
2018
- 2018-08-15 CN CN201821311059.2U patent/CN208801359U/en not_active Expired - Fee Related
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108858244A (en) * | 2018-08-15 | 2018-11-23 | 苏州晴雨智能科技有限公司 | Rotary lifting-type manipulator |
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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 |
Granted publication date: 20190430 |
|
| CF01 | Termination of patent right due to non-payment of annual fee |