CN209132874U - Telescopic magic hand and coconut vending machine - Google Patents
Telescopic magic hand and coconut vending machine Download PDFInfo
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- CN209132874U CN209132874U CN201822207738.1U CN201822207738U CN209132874U CN 209132874 U CN209132874 U CN 209132874U CN 201822207738 U CN201822207738 U CN 201822207738U CN 209132874 U CN209132874 U CN 209132874U
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- connecting rod
- hand
- telescopic
- expansion bracket
- telescopic magic
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Abstract
It includes: actuator that the utility model, which discloses a kind of telescopic magic hand and coconut vending machine, a kind of telescopic magic hand, telescopic magic hand,；Link assembly, including first connecting rod and second connecting rod, first connecting rod are connect with actuator, and the free end rotation connection of second connecting rod and first connecting rod, actuator drives second connecting rod to be rotated by first connecting rod；Clamp hand component, including the clamp hand for picking and placing coconut, second connecting rod is connected with clamp hand；Guide part, guide part are used to be oriented to the moving direction of clamp hand, and actuator drives clamp hand along the guide direction back and forth movement of guide part by link assembly.In technical solutions of the utility model, actuator drives second connecting rod to be rotated by first connecting rod, under the limitation of guide part, clamp hand back and forth movement along the extending direction of guide part is driven by link assembly, first connecting rod and second connecting rod are rotatablely connected, to which space can be saved when link assembly is shunk, convenient for by the structure simplification of telescopic magic hand.
Description
Technical field
The utility model relates to driving source technical field, in particular to a kind of telescopic magic hand and coconut are sold
Machine.
Background technique
With the development of the society, often require that movement mechanism is increasingly simplified to improve the utilization rate in space in factory,
To reach section space-efficient purpose.In the prior art, using driving members such as rack-and-pinion, synchronous belt, screw rods come when being driven,
It often will increase space occupancy rate of the mechanism in transmission direction, cause the space occupied area of equipment larger, be not easy to equipment
Popularization and use.
Utility model content
The main purpose of the utility model is to propose a kind of telescopic manipulator, it is intended to solve prior art linear movement
The larger problem of mechanism occupied space.
To achieve the above object, the utility model proposes a kind of telescopic magic hand, the telescopic magic hand includes: driving
Part；Link assembly, including first connecting rod and second connecting rod, the first connecting rod are connect with the actuator, and described second connects
The free end of bar and the first connecting rod is rotatablely connected, and the actuator drives the second connecting rod by the first connecting rod
It is rotated；Clamp hand component, including the clamp hand for picking and placing coconut, the second connecting rod is connected with the clamp hand；Guide part, institute
It states guide part and drives the clamp hand along institute by the link assembly for being oriented to the moving direction of the clamp hand, the actuator
State the guide direction back and forth movement of guide part.
Preferably, the telescopic magic hand further includes expansion bracket and bottom plate, and the expansion bracket has opposite both ends, described
One end of expansion bracket is fixed on the bottom plate, and the free end of the expansion bracket is connected with the clamp hand, the second connecting rod
Free end is rotationally connected on the expansion bracket, and the second connecting rod drives the clamp hand along the guiding by the expansion bracket
The guide direction back and forth movement of part.
Preferably, the expansion bracket includes two telescopic rods being oppositely arranged, and the telescopic rod has an opposite both ends, and two
The opposed end of a telescopic rod is rotatablely connected, and the telescopic rod includes the bracket that several are successively rotatablely connected, two institutes
The center position that corresponding two bracket on telescopic rod is stated in the bracket is rotatablely connected, second connecting rod from
By holding the center position in the bracket to connect with the holder pivots.
Preferably, the fixing end of the opposite both ends of the expansion bracket and the first connecting rod is on the same line.
Preferably, the guide part and the expansion bracket are installed in the same side of the bottom plate, and the guide part is straight line
Guide rail, the linear guide is located at the opposite two sides of the expansion bracket, and the linear guide is arranged towards the expansion bracket.
Preferably, the line slide rail includes at least first straight line sliding rail and second straight line sliding rail, the first straight line
Sliding rail includes fixed part and the sliding part that is slidably connected with the fixed part, and the fixed part is installed on the bottom plate, described
Second straight line sliding rail is installed on the sliding part.
Preferably, the telescopic magic hand further includes the locating part for limiting the clamp hand position.
Preferably, the locating part includes the first limit sensors, the second limit sensors and initial position sensor.
The utility model also proposes a kind of coconut vending machine, and the coconut vending machine includes above-mentioned telescopic magic hand, described
Telescopic magic hand is for picking and placing coconut.
In technical solutions of the utility model, it is rotatably connected by the first connecting rod and the second connecting rod, institute
First connecting rod to be stated to link together with the actuator, the actuator is used to that the first connecting rod to be driven to be rotated, thus
The second connecting rod is driven to be rotated.Drive the clamp hand along the guiding side of the guide part when second connecting rod is rotated
Back and forth movement is carried out upwards, to realize the flexible effect of manipulator, when manipulator is shunk, the first connecting rod and described the
Two link rotatables are to together, convenient for saving the design space of the link assembly, consequently facilitating by the structure essence of telescopic magic hand
Simplify.
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 of the utility model, for those of ordinary skill in the art, in the premise not made the creative labor
Under, the structure that can also be shown according to these attached drawings obtains other attached drawings.
Fig. 1 is the first schematic perspective view of the utility model telescopic magic hand；
Fig. 2 is the second schematic perspective view of the utility model telescopic magic hand；
Fig. 3 is the attached view structural schematic diagram of the utility model telescopic magic hand.
Drawing reference numeral explanation:
| Label | Title | Label | Title |
| 10 | Actuator | 20 | First connecting rod |
| 30 | Second connecting rod | 40 | Clamp hand mounting plate |
| 50 | Bracket | 60 | Bottom plate |
| 70 | First straight line sliding rail | 80 | Second straight line sliding rail |
| 90 | First limit sensors | 100 | Second limit sensors |
| 110 | Initial position sensor |
The embodiments will be further described with reference to the accompanying drawings for the realization, functional characteristics and advantage of the utility model aim.
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 describing, it is clear that described embodiment is only a part of the embodiment of the utility model, rather than all
Embodiment.Based on the embodiments of the present invention, those of ordinary skill in the art are not making creative work premise
Under every other embodiment obtained, fall within the protection scope of the utility model.
It is to be appreciated that if related in the utility model embodiment directionality instruction (such as up, down, left, right, before and after,
It is horizontal, vertical ...), then directionality instruction is only used for explaining in the phase under a certain particular pose (as shown in the picture) between each component
To positional relationship, motion conditions etc., if the particular pose changes, directionality instruction also correspondingly changes therewith
Become.
In addition, if relating to the description of " first ", " second " etc. in the utility model embodiment, " first ", " the
Two " etc. description is used for description purposes only, and is not understood to indicate or imply its relative importance or is implicitly indicated meaning
The quantity of the technical characteristic shown." first " is defined as a result, the feature of " second " can explicitly or implicitly include at least one
A this feature.It in addition, the technical solution between each embodiment can be combined with each other, but must be with ordinary skill
Based on personnel can be realized, this technical side will be understood that when the combination of technical solution appearance is conflicting or cannot achieve
The combination of case is not present, also not within the protection scope of the requires of the utility model.
The utility model proposes a kind of telescopic magic hands, and one kind driving clamp hand by link assembly, when shrinking clamp hand,
First connecting rod turns to the design space for saving telescopic magic hand together with second connecting rod, improves telescopic magic hand to space
Utilization rate.
- Fig. 3 referring to Fig.1, the utility model proposes a kind of telescopic magic hand, the telescopic magic hand includes: actuator 10；
Link assembly (is not marked in figure), including first connecting rod 20 and second connecting rod 30, the first connecting rod 20 and the actuator
10 connections, the second connecting rod 30 and the free end of the first connecting rod 20 are rotatablely connected, and the actuator 10 passes through described the
One connecting rod drives the first connecting rod 20 to be rotated；Clamp hand component (not shown), including the clamp hand (figure for picking and placing coconut
Do not show), the second connecting rod 30 is connected with the clamp hand；Guide part (is not marked in figure), and the guide part is for described in determination
The moving direction of clamp hand, the actuator 10 drive the clamp hand along the extending direction of the guide part by the link assembly
Upper back and forth movement.
Specifically, the telescopic magic hand is equipped with bottom plate 60, and the actuator 10 is motor, and motor is fixed by motor
Plate is installed on the bottom plate 60, and the link assembly includes first connecting rod 20 and second connecting rod 30, the first connecting rod 20
One end be fixed together with the actuator 10, the actuator 10 is for driving the first connecting rod 20 to be rotated, institute
It states second connecting rod 30 and the free end of the first connecting rod 20 is rotatably connected, the actuator 10 is by driving described the
One connecting rod 20 is rotated, so that the second connecting rod 30 be driven to be rotated, clamp hand component includes the folder for picking and placing coconut
Hand and clamp hand mounting plate 40 for installing clamp hand, the clamp hand are installed on the clamp hand mounting plate 40, the clamp hand peace
Loading board 40 is connected with guide part, and under the action of the guide part, the movement of the clamp hand component is determined by the guide part
Direction.Under the collective effect of the guide part and the link assembly, the actuator 10 is driven by the link assembly
The clamp hand carries out back and forth movement in the guide direction of the guide part.
In the utility model embodiment, the first connecting rod 20 is rotatably connected with the second connecting rod 30, described
First connecting rod 20 links together with the actuator 10, and the actuator 10 is for driving 20 turns of the first connecting rod
It is dynamic, so that the second connecting rod 30 be driven to be rotated.The clamp hand is driven to lead described in when second connecting rod 30 is rotated
Back and forth movement is carried out in the guide direction of part, thus realize the flexible effect of manipulator, when manipulator is shunk, described first
Connecting rod 20 turns to together with the second connecting rod 30, convenient for saving the design space of the link assembly, consequently facilitating will stretch
The structure simplification of contracting manipulator.
Further, the telescopic magic hand further includes expansion bracket (being not marked in figure) and bottom plate 60, the expansion bracket tool
There are opposite both ends, one end of the expansion bracket is fixed on the bottom plate 60, the free end of the expansion bracket and the clamp hand
It is connected, the free end of the second connecting rod 30 is rotationally connected on the expansion bracket, and the second connecting rod 30 passes through described flexible
Frame drives guide direction back and forth movement of the clamp hand along the guide part.The expansion bracket has opposite both ends, wherein institute
The one end for stating expansion bracket is fixed on the bottom plate 60 by shaft, and the expansion bracket and the shaft are rotatablely connected, described to stretch
The free end of contracting frame is connected with the clamp hand, and the spacing between the free end of the expansion bracket and the fixing end of the expansion bracket can
It adjusts, the free end transmission connection of the second connecting rod 30 is on the expansion bracket, and second connection is for adjusting described stretch
Spacing between the opposite end of contracting frame, to drive the clamp hand along the guide direction of the guide part by the expansion bracket
Upper back and forth movement.In the utility model embodiment, the second connecting rod 30 is rotatablely connected with the expansion bracket, the second connecting rod
Spacing between 30 opposite end for adjusting the expansion bracket, is then gone to drive the clamp hand described in as the expansion bracket
Make back and forth movement in the guide direction of guide part, under the action of the expansion bracket and the second connecting rod 30, improves described
The movement of clamp hand is formed, and the linear motion of small mechanism large pitch is easy to implement.In the utility model embodiment, the expansion bracket phase
Pair both ends and the first connecting rod fixing end on the same line, convenient for further increasing the telescopic distance of the expansion bracket
From controlling the clamp hand by the expansion bracket convenient for the second connecting rod 30 and do round-trip fortune along the guide direction of the guide part
Dynamic, structure is simple, is easy to implement.
Further, the expansion bracket includes two telescopic rods being oppositely arranged (being not marked in figure), the telescopic rod tool
There are opposite both ends, the opposed end rotation connection of two telescopic rods, the telescopic rod includes several successively companies of rotation
The bracket 50 connect, corresponding two bracket 50 rotates in the center position of the bracket 50 and connects on two telescopic rods
It connects, the free end of second connecting rod is rotatablely connected in the center position of the bracket 50 and the bracket 50.This is practical
In new embodiment, the telescopic rod has opposite both ends, and the corresponding end of two telescopic rods is rotatably connected on one
It rises, the telescopic rod is made of bracket 50 described in several, and the end of adjacent two bracket 50 is rotatably connected, several
Opposite sliding can occur between the bracket 50, using the structurally reasonable machine that the telescopic magic hand is utilized of more brackets 50
Conformational space designs convenient for the structure of the telescopic magic hand, and two opposite brackets 50 are on two telescopic rods
The heart is rotatably connected at position by shaft, the center position of the free end of second connecting rod in the bracket 50
It is rotatablely connected with the bracket 50, drives the bracket 50 to carry out rotation convenient for second connecting rod described flexible to adjust
The length of frame, and then reach and drive the clamp hand to carry out flexible fortune in the guide direction of the guide part by the expansion bracket
Dynamic, when the expansion bracket is shunk, several brackets 50 are arranged closely together by rotation, convenient for saving telescopic magic hand
Structure space, increase the telescopic magic hand to the utilization rate in space.
Further, the guide part and the expansion bracket are installed in the same side of the bottom plate 60, and the guide part is
Linear guide (is not marked in figure), and the linear guide is located at the opposite two sides of the expansion bracket, and the linear guide face
It is arranged to the expansion bracket.The guide direction of the guide part is the extending direction of the linear guide.The utility model is implemented
In example, the guide part is the linear guide, increases the precision that the clamp hand moves linearly along the guide part.This reality
With in new embodiment, the line slide rail includes at least first straight line sliding rail 70 and second straight line sliding rail 80, and described first
Line slide rail 70 includes (being not marked in figure) fixed part and (being not marked in figure) sliding part being slidably connected with the fixed part, institute
It states fixed part to be installed on the bottom plate 60, the second straight line sliding rail 80 is installed on the sliding part.By using described
The mode of first straight line sliding rail 70 and the second straight line sliding rail 80 realizes that the clamp hand is transported back and forth along the guide part
It is dynamic, convenient for saving the design space of the linear guide, to improve the telescopic magic hand to the utilization rate in space.
Further, the telescopic magic hand further includes (not marking in figure for limiting the locating part of the clamp hand position
Note).During the utility model is implemented, the locating part is photoelectric sensor, for limiting the position of the clamp hand, the locating part
Including the first limit sensors 90, the second limit sensors 100 and initial wechat sensor 110.The first limit sensing
Device 90 is used to determine the position that the clamp hand places coconut, and second limit sensors 100 are for determining that the clamp hand fetches
The position of coconut, the initial wechat sensor 110 is for determining that the clamp hand is controlled when not working with the actuator 10
The clamp hand restores to initial position.
The utility model also proposes that a kind of coconut vending machine, including above-mentioned telescopic magic hand, the telescopic magic hand are used for
Pick and place coconut.The specific structure of the telescopic magic hand is referring to above-described embodiment, since this coconut vending machine is using above-mentioned all
Whole technical solutions of embodiment, therefore at least all beneficial effects brought by the technical solution with above-described embodiment,
This is no longer repeated one by one.
The above is only the preferred embodiment of the present invention, and therefore it does not limit the scope of the patent of the utility model,
It is all under the design of the utility model, equivalent structure transformation made based on the specification and figures of the utility model, or
Directly/be used in other related technical areas indirectly and be included in the scope of patent protection of the utility model.
Claims (9)
1. a kind of telescopic magic hand, which is characterized in that the telescopic magic hand includes:
Actuator；
Link assembly, including first connecting rod and second connecting rod, the first connecting rod are connect with the actuator, and described second connects
The free end of bar and the first connecting rod is rotatablely connected, the actuator by the first connecting rod drive the second connecting rod into
Row rotation；
Clamp hand component, including the clamp hand for picking and placing coconut, the second connecting rod is connected with the clamp hand；
Guide part, the guide part are used to be oriented to the moving direction of the clamp hand, and the actuator passes through the link assembly band
Move guide direction back and forth movement of the clamp hand along the guide part.
2. telescopic magic hand as described in claim 1, which is characterized in that the telescopic magic hand further includes expansion bracket and bottom
Plate, the expansion bracket have opposite both ends, and one end of the expansion bracket is fixed on the bottom plate, the freedom of the expansion bracket
End is connected with the clamp hand, and the free end of the second connecting rod is rotationally connected on the expansion bracket, and the second connecting rod passes through
The expansion bracket drives guide direction back and forth movement of the clamp hand along the guide part.
3. telescopic magic hand as claimed in claim 2, which is characterized in that the expansion bracket include two be oppositely arranged it is flexible
Bar, the telescopic rod have opposite both ends, the opposed end rotation connection of two telescopic rods, if the telescopic rod includes
The bracket being successively rotatablely connected is done, corresponding two bracket is in the center of the bracket on two telescopic rods
Place's rotation connection, the free end of the second connecting rod is connect in the center position of the bracket with the holder pivots.
4. telescopic magic hand as claimed in claim 3, which is characterized in that the opposite both ends of the expansion bracket and described first connect
The fixing end of bar is on the same line.
5. telescopic magic hand as claimed in claim 2, which is characterized in that the guide part and the expansion bracket are installed in described
The same side of bottom plate, the guide part are linear guide, and the linear guide is located at the opposite two sides of the expansion bracket, and institute
Linear guide is stated to be arranged towards the expansion bracket.
6. telescopic magic hand as claimed in claim 5, which is characterized in that the linear guide includes at least first straight line sliding rail
And second straight line sliding rail, the first straight line sliding rail include fixed part and the sliding part that is slidably connected with the fixed part, institute
It states fixed part to be installed on the bottom plate, the second straight line sliding rail is installed on the sliding part.
7. telescopic magic hand as described in claim 1, which is characterized in that the telescopic magic hand further includes described for limiting
The locating part of clamp hand position.
8. telescopic magic hand as claimed in claim 7, which is characterized in that the locating part includes the first limit sensors, the
Two limit sensors and initial position sensor.
9. a kind of coconut vending machine, which is characterized in that the coconut vending machine includes stretching as claim 1-8 is described in any item
Contracting manipulator, the telescopic magic hand is for picking and placing coconut.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201822207738.1U CN209132874U (en) | 2018-12-26 | 2018-12-26 | Telescopic magic hand and coconut vending machine |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201822207738.1U CN209132874U (en) | 2018-12-26 | 2018-12-26 | Telescopic magic hand and coconut vending machine |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN209132874U true CN209132874U (en) | 2019-07-19 |
Family
ID=67249409
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201822207738.1U Active CN209132874U (en) | 2018-12-26 | 2018-12-26 | Telescopic magic hand and coconut vending machine |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN209132874U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113715008A (en) * | 2021-08-31 | 2021-11-30 | 杭州电子科技大学 | A exhibition arm structure for underwater detection equipment |
-
2018
- 2018-12-26 CN CN201822207738.1U patent/CN209132874U/en active Active
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113715008A (en) * | 2021-08-31 | 2021-11-30 | 杭州电子科技大学 | A exhibition arm structure for underwater detection equipment |
| CN113715008B (en) * | 2021-08-31 | 2023-01-24 | 杭州电子科技大学 | A exhibition arm structure for underwater detection equipment |
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