Ice block grabbing manipulator structure

Abstract

The utility model discloses an ice block grabbing manipulator structure, which belongs to the technical field of manipulator structures and comprises a connecting frame with a hollow structure, telescopic mounting beams are respectively arranged at two ends of the inner wall of the connecting frame, and supporting seats with inverted T-shaped structures are respectively and fixedly arranged at the bottoms of opposite end surfaces of the two mounting beams. The two ends of each supporting seat are symmetrically sleeved with clamping seats respectively, the clamping seats are hinged to the supporting seats, a first hinge seat is arranged on the top face of each clamping seat, second hinge seats are arranged on the front side and the rear side of the vertical end of each supporting seat respectively, and an electric push rod is hinged between each first hinge seat and the corresponding second hinge seat. According to the ice block grabbing device, ice blocks can be automatically grabbed, the ice blocks can be adaptively adjusted according to the length change of the ice blocks, and therefore the use range of the ice block grabbing device is widened.

Description

Technical Field

[0001] The utility model relates to the technical field of manipulator structures, in particular to an ice grabbing manipulator structure. Background Art

[0002] A manipulator is an automatic device that can imitate certain movements of human hands and arms to grab, move objects or operate tools according to a fixed procedure. It can reduce the labor intensity of users and improve production efficiency.

[0003] During the ice processing process, the ice cubes need to be transported. The uncut ice cubes are large in size (the cut ice cubes can be used as semi-finished products for ice sculptures), and the ice cubes are at a low temperature, making it inconvenient to transport them by hand. Since the surface of the ice cubes is smooth, the ice cubes are easy to slip during manual transportation, causing safety hazards and reducing the efficiency of ice transportation. Utility Model Content

[0004] The technical problem to be solved by the utility model is that the ice cubes cannot be mechanically and automatically grasped, resulting in a decrease in the carrying efficiency.

[0005] In order to solve the above problems, the technical solution of the utility model is as follows: an ice grabbing manipulator structure comprises a hollow structure connection frame, the inner walls of the connection frame are provided with retractable mounting beams at both ends, and the bottoms of the opposite end surfaces of the two mounting beams are respectively fixed with support seats of inverted T-shaped structure, and the two ends of each support seat are symmetrically sleeved with clamping seats, and the clamping seats are hinged to the support seats;

[0006] A hinged seat 1 is respectively arranged on the top surface of each clamping seat, and hinged seats 2 are respectively arranged on the front and rear sides of the vertical end of the support seat, and an electric push rod is hinged between each hinged seat 1 and hinged seat 2.

[0007] Furthermore, a through groove is opened on the bottom surface of the connecting frame along its length direction and a U-shaped frame is fixedly provided at the corresponding position of the through groove, and two ends of the inner wall of the U-shaped frame are provided with bidirectional screw rods that rotate together, and both ends of the bidirectional screw rods are respectively threadedly connected to sliding seats that slide with the bottom wall of the U-shaped frame, and the two top end portions of the sliding seats are respectively fixedly connected to the corresponding bottom surfaces of the mounting beams through connecting seats.

[0008] Furthermore, an arc-shaped groove is provided on the bottom wall of the U-shaped frame at a position corresponding to the middle position of the bidirectional screw rod, a worm wheel is provided on the bidirectional screw rod corresponding to the arc-shaped groove, and fixed seats are respectively fixed on the front and rear sides of the bottom surface of the connecting frame corresponding to the worm wheel, and a worm screw meshing with the worm wheel is provided on the two fixed seats for rotating together, and a handwheel is also provided on the end of the worm screw extending out of any fixed seat.

[0009] Furthermore, both ends of the inner wall of the connection frame are provided with slide grooves along the length direction thereof, and the front and rear sides of the mounting beam are provided with slide bars adapted to the slide grooves, and the slide bars are connected with the slide grooves in a cooperative manner.

[0010] Furthermore, a connecting frame is provided at the center of the top surface of the connecting frame.

[0011] Furthermore, the four electric push rods are arranged synchronously.

[0012] The advantages of the utility model compared with the existing technology are:

[0013] 1. Through the cooperation of the connecting frame, the mounting beam, the supporting seat, the clamping seat, the hinge seat 1, the hinge seat 2 and the electric push rod, the four clamping seats can be sleeved on the four corners of the ice block, and then the four electric push rods are synchronously extended and retracted to drive the four clamping seats to swing inward synchronously, so that the inner wall of the clamping seat is tightly against the outer wall of the ice block, and the ice block is effectively grasped;

[0014] 2. The arranged mounting beam is telescopic in the connecting frame and, with the cooperation of the U-shaped frame, the bidirectional screw and the sliding seat, the bidirectional screw can be rotated. Under the action of the positive and negative thread forces at both ends, the sliding seats at both ends are driven to move relative to or away from each other, and at the same time, the mounting beams at both ends are driven to move relative to or away from each other in the connecting frame, and the supporting seats at both ends are driven to move relative to or away from each other. In this way, ice cubes of different lengths can be grasped in an adjustable manner, thereby improving the scope of use of the device. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] Figure 1 It is a front structural diagram of the utility model.

[0016] Figure 2 It is an internal structure diagram of the connection frame in the utility model.

[0017] Figure 3 It is a rear view of the utility model.

[0018] Figure 4 It is a structural diagram of the cooperation between the worm wheel and the worm in the utility model.

[0019] As shown in the figure: 1. Connecting frame; 2. Connecting frame; 3. Mounting beam; 4. Support seat; 5. Clamping seat; 6. Articulated seat 1; 7. Articulated seat 2; 8. Electric push rod; 9. U-shaped frame; 10. Bidirectional screw; 11. Sliding seat; 12. Worm gear; 13. Fixed seat; 14. Worm; 15. Slide groove; 16. Slide bar. DETAILED DESCRIPTION

[0020] The technical solutions in the embodiments of the utility model will be clearly and completely described below in conjunction with the drawings in the embodiments of the utility model. Obviously, the described embodiments are only part of the embodiments of the utility model, rather than all of the embodiments; based on the embodiments of the utility model, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of the utility model.

[0021] Embodiment 1

[0022] like Figure 1 and Figure 3 As shown, the ice grabbing robot structure includes a connecting frame 1 with a hollow structure. A connecting frame 2 is also provided at the central position of the top surface of the connecting frame 1. In a specific implementation, the connecting frame 1 is installed on the main body of the balance crane through the connecting frame 2 to realize the movement control of the connecting frame 1. The above operation is a prior art; retractable mounting beams 3 are respectively provided at both ends of the inner wall of the connecting frame 1, and support seats 4 with an inverted T-shaped structure are respectively fixed at the bottom of the opposite end surfaces of the two mounting beams 3, and clamping seats 5 are symmetrically sleeved at both ends of each support seat 4, and anti-slip pads are also provided under the inner walls of the four clamping seats 5, and the clamping seats 5 are hinged to the support seats 4.

[0023] like Figure 1 As shown, an articulated seat 1 6 is provided on the top surface of each clamping seat 5, and an articulated seat 2 7 is provided on the front and rear sides of the vertical end of the support seat 4, and an electric push rod 8 is hinged between each articulated seat 1 6 and the articulated seat 2 7. The four electric push rods 8 are synchronously arranged. Through the extension and retraction of the four electric push rods 8, the articulated clamping seat 5 is driven to swing inward to effectively grab the ice cubes. During use, the clamping seats 5 at both ends can be driven to move relative to or away from each other through the extension and retraction adjustment of the mounting beams 3 at both ends, so that ice cubes of different lengths can be effectively grabbed, thereby improving the use range of the device.

[0024] like Figure 2 As shown, a through groove is opened on the bottom surface of the connecting frame 1 along its length direction and a U-shaped frame 9 is fixedly provided at the corresponding position of the through groove, and a bidirectional screw rod 10 is provided at both ends of the inner wall of the U-shaped frame 9 for common rotation, and both ends of the bidirectional screw rod 10 are respectively threadedly connected to a sliding seat 11 that slides with the bottom wall of the U-shaped frame 9, and the top ends of the two sliding seats 11 are respectively fixedly connected to the bottom surfaces of the corresponding mounting beams 3 through connecting seats, and by rotating the bidirectional screw rod 10, under the action of the positive and negative threads at both ends, the sliding seats 11 at both ends are driven to move relative to or away from each other, thereby driving the mounting beam 3 to perform telescopic operations in the connecting frame 1.

[0025] like Figure 3As shown, slide grooves 15 are respectively provided at both ends of the inner wall of the connecting frame 1 along its length direction, and slide bars 16 adapted to the slide grooves 15 are respectively provided on the front and rear sides of the mounting beam 3. The slide bars 16 and the slide grooves 15 are connected in cooperation. The cooperation between the slide grooves 15 and the slide bars 16 can ensure the stability of the extension and retraction of the mounting beam 3 in the connecting frame 1.

[0026] Embodiment 2

[0027] Based on the first embodiment, Figure 2 and Figure 4 As shown, the specific structure for controlling the rotation of the bidirectional screw rod 10 is as follows:

[0028] An arc groove is opened on the bottom wall of the U-shaped frame 9 at a position corresponding to the middle position of the bidirectional screw rod 10, and a worm wheel 12 is arranged on the bidirectional screw rod 10 corresponding to the arc groove. Fixed seats 13 are respectively fixed on the front and rear sides of the bottom of the connecting frame 1 corresponding to the worm wheel 12. A worm 14 meshing with the worm wheel 12 is rotated together on the two fixed seats 13. A hand wheel is also arranged at the end of the worm 14 extending out of any fixed seat 13. By turning the hand wheel, the worm 14 is driven to rotate, and the worm wheel 12 meshing with it is driven to rotate, and the bidirectional screw rod 10 is driven to rotate at the same time. The cooperation between the worm 14 and the worm wheel 12 can not only perform effective transmission, but also achieve a certain self-locking function.

[0029] In specific use, firstly, the four clamping seats 5 are placed at the four corners of the outer end of the ice cube, and then the extension operation of the four electric push rods 8 is controlled, so that the four articulated clamping seats 5 can be driven to swing inward synchronously, and the ice cube can be effectively grasped; when the length of the ice cube changes, the mounting beam 3 is first telescopically adjusted in the connecting frame 1, and the worm 14 is driven to rotate by turning the hand wheel, and then the worm wheel 12 is driven to rotate, and at the same time, the bidirectional screw rod 10 is driven to rotate, and under the action of the positive and negative thread forces at both ends, the sliding seats 11 at both ends are driven to move relative to or away from each other, and then the mounting beam 3 is driven to telescopically adjust in the connecting frame 1, and at the same time, the clamping seats 5 at both ends are driven to move relative to or away from each other, so that ice cubes of different lengths can be grasped, thereby improving the scope of use of the device.

[0030] The above description of the utility model and its implementation methods is not restrictive. The drawings show only one implementation method of the utility model, and the actual structure is not limited thereto. In short, if ordinary technicians in this field are inspired by it and design structural methods and embodiments similar to the technical solution without creativity without departing from the purpose of the invention of the utility model, they should all fall within the protection scope of the utility model.

Claims

1. An ice grabbing manipulator structure, comprising a hollow connecting frame (1), characterized in that: The two ends of the inner wall of the connection frame (1) are respectively provided with retractable mounting beams (3), and the bottoms of the opposite end surfaces of the two mounting beams (3) are respectively fixed with support seats (4) of an inverted T-shaped structure, and the two ends of each support seat (4) are respectively symmetrically sleeved with a clamping seat (5), and the clamping seat (5) is hingedly connected to the support seat (4); An articulated seat 1 (6) is provided on the top surface of each clamping seat (5), and an articulated seat 2 (7) is provided on the front and rear sides of the vertical end of the support seat (4), and an electric push rod (8) is hinged between each articulated seat 1 (6) and articulated seat 2 (7).

2. The ice grabbing manipulator structure according to claim 1 is characterized in that: A through slot is provided on the bottom surface of the connection frame (1) along its length direction and a U-shaped frame (9) is fixedly provided at a position corresponding to the through slot. Two ends of the inner wall of the U-shaped frame (9) are provided with bidirectional screw rods (10) for common rotation. The two ends of the bidirectional screw rod (10) are respectively threadedly connected to a sliding seat (11) that is slidably matched with the bottom wall of the U-shaped frame (9). The top ends of the two sliding seats (11) are respectively fixedly connected to the bottom surfaces of the corresponding mounting beams (3) through connecting seats.

3. The ice grabbing manipulator structure according to claim 2 is characterized in that: An arc groove is provided on the bottom wall of the U-shaped frame (9) at a position corresponding to the middle position of the bidirectional screw rod (10); a worm wheel (12) is provided on the bidirectional screw rod (10) corresponding to the arc groove; fixed seats (13) are respectively fixed on the front and rear sides of the bottom of the connecting frame (1) corresponding to the worm wheel (12); a worm (14) meshing with the worm wheel (12) is provided on the two fixed seats (13) for co-rotation; and a hand wheel is provided at the end of the worm (14) extending out of any fixed seat (13).

4. The ice grabbing manipulator structure according to any one of claims 1 to 3, characterized in that: The two ends of the inner wall of the connection frame (1) are respectively provided with sliding grooves (15) along the length direction thereof, and the front and rear sides of the mounting beam (3) are respectively provided with sliding bars (16) adapted to the sliding grooves (15), and the sliding bars (16) and the sliding grooves (15) are connected in a cooperative manner.

5. The ice grabbing manipulator structure according to claim 1 is characterized in that: A connecting frame (2) is also provided at the center of the top surface of the connecting frame (1).

6. The ice grabbing manipulator structure according to claim 1 is characterized in that: The four electric push rods (8) are arranged synchronously.

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